Class Quaternion

constructor

• new Quaternion(x?, y?, z?, w?): Quaternion

• Parameters

  • Optional x: number

  • Optional y: number

  • Optional z: number

  • Optional w: number

  Returns Quaternion

w

x

y

z

clone

• clone(): Quaternion

• Returns Quaternion

conjugate

• conjugate(target?): Quaternion

• Get the quaternion conjugate

  Parameters

  • Optional target: Quaternion

  Returns Quaternion

copy

• copy(quat): Quaternion

• Copies value of source to this quaternion.

  Parameters

  • quat: Quaternion

  Returns Quaternion

  this

integrate

• integrate(angularVelocity, dt, angularFactor, target?): Quaternion

• Rotate an absolute orientation quaternion given an angular velocity and a time step.

  Parameters

  • angularVelocity: Vec3

  • dt: number

  • angularFactor: Vec3

  • Optional target: Quaternion

  Returns Quaternion

inverse

• inverse(target?): Quaternion

• Get the inverse quaternion rotation.

  Parameters

  • Optional target: Quaternion

  Returns Quaternion

mult

• mult(quat, target?): Quaternion

• Multiply the quaternion with an other quaternion.

  Parameters

  • quat: Quaternion

  • Optional target: Quaternion

  Returns Quaternion

normalize

• normalize(): Quaternion

• Normalize the quaternion. Note that this changes the values of the quaternion.

  Returns Quaternion

normalizeFast

• normalizeFast(): Quaternion

• Approximation of quaternion normalization. Works best when quat is already almost-normalized.

  Returns Quaternion

  Author

  unphased, https://github.com/unphased

set

• set(x, y, z, w): Quaternion

• Set the value of the quaternion.

  Parameters

  • x: number

  • y: number

  • z: number

  • w: number

  Returns Quaternion

setFromAxisAngle

• setFromAxisAngle(vector, angle): Quaternion

• Set the quaternion components given an axis and an angle in radians.

  Parameters

  • vector: Vec3

  • angle: number

  Returns Quaternion

setFromEuler

• setFromEuler(x, y, z, order?): Quaternion

• Set the quaternion components given Euler angle representation.

  Parameters

  • x: number

  • y: number

  • z: number

  • Optional order: string

    The order to apply angles: 'XYZ' or 'YXZ' or any other combination.

    See MathWorks reference

  Returns Quaternion

setFromVectors

• setFromVectors(u, v): Quaternion

• Set the quaternion value given two vectors. The resulting rotation will be the needed rotation to rotate u to v.

  Parameters

  • u: Vec3

  • v: Vec3

  Returns Quaternion

slerp

• slerp(toQuat, t, target?): Quaternion

• Performs a spherical linear interpolation between two quat

  Parameters

  • toQuat: Quaternion

    second operand

  • t: number

    interpolation amount between the self quaternion and toQuat

  • Optional target: Quaternion

    A quaternion to store the result in. If not provided, a new one will be created.

  Returns Quaternion

  The "target" object

toArray

• toArray(): [number, number, number, number]

• Convert to an Array

  Returns [number, number, number, number]

  [x, y, z, w]

toAxisAngle

• toAxisAngle(targetAxis?): [Vec3, number]

• Converts the quaternion to [ axis, angle ] representation.

  Parameters

  • Optional targetAxis: Vec3

    A vector object to reuse for storing the axis.

  Returns [Vec3, number]

  An array, first element is the axis and the second is the angle in radians.

toEuler

• toEuler(target, order?): void

• Convert the quaternion to euler angle representation. Order: YZX, as this page describes: https://www.euclideanspace.com/maths/standards/index.htm

  Parameters

  • target: Vec3

  • Optional order: string

    Three-character string, defaults to "YZX"

  Returns void

toString

• toString(): string

• Convert to a readable format

  Returns string

  "x,y,z,w"

vmult

• vmult(v, target?): Vec3

• Multiply the quaternion by a vector

  Parameters

  • v: Vec3

  • Optional target: Vec3

  Returns Vec3