Class Quaternion

constructor

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

  Creates a new identity quat

  Parameters

  • x: number = 0

    X component

  • y: number = 0

    Y component

  • z: number = 0

    Z component

  • w: number = 1

    W component

  Returns Quaternion

className

elements

isQuaternion

w

• get w(): number

  W component

  Returns number

• set w(value: number): void

  W component

  Parameters

  • value: number

  Returns void

x

• get x(): number

  X component

  Returns number

• set x(value: number): void

  X component

  Parameters

  • value: number

  Returns void

y

• get y(): number

  Y component

  Returns number

• set y(value: number): void

  Y component

  Parameters

  • value: number

  Returns void

z

• get z(): number

  Z component

  Returns number

• set z(value: number): void

  Z component

  Parameters

  • value: number

  Returns void

add

• add(q: Quaternion): this

  Adds two quat's

  Parameters

  • q: Quaternion

  Returns this

  this

calculateW

• calculateW(): this

  Calculates the W component of a quat from the X, Y, and Z components. Assumes that quaternion is 1 unit in length. Any existing W component will be ignored.

  Returns this

  this

clone

• clone(): Quaternion

  Creates a new quat initialized with values from an existing quaternion

  Returns Quaternion

  a new quaternion

conjugate

• conjugate(): this

  Calculates the conjugate of a quat If the quaternion is normalized, this function is faster than quat.inverse and produces the same result.

  Returns this

  this

copy

• copy(q: Quaternion): this

  Copy the values from one quat to this

  Parameters

  • q: Quaternion

  Returns this

  this

dot

• dot(q: Quaternion): number

  Calculates the dot product of two quat's

  Parameters

  • q: Quaternion

  Returns number

  dot product of two quat's

equals

• equals(q: Quaternion): boolean

  Returns whether or not the quaternions have approximately the same elements in the same position.

  Parameters

  • q: Quaternion

  Returns boolean

exactEquals

• exactEquals(q: Quaternion): boolean

  Returns whether or not the quaternions have exactly the same elements in the same position (when compared with ===)

  Parameters

  • q: Quaternion

  Returns boolean

fromArray

• fromArray(array: ArrayLike<number>, offset?: number): this

  从数组赋值

  Parameters

  • array: ArrayLike<number>

    数组

  • offset: number = 0

    数组偏移值

  Returns this

  this

fromEuler

• fromEuler(euler: Euler): this

  Creates a quaternion from the given euler.

  Parameters

  • euler: Euler

  Returns this

  this

fromMat3

• fromMat3(mat: Matrix3): this

  Creates a quaternion from the given 3x3 rotation matrix.

  NOTE: The resultant quaternion is not normalized, so you should be sure to renormalize the quaternion yourself where necessary.

  Parameters

  • mat: Matrix3

    rotation matrix

  Returns this

  this

fromMat4

• fromMat4(mat: Matrix4): this

  Creates a quaternion from the given 3x3 rotation matrix.

  NOTE: The resultant quaternion is not normalized, so you should be sure to renormalize the quaternion yourself where necessary.

  Parameters

  • mat: Matrix4

    rotation matrix

  Returns this

  this

getAxisAngle

• getAxisAngle(axis: Vector3): number

  Gets the rotation axis and angle for a given quaternion. If a quaternion is created with setAxisAngle, this method will return the same values as providied in the original parameter list OR functionally equivalent values. Example: The quaternion formed by axis [0, 0, 1] and angle -90 is the same as the quaternion formed by [0, 0, 1] and 270. This method favors the latter.

  Parameters

  • axis: Vector3

    Vector receiving the axis of rotation

  Returns number

  Angle, in radians, of the rotation

identity

• identity(): this

  Set this to the identity quaternion

  Returns this

  this

invert

• invert(): this

  Calculates the inverse of a quat

  Returns this

  this

len

• len(): number

  Returns number

length

• length(): number

  Calculates the length of a quat

  Returns number

  length of this

lerp

• lerp(q: Quaternion, t: number): this

  Performs a linear interpolation between two quat's

  Parameters

  • q: Quaternion
  • t: number

    interpolation amount between the two inputs

  Returns this

  this

mul

• mul(q: Quaternion): this

  Parameters

  • q: Quaternion

  Returns this

multiply

• multiply(q: Quaternion): this

  Multiplies two quat's

  Parameters

  • q: Quaternion

  Returns this

  this

normalize

• normalize(): this

  Normalize this

  Returns this

  this

premultiply

• premultiply(q: Quaternion): this

  premultiply the quat

  Parameters

  • q: Quaternion

  Returns this

  this

rotateX

• rotateX(rad: number): this

  Rotates a quaternion by the given angle about the X axis

  Parameters

  • rad: number

    angle (in radians) to rotate

  Returns this

  this

rotateY

• rotateY(rad: number): this

  Rotates a quaternion by the given angle about the Y axis

  Parameters

  • rad: number

    angle (in radians) to rotate

  Returns this

  this

rotateZ

• rotateZ(rad: number): this

  Rotates a quaternion by the given angle about the Z axis

  Parameters

  • rad: number

    angle (in radians) to rotate

  Returns this

  this

rotationTo

• rotationTo(a: Vector3, b: Vector3): this

  Sets a quaternion to represent the shortest rotation from one vector to another.

  Parameters

  • a: Vector3

    the initial vector

  • b: Vector3

    the destination vector

  Returns this

  this

scale

• scale(scale: number): this

  Scales a quat by a scalar number

  Parameters

  • scale: number

    the vector to scale

  Returns this

  this

set

• set(x: number, y: number, z: number, w: number): this

  Set the components of a quat to the given values

  Parameters

  • x: number

    X component

  • y: number

    Y component

  • z: number

    Z component

  • w: number

    W component

  Returns this

  this

setAxes

• setAxes(view: Vector3, right: Vector3, up: Vector3): this

  Sets the specified quaternion with values corresponding to the given axes. Each axis is a vec3 and is expected to be unit length and perpendicular to all other specified axes.

  Parameters

  • view: Vector3

    the vector representing the viewing direction

  • right: Vector3

    the vector representing the local "right" direction

  • up: Vector3

    the vector representing the local "up" direction

  Returns this

  this

setAxisAngle

• setAxisAngle(axis: Vector3, rad: number): this

  Sets a quat from the given angle and rotation axis, then returns it.

  Parameters

  • axis: Vector3

    the axis around which to rotate

  • rad: number

    the angle in radians

  Returns this

  this

slerp

• slerp(q: Quaternion, t: number): this

  Performs a spherical linear interpolation between two quat

  Parameters

  • q: Quaternion
  • t: number

    interpolation amount between the two inputs

  Returns this

  this

sqlerp

• sqlerp(
      qa: Quaternion,
      qb: Quaternion,
      qc: Quaternion,
      qd: Quaternion,
      t: number,
  ): this

  Performs a spherical linear interpolation with two control points

  Parameters

  • qa: Quaternion
  • qb: Quaternion
  • qc: Quaternion
  • qd: Quaternion
  • t: number

    interpolation amount

  Returns this

  this

sqrLen

• sqrLen(): number

  Returns number

squaredLength

• squaredLength(): number

  Calculates the squared length of a quat

  Returns number

  squared length of this

toArray

• toArray(array?: MutableNumberArray, offset?: number): MutableNumberArray

  转换到数组

  Parameters

  • array: MutableNumberArray = []

    数组

  • offset: number = 0

    数组偏移值

  Returns MutableNumberArray