Quaternion

Implementation of a quaternion. Quaternions are used to represent rotations.

Constructors

Constructor

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

Parameters

x?

number

y?

number

z?

number

w?

number

Returns

Quaternion

Properties

isQuaternion

isQuaternion: boolean

Check the type whether it belongs to Matrix3. This value should not be changed by user.

Accessors

x

Get Signature

get x(): number

Returns

number

Set Signature

set x(value): void

Parameters

value

number

Returns

void

y

Get Signature

get y(): number

Returns

number

Set Signature

set y(value): void

Parameters

value

number

Returns

void

z

Get Signature

get z(): number

Returns

number

Set Signature

set z(value): void

Parameters

value

number

Returns

void

w

Get Signature

get w(): number

Returns

number

Set Signature

set w(value): void

Parameters

value

number

Returns

void

Methods

onChangeCallback()

onChangeCallback(): void

The function will be called when _x| x, _y| y _z| z and _w| w is changed.

Returns

void

slerp()

static slerp(qa, qb, qm, t): Quaternion

Handles the spherical linear interpolation between quaternions. t represents the amount of rotation between this quaternion (where t is 0) and qb (where t is 1). This quaternion is set to the result. Also see the static version of the slerp below.

// rotate a mesh towards a target quaternion
mesh.quaternion.slerp( endQuaternion, 0.01 );

Parameters

qa

Quaternion

qb

Quaternion

The other quaternion rotation.

qm

Quaternion

t

number

interpolation factor in the closed interval [0, 1].

Returns

Quaternion

slerpFlat()

static slerpFlat(dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t): void

Like the static slerp method above, but operates directly on flat arrays of numbers.

Parameters

dst

number[]

The output array.

dstOffset

number

An offset into the output array.

src0

number[]

The source array of the starting quaternion.

srcOffset0

number

An offset into the array src0.

src1

number[]

The source array of the target quaternions.

srcOffset1

number

An offset into the array src1.

t

number

Normalized interpolation factor (between 0 and 1).

Returns

void

set()

set(x, y, z, w): Quaternion

Sets x, y, z, w properties of this quaternion.

Parameters

x

number

y

number

z

number

w

number

Returns

Quaternion

clone()

clone(): Quaternion

Creates a new Quaternion with identical x, y,z and w properties to this one.

Returns

Quaternion

copy()

copy(quaternion): Quaternion

Copies the x, y, z and w properties of q into this quaternion.

Parameters

Quaternion

Returns

Quaternion

setFromEuler()

setFromEuler(euler, update?): Quaternion

Sets this quaternion from the rotation specified by Euler angle.

Parameters

euler

Euler

update?

boolean

Returns

Quaternion

setFromAxisAngle()

setFromAxisAngle(axis, angle): Quaternion

Sets this quaternion from rotation specified by axis and Float| angle. Adapted from the method here.

Parameters

axis

Vector3

angle

number

is in radians.

Returns

Quaternion

setFromRotationMatrix()

setFromRotationMatrix(m): Quaternion

Sets this quaternion from rotation component of m. Adapted from the method here.

Parameters

m

Matrix4

a Matrix4 of which the upper 3x3 of matrix is a pure rotation matrix.

Returns

Quaternion

setFromUnitVectors()

setFromUnitVectors(vFrom, vTo): Quaternion

Sets this quaternion to the rotation required to rotate direction vector vFrom to direction vector vTo. Adapted from the method here. vFrom and vTo are assumed to be normalized.

Parameters

vFrom

Vector3

vTo

Vector3

Returns

Quaternion

conjugate()

conjugate(): Quaternion

Returns the rotational conjugate of this quaternion. The conjugate of a quaternion represents the same rotation in the opposite direction about the rotational axis.

Returns

Quaternion

dot()

dot(v): number

Calculates the dot product of quaternions v and this one.

Parameters

v

Quaternion

Returns

number

lengthSq()

lengthSq(): number

Computes the squared Euclidean length (straight-line length) of this quaternion, considered as a 4 dimensional vector. This can be useful if you are comparing the lengths of two quaternions, as this is a slightly more efficient calculation than length| length().

Returns

number

length()

length(): number

Computes the Euclidean length (straight-line length) of this quaternion, considered as a 4 dimensional vector.

Returns

number

normalize()

normalize(): Quaternion

Normalizes this quaternion - that is, calculated the quaternion that performs the same rotation as this one, but has length| length equal to 1.

Returns

Quaternion

multiply()

multiply(q): Quaternion

Multiplies this quaternion by q.

Parameters

q

Quaternion

Returns

Quaternion

premultiply()

premultiply(q): Quaternion

Pre-multiplies this quaternion by q.

Parameters

q

Quaternion

Returns

Quaternion

multiplyQuaternions()

multiplyQuaternions(a, b): Quaternion

Sets this quaternion to a x b. Adapted from the method outlined here.

Parameters

a

Quaternion

b

Quaternion

Returns

Quaternion

slerp()

slerp(qb, t): Quaternion

// rotate a mesh towards a target quaternion
mesh.quaternion.slerp( endQuaternion, 0.01 );

Parameters

qb

Quaternion

The other quaternion rotation.

t

number

interpolation factor in the closed interval [0, 1].

Returns

Quaternion

equals()

equals(quaternion): boolean

Compares the x, y,z and w properties of v to the equivalent properties of this quaternion to determine if they represent the same rotation.

Parameters

quaternion

Quaternion

Returns

boolean

fromArray()

fromArray(array, offset?): Quaternion

Sets this quaternion’s x, y, z and w properties from an array.

Parameters

array

ArrayLike<number>

array of format (x, y, z, w) used to construct the quaternion.

offset?

number

(optional) an offset into the array.

Returns

Quaternion

toArray()

toArray(array?, offset?): number[]

Returns the numerical elements of this quaternion in an array of format [x, y, z, w].

Parameters

array?

number[]

An optional array to store the quaternion. If not specified, a new array will be created.

offset?

number

(optional) if specified, the result will be copied into this array.

Returns

number[]

onChange()

onChange(callback): Quaternion

A method to call onChangeCallback.

Parameters

callback

Function

Returns

Quaternion