@orillusion/core

---

Class: Quaternion

Defined in: src/math/Quaternion.ts:10

Quaternions are used to represent rotations.

Constructors

Constructor

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

Defined in: src/math/Quaternion.ts:46

Create a new quaternion object

Parameters

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

Properties

HELP_0

static HELP_0: Quaternion

Defined in: src/math/Quaternion.ts:13

Shared scratch quaternion for intermediate calculations.

---

HELP_1

static HELP_1: Quaternion

Defined in: src/math/Quaternion.ts:15

Shared scratch quaternion for intermediate calculations.

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HELP_2

static HELP_2: Quaternion

Defined in: src/math/Quaternion.ts:17

Shared scratch quaternion for intermediate calculations.

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_zero

static _zero: Quaternion

Defined in: src/math/Quaternion.ts:19

Shared identity quaternion (0, 0, 0, 1).

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CALCULATION_QUATERNION

static CALCULATION_QUATERNION: Quaternion

Defined in: src/math/Quaternion.ts:21

Shared scratch quaternion used for rotation calculations.

Accessors

magnitude

Get Signature

get magnitude(): number

Defined in: src/math/Quaternion.ts:109

The magnitude (norm) of this quaternion.

Returns

number

Methods

identity()

static identity(): Quaternion

Defined in: src/math/Quaternion.ts:57

Identity quaternion

Returns

Quaternion

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quaternionToMatrix()

static quaternionToMatrix(q, m): void

Defined in: src/math/Quaternion.ts:66

Converts quaternions to matrices

Parameters

q

Quaternion

Quaternion

m

any

Matrix

Returns

void

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set()

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

Defined in: src/math/Quaternion.ts:120

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

Parameters

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

---

divide()

divide(v): Quaternion

Defined in: src/math/Quaternion.ts:129

Divide this quaternion by another quaternion (component-wise, new instance) or by a scalar (in place).

Parameters

v

any

Returns

Quaternion

---

multiply()

multiply(qa, qb): this

Defined in: src/math/Quaternion.ts:157

Multiply two quaternions

Parameters

qa

Quaternion

Quaternion 1

qb

Quaternion

Quaternion 2

Returns

this

---

multiplyVector()

multiplyVector(vector): Quaternion

Defined in: src/math/Quaternion.ts:177

Multiply this quaternion by a vector. Returns a new Quaternion.

Parameters

vector

Vector3

Returns

Quaternion

---

setFromAxisAngle()

setFromAxisAngle(axis, angle): this

Defined in: src/math/Quaternion.ts:194

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

Parameters

axis

Vector3

axis

angle

number

angle

Returns

this

---

toAxisAngle()

toAxisAngle(axis): number

Defined in: src/math/Quaternion.ts:213

Turn quaternions into angles

Parameters

axis

Vector3

axis

Returns

number

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slerp()

slerp(qa, qb, t): void

Defined in: src/math/Quaternion.ts:238

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

Parameters

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

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lerp()

lerp(qa, qb, t): void

Defined in: src/math/Quaternion.ts:288

Linearly interpolates between two quaternions.

Parameters

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

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setFromEuler()

setFromEuler(ax, ay, az): Quaternion

Defined in: src/math/Quaternion.ts:325

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

Parameters

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

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setFromRotationMatrix()

setFromRotationMatrix(m): Quaternion

Defined in: src/math/Quaternion.ts:353

Sets the current quaternion from the rotation matrix

Parameters

m

rawData

FloatArray

Returns

Quaternion

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getEulerAngles()

getEulerAngles(eulers?): Vector3

Defined in: src/math/Quaternion.ts:404

Get the Euler Angle

Parameters

eulers?

Vector3

Returns

Vector3

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normalize()

normalize(val?): this

Defined in: src/math/Quaternion.ts:443

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

Parameters

val?

number = 1

normalize coefficient, which is 1 by default

Returns

this

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toString()

toString(): string

Defined in: src/math/Quaternion.ts:457

Returns the value of a quaternion as a string

Returns

string

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invert()

invert(): this

Defined in: src/math/Quaternion.ts:464

Inverts this quaternion in place. Mutates and returns this.

Returns

this

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clone()

clone(): Quaternion

Defined in: src/math/Quaternion.ts:472

Clones the quaternion.

Returns

Quaternion

An exact duplicate of the current Quaternion.

---

transformVector()

transformVector(vector): Vector3

Defined in: src/math/Quaternion.ts:479

Rotates vector by this quaternion. Mutates and returns vector.

Parameters

vector

Vector3

Returns

Vector3

---

copy()

copy(q): this

Defined in: src/math/Quaternion.ts:487

Copies the data from a quaternion into this instance.

Parameters

q

Vector3 | Quaternion

The quaternion to copy from.

Returns

this

---

mul()

static mul(lhs, rhs, result?): Quaternion

Defined in: src/math/Quaternion.ts:500

from untiy API op

Parameters

lhs

Quaternion

rhs

Quaternion

result?

Quaternion

Returns

Quaternion

---

multiply()

static multiply(a, b, result?): Quaternion

Defined in: src/math/Quaternion.ts:516

Canonical static multiply — alias of Quaternion.mul.

Parameters

a

Quaternion

b

Quaternion

result?

Quaternion

Returns

Quaternion

---

invert()

static invert(src, result?): Quaternion

Defined in: src/math/Quaternion.ts:523

Invert a quaternion.

Parameters

src

Quaternion

result?

Quaternion

Returns

Quaternion

---

transformVector()

static transformVector(q, v, result?): Vector3

Defined in: src/math/Quaternion.ts:542

Rotate a Vector3 by a Quaternion.

Parameters

q

Quaternion

v

Vector3

result?

Vector3

Returns

Vector3

---

serialize()

static serialize(value): Quaternion

Defined in: src/math/Quaternion.ts:569

Returns a new Quaternion copy of the given quaternion, used for serialization.

Parameters

value

Quaternion

Returns

Quaternion

---

multiplyQuaternions()

multiplyQuaternions(a, b): this

Defined in: src/math/Quaternion.ts:577

Set this = a * b. Canonical alias of multiply.

Parameters

a

Quaternion

b

Quaternion

Returns

this

---

premultiply()

premultiply(q): this

Defined in: src/math/Quaternion.ts:582

Set this = q * this.

Parameters

q

Quaternion

Returns

this

---

conjugate()

conjugate(): this

Defined in: src/math/Quaternion.ts:587

Conjugate: negate (x, y, z). For a unit quaternion this equals the inverse.

Returns

this

---

dot()

dot(q): number

Defined in: src/math/Quaternion.ts:595

Dot product of this quaternion and q.

Parameters

q

Quaternion

Returns

number

---

lengthSq()

lengthSq(): number

Defined in: src/math/Quaternion.ts:600

Squared length (norm) of this quaternion.

Returns

number

---

length()

length(): number

Defined in: src/math/Quaternion.ts:605

Length (norm) of this quaternion.

Returns

number

---

equals()

equals(q): boolean

Defined in: src/math/Quaternion.ts:610

Returns true if every component of q exactly equals this quaternion.

Parameters

q

Quaternion

Returns

boolean

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fromArray()

fromArray(array, offset?): this

Defined in: src/math/Quaternion.ts:615

Set x/y/z/w from array starting at offset. Mutates and returns this.

Parameters

array

ArrayLike<number>

offset?

number = 0

Returns

this

---

toArray()

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

Defined in: src/math/Quaternion.ts:624

Write x/y/z/w into array starting at offset and return the array.

Parameters

array?

number[] = []

offset?

number = 0

Returns

number[]

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setFromUnitVectors()

setFromUnitVectors(vFrom, vTo): this

Defined in: src/math/Quaternion.ts:633

Set this = the rotation that takes unit vector vFrom to unit vector vTo.

Parameters

vFrom

Vector3

vTo

Vector3

Returns

this

---

slerpQuaternions()

slerpQuaternions(qa, qb, t): this

Defined in: src/math/Quaternion.ts:658

Canonical alias of slerp (qa, qb, t form).

Parameters

qa

Quaternion

qb

Quaternion

t

number

Returns

this