Class: Quaternion

Quaternions are used to represent rotations.

Constructors

• constructor

Properties

• HELP_0
• HELP_1
• HELP_2
• _zero
• CALCULATION_QUATERNION

Accessors

• magnitude

Methods

• identity
• quaternionToMatrix
• set
• divide
• multiply
• multiplyVector
• fromAxisAngle
• toAxisAngle
• slerp
• lerp
• fromEulerAngles
• setFromRotationMatrix
• getEulerAngles
• normalize
• toString
• fromMatrix
• inverse
• clone
• transformVector
• copyFrom
• mul
• serialize

Constructors

constructor

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

Create a new quaternion object

Parameters

Name	Type	Default value	Description
x	number	0	The X component of a quaternion.
y	number	0	The Y component of a quaternion.
z	number	0	The Z component of a quaternion.
w	number	1	The W component of a quaternion.

Returns

Quaternion

Defined in

src/math/Quaternion.ts:40

Properties

HELP_0

▪ Static HELP_0: Quaternion

Defined in

src/math/Quaternion.ts:11

---

HELP_1

▪ Static HELP_1: Quaternion

Defined in

src/math/Quaternion.ts:12

---

HELP_2

▪ Static HELP_2: Quaternion

Defined in

src/math/Quaternion.ts:13

---

_zero

▪ Static _zero: Quaternion

Defined in

src/math/Quaternion.ts:14

---

CALCULATION_QUATERNION

▪ Static CALCULATION_QUATERNION: Quaternion

Defined in

src/math/Quaternion.ts:15

Accessors

magnitude

• get magnitude(): number

Returns

number

Defined in

src/math/Quaternion.ts:102

Methods

identity

▸ identity(): Quaternion

Identity quaternion

Returns

Quaternion

Defined in

src/math/Quaternion.ts:51

---

quaternionToMatrix

▸ quaternionToMatrix(q, m): void

Converts quaternions to matrices

Parameters

Name	Type	Description
q	Quaternion	Quaternion
m	any	Matrix

Returns

void

Defined in

src/math/Quaternion.ts:60

---

set

▸ set(x?, y?, z?, w?): Quaternion

Set the x, y, z, and w components of the existing quaternions.

Parameters

Name	Type	Default value	Description
x	number	0	The X component of a quaternion.
y	number	0	The Y component of a quaternion.
z	number	0	The Z component of a quaternion.
w	number	1	The W component of a quaternion.

Returns

Quaternion

Defined in

src/math/Quaternion.ts:113

---

divide

▸ divide(v): Quaternion

Parameters

Name	Type
v	any

Returns

Quaternion

Defined in

src/math/Quaternion.ts:121

---

multiply

▸ multiply(qa, qb): void

Multiply two quaternions

Parameters

Name	Type	Description
qa	Quaternion	Quaternion 1
qb	Quaternion	Quaternion 2

Returns

void

Defined in

src/math/Quaternion.ts:149

---

multiplyVector

▸ multiplyVector(vector, target?): Quaternion

Parameters

Name	Type	Default value
vector	Vector3	undefined
target	Quaternion	null

Returns

Quaternion

Defined in

src/math/Quaternion.ts:165

---

fromAxisAngle

▸ fromAxisAngle(axis, angle): void

Set the quaternion with a given rotation of the axis and Angle.

Parameters

Name	Type	Description
axis	Vector3	axis
angle	number	angle

Returns

void

Defined in

src/math/Quaternion.ts:184

---

toAxisAngle

▸ toAxisAngle(axis): number

Turn quaternions into angles

Parameters

Name	Type	Description
axis	Vector3	axis

Returns

number

Defined in

src/math/Quaternion.ts:202

---

slerp

▸ slerp(qa, qb, t): void

Spherically interpolates between two quaternions, providing an interpolation between rotations with constant angle change rate.

Parameters

Name	Type	Description
qa	Quaternion	The first quaternion to interpolate.
qb	Quaternion	The second quaternion to interpolate.
t	number	The interpolation weight, a value between 0 and 1.

Returns

void

Defined in

src/math/Quaternion.ts:227

---

lerp

▸ lerp(qa, qb, t): void

Linearly interpolates between two quaternions.

Parameters

Name	Type	Description
qa	Quaternion	The first quaternion to interpolate.
qb	Quaternion	The second quaternion to interpolate.
t	number	The interpolation weight, a value between 0 and 1.

Returns

void

Defined in

src/math/Quaternion.ts:277

---

fromEulerAngles

▸ fromEulerAngles(ax, ay, az): Quaternion

Fills the quaternion object with values representing the given euler rotation.

Parameters

Name	Type	Description
ax	number	The angle in radians of the rotation around the ax axis.
ay	number	The angle in radians of the rotation around the ay axis.
az	number	The angle in radians of the rotation around the az axis.

Returns

Quaternion

Defined in

src/math/Quaternion.ts:314

---

setFromRotationMatrix

▸ setFromRotationMatrix(m): Quaternion

Sets the current quaternion from the rotation matrix

Parameters

Name	Type
m	Object
m.rawData	Float32Array

Returns

Quaternion

Defined in

src/math/Quaternion.ts:342

---

getEulerAngles

▸ getEulerAngles(eulers?): Vector3

Get the Euler Angle

Parameters

Name	Type
eulers?	Vector3

Returns

Vector3

Defined in

src/math/Quaternion.ts:393

---

normalize

▸ normalize(val?): void

The normalize of the quaternion. Convert this quaternion to a normalize coefficient.

Parameters

Name	Type	Default value	Description
val	number	1	normalize coefficient, which is 1 by default

Returns

void

Defined in

src/math/Quaternion.ts:432

---

toString

▸ toString(): string

Returns the value of a quaternion as a string

Returns

string

Defined in

src/math/Quaternion.ts:445

---

fromMatrix

▸ fromMatrix(matrix): void

Extracts a quaternion rotation matrix out of a given Matrix3D object.

Parameters

Name	Type	Description
matrix	any	The Matrix3D out of which the rotation will be extracted.

Returns

void

Defined in

src/math/Quaternion.ts:453

---

inverse

▸ inverse(target?): Quaternion

Returns a quaternion that inverts the current quaternion

Parameters

Name	Type	Default value	Description
target	Quaternion	null	The default parameter is null. If the current parameter is null, a new quaternion object is returned

Returns

Quaternion

Quaternion Result

Defined in

src/math/Quaternion.ts:466

---

clone

▸ clone(): Quaternion

Clones the quaternion.

Returns

Quaternion

An exact duplicate of the current Quaternion.

Defined in

src/math/Quaternion.ts:486

---

transformVector

▸ transformVector(vector, target?): Vector3

Rotates a point.

Parameters

Name	Type	Default value	Description
vector	Vector3	undefined	The Vector3D object to be rotated.
target	Vector3	null	An optional Vector3D object that will contain the rotated coordinates. If not provided, a new object will be created.

Returns

Vector3

A Vector3D object containing the rotated point.

Defined in

src/math/Quaternion.ts:496

---

copyFrom

▸ copyFrom(q): this

Copies the data from a quaternion into this instance.

Parameters

Name	Type	Description
q	Vector3 | Quaternion	The quaternion to copy from.

Returns

this

Defined in

src/math/Quaternion.ts:523

---

mul

▸ mul(lhs, rhs, target?): Quaternion

from untiy API op

Parameters

Name	Type
lhs	Quaternion
rhs	Quaternion
target?	Quaternion

Returns

Quaternion

Defined in

src/math/Quaternion.ts:536

---

serialize

▸ serialize(value): Quaternion

Parameters

Name	Type
value	Quaternion

Returns

Quaternion

Defined in

src/math/Quaternion.ts:554