Function MjQuatToUe

Source/URLab/Public/MuJoCo/Utils/URLabAxisConv.h:72–82

@brief MuJoCo quaternion (wxyz, RHS) -> UE FQuat (xyzw, LHS). */

/** @brief MuJoCo quaternion (wxyz, RHS) -> UE FQuat (xyzw, LHS). */
FORCEINLINE FQuat MjQuatToUe(const double InWXYZ[4])
{
	// wxyz -> xyzw + X/Z negate so the resulting LHS quat matches
	// the converted MjPositionToUe vectors.
	return FQuat(
		static_cast<FQuat::FReal>(-InWXYZ[1]),
		static_cast<FQuat::FReal>(InWXYZ[2]),
		static_cast<FQuat::FReal>(-InWXYZ[3]),
		static_cast<FQuat::FReal>(InWXYZ[0]))
		.GetNormalized();
}

/** @brief UE FQuat (LHS) -> MuJoCo quaternion (wxyz, RHS). */
FORCEINLINE void UeQuatToMj(const FQuat& In, double OutWXYZ[4])