Quaternion

Quaternion

Kind: global class

• Quaternion
  • new Quaternion([x], [y], [z], [w])
  • instance
    • .x : number
    • .y : number
    • .z : number
    • .w : number
    • .onChanged : Signal.<number, number, number, number, number, number, number, number>
    • ._lookRotation(fx, fy, fz, ux, uy, uz)
    • .lookRotation(vForward, [vUp])
    • .dot(other) ⇒ number
    • .copyInverse(other)
    • .invert()
    • .angleTo(other) ⇒ number
    • .fromAxisAngle(axis, angle)
    • ._fromAxisAngle(ax, ay, az, angle)
    • .computeSwingAndTwist(axis, swing, twist)
    • .computeTwistAngle(axis) ⇒ number
    • .toAxisAngle(axis) ⇒ number
    • .multiplyScalar(val) ⇒ Quaternion
    • .multiply(other)
    • .multiplyQuaternions(first, second)
    • ._multiplyQuaternions(ax, ay, az, aw, bx, by, bz, bw) ⇒ Quaternion
    • .length() ⇒ number
    • .rotateTowards(other, max_delta)
    • .lookAt(source, target, [up])
    • .setRandom(random)
    • .__setFromEuler(x, y, z, [order]) ⇒ Quaternion
    • .toEulerAnglesXYZ(result)
    • .toEulerAnglesYXZ(result)
    • .toEulerAnglesZYX(result)
    • .fromEulerAnglesXYZ(x, y, z)
    • .fromEulerAnglesYXZ(x, y, z)
    • .fromEulerAnglesZXY(x, y, z)
    • .fromEulerAnglesZYX(x, y, z)
    • .fromEulerAnglesYZX(x, y, z)
    • .fromEulerAnglesXZY(x, y, z)
    • .fromUnitVectors(from, to)
    • .setFromRotationMatrix(m)
    • .__setFromRotationMatrix(m11, m12, m13, m21, m22, m23, m31, m32, m33) ⇒ Quaternion
    • .lerp(other, t)
    • .lerpQuaternions(first, second, t)
    • .slerpQuaternions(from, to, t)
    • .slerp(other, t)
    • .process(handler)
    • .copy(other) ⇒ Quaternion
    • .clone() ⇒ Quaternion
    • .set(x, y, z, w) ⇒ Quaternion
    • .conjugate() ⇒ Quaternion
    • .toBinaryBuffer(buffer)
    • .fromBinaryBuffer(buffer)
    • .toBinaryBufferFloat32(buffer)
    • .fromBinaryBufferFloat32(buffer)
    • .decodeFromUint32(value)
    • .encodeToUint32() ⇒ number
    • .readFromArray(array, offset)
    • .writeToArray([array], [offset]) ⇒ Array.<number>
    • .equals(other) ⇒ boolean
    • .hash() ⇒ number
    • .roughlyEquals(other, [tolerance]) ⇒ boolean
    • .random([random]) ⇒ Quaternion
  • static
    • .identity : Quaternion
    • .random(random) ⇒ Quaternion
    • .fromEulerAngles(x, y, z) ⇒ Quaternion
    • .rotateTowards(result, from, to, max_delta)

new Quaternion([x], [y], [z], [w])

Param	Type	Default
[x]	number	0
[y]	number	0
[z]	number	0
[w]	number	1

quaternion.x : number

Kind: instance property of Quaternion

quaternion.y : number

Kind: instance property of Quaternion

quaternion.z : number

Kind: instance property of Quaternion

quaternion.w : number

Kind: instance property of Quaternion

quaternion.onChanged : Signal.<number, number, number, number, number, number, number, number>

Kind: instance property of Quaternion
Read only: true

quaternion._lookRotation(fx, fy, fz, ux, uy, uz)

Kind: instance method of Quaternion

Param	Type	Description
fx	number	forward vector
fy	number	forward vector
fz	number	forward vector
ux	number	up vector
uy	number	up vector
uz	number	up vector

quaternion.lookRotation(vForward, [vUp])

Kind: instance method of Quaternion

Param	Type	Default
vForward	Vector3
[vUp]	Vector3	Vector3.up

quaternion.dot(other) ⇒ number

Kind: instance method of Quaternion

Param	Type
other	Quaternion

quaternion.copyInverse(other)

Makes this quaternion into an inverse of the other

Kind: instance method of Quaternion

Param	Type
other	Quaternion

quaternion.invert()

Calculates the inverse

Kind: instance method of Quaternion

quaternion.angleTo(other) ⇒ number

Returns angle between this orientation and another

Kind: instance method of Quaternion
Returns: number - angle in radians

Param	Type
other	Quaternion

quaternion.fromAxisAngle(axis, angle)

Kind: instance method of Quaternion

Param	Type
axis	Vector3
angle	number

quaternion._fromAxisAngle(ax, ay, az, angle)

Kind: instance method of Quaternion

Param	Type
ax	number
ay	number
az	number
angle	number

quaternion.computeSwingAndTwist(axis, swing, twist)

Kind: instance method of Quaternion
See: https://stackoverflow.com/questions/3684269/component-of-a-quaternion-rotation-around-an-axis

Param	Type
axis	Vector3
swing	Quaternion
twist	Quaternion

quaternion.computeTwistAngle(axis) ⇒ number

Compute rotation (twist) around input axis

Kind: instance method of Quaternion
Returns: number - in radians

Param	Type
axis	Vector3

quaternion.toAxisAngle(axis) ⇒ number

Kind: instance method of Quaternion
Returns: number - angle in radians

Param	Type
axis	Vector3

quaternion.multiplyScalar(val) ⇒ Quaternion

Kind: instance method of Quaternion

Param	Type
val	number

quaternion.multiply(other)

Kind: instance method of Quaternion

Param	Type
other	Quaternion

quaternion.multiplyQuaternions(first, second)

Kind: instance method of Quaternion

Param	Type
first	Quaternion
second	Quaternion

quaternion._multiplyQuaternions(ax, ay, az, aw, bx, by, bz, bw) ⇒ Quaternion

Kind: instance method of Quaternion

Param	Type
ax	number
ay	number
az	number
aw	number
bx	number
by	number
bz	number
bw	number

quaternion.length() ⇒ number

Kind: instance method of Quaternion

quaternion.rotateTowards(other, max_delta)

Kind: instance method of Quaternion

Param	Type	Description
other	Quaternion
max_delta	number	in radians

quaternion.lookAt(source, target, [up])

Kind: instance method of Quaternion

Param	Type
source	Vector3
target	Vector3
[up]	Vector3

quaternion.setRandom(random)

Kind: instance method of Quaternion

Param	Type
random	function

quaternion.__setFromEuler(x, y, z, [order]) ⇒ Quaternion

Kind: instance method of Quaternion

Param	Type	Default	Description
x	number
y	number
z	number
[order]	String	XYZ	a combination of capital letters X,Y,Z. Examples: XYZ, YXZ

quaternion.toEulerAnglesXYZ(result)

Kind: instance method of Quaternion
See

• https://localcoder.org/euler-angle-to-quaternion-then-quaternion-to-euler-angle
• https://discourse.mcneel.com/t/what-is-the-right-method-to-convert-quaternion-to-plane-using-rhinocommon/92411/21?page=2

Param	Type
result	Vector3

quaternion.toEulerAnglesYXZ(result)

Adapted from http://bediyap.com/programming/convert-quaternion-to-euler-rotations/

Kind: instance method of Quaternion

Param	Type
result	Vector3

quaternion.toEulerAnglesZYX(result)

Adapted from http://bediyap.com/programming/convert-quaternion-to-euler-rotations/

Kind: instance method of Quaternion

Param	Type
result	Vector3

quaternion.fromEulerAnglesXYZ(x, y, z)

XYZ order

Kind: instance method of Quaternion
Source:: https://stackoverflow.com/questions/12088610/conversion-between-euler-quaternion-like-in-unity3d-engine
See

• http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m
• https://github.com/mrdoob/three.js/blob/510705cde208b165fd87946b0f8504a1cd6dbe83/src/math/Quaternion.js#L206

Param	Type	Description
x	number	angle in X axis in radians
y	number	angle in Y axis in radians
z	number	angle in Z axis in radians

quaternion.fromEulerAnglesYXZ(x, y, z)

XYZ order

Kind: instance method of Quaternion
Source:: https://stackoverflow.com/questions/12088610/conversion-between-euler-quaternion-like-in-unity3d-engine
See

• http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m
• https://github.com/mrdoob/three.js/blob/510705cde208b165fd87946b0f8504a1cd6dbe83/src/math/Quaternion.js#L206

Param	Type	Description
x	number	angle in X axis in radians
y	number	angle in Y axis in radians
z	number	angle in Z axis in radians

quaternion.fromEulerAnglesZXY(x, y, z)

XYZ order

Kind: instance method of Quaternion
Source:: https://stackoverflow.com/questions/12088610/conversion-between-euler-quaternion-like-in-unity3d-engine
See

• http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m
• https://github.com/mrdoob/three.js/blob/510705cde208b165fd87946b0f8504a1cd6dbe83/src/math/Quaternion.js#L206

Param	Type	Description
x	number	angle in X axis in radians
y	number	angle in Y axis in radians
z	number	angle in Z axis in radians

quaternion.fromEulerAnglesZYX(x, y, z)

XYZ order

Kind: instance method of Quaternion
Source:: https://stackoverflow.com/questions/12088610/conversion-between-euler-quaternion-like-in-unity3d-engine
See

• http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m
• https://github.com/mrdoob/three.js/blob/510705cde208b165fd87946b0f8504a1cd6dbe83/src/math/Quaternion.js#L206

Param	Type	Description
x	number	angle in X axis in radians
y	number	angle in Y axis in radians
z	number	angle in Z axis in radians

quaternion.fromEulerAnglesYZX(x, y, z)

XYZ order

Kind: instance method of Quaternion
Source:: https://stackoverflow.com/questions/12088610/conversion-between-euler-quaternion-like-in-unity3d-engine
See

• http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m
• https://github.com/mrdoob/three.js/blob/510705cde208b165fd87946b0f8504a1cd6dbe83/src/math/Quaternion.js#L206

Param	Type	Description
x	number	angle in X axis in radians
y	number	angle in Y axis in radians
z	number	angle in Z axis in radians

quaternion.fromEulerAnglesXZY(x, y, z)

XYZ order

Kind: instance method of Quaternion
Source:: https://stackoverflow.com/questions/12088610/conversion-between-euler-quaternion-like-in-unity3d-engine
See

• http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m
• https://github.com/mrdoob/three.js/blob/510705cde208b165fd87946b0f8504a1cd6dbe83/src/math/Quaternion.js#L206

Param	Type	Description
x	number	angle in X axis in radians
y	number	angle in Y axis in radians
z	number	angle in Z axis in radians

quaternion.fromUnitVectors(from, to)

NOTE: Vectors need to be normalized Based on blog post: http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors

Kind: instance method of Quaternion

Param	Type
from	Vector3
to	Vector3

quaternion.setFromRotationMatrix(m)

Deprecated

Kind: instance method of Quaternion

Param	Type
m	Matrix4

quaternion.__setFromRotationMatrix(m11, m12, m13, m21, m22, m23, m31, m32, m33) ⇒ Quaternion

This algorithm comes from "Quaternion Calculus and Fast Animation", Ken Shoemake, 1987 SIGGRAPH course notes

Kind: instance method of Quaternion
See: https://gitlab.com/libeigen/eigen/-/blob/master/Eigen/src/Geometry/Quaternion.h#L813

Param	Type
m11	number
m12	number
m13	number
m21	number
m22	number
m23	number
m31	number
m32	number
m33	number

quaternion.lerp(other, t)

Linear interpolation

Kind: instance method of Quaternion

Param	Type	Description
other	Quaternion
t	number	fractional value between 0 and 1

quaternion.lerpQuaternions(first, second, t)

Kind: instance method of Quaternion

Param	Type
first	Quaternion
second	Quaternion
t	number

quaternion.slerpQuaternions(from, to, t)

Kind: instance method of Quaternion

Param	Type
from	Quaternion
to	Quaternion
t	number

quaternion.slerp(other, t)

Kind: instance method of Quaternion
See: https://github.com/toji/gl-matrix/blob/master/src/gl-matrix/quat.js

Param	Type
other	Quaternion
t	number

quaternion.process(handler)

Kind: instance method of Quaternion

Param	Type
handler	function

quaternion.copy(other) ⇒ Quaternion

Kind: instance method of Quaternion

Param	Type
other	Quaternion

quaternion.clone() ⇒ Quaternion

Kind: instance method of Quaternion

quaternion.set(x, y, z, w) ⇒ Quaternion

Kind: instance method of Quaternion

Param	Type
x	number
y	number
z	number
w	number

quaternion.conjugate() ⇒ Quaternion

Kind: instance method of Quaternion

quaternion.toBinaryBuffer(buffer)

Kind: instance method of Quaternion

Param	Type
buffer	BinaryBuffer

quaternion.fromBinaryBuffer(buffer)

Kind: instance method of Quaternion

Param	Type
buffer	BinaryBuffer

quaternion.toBinaryBufferFloat32(buffer)

Kind: instance method of Quaternion

Param	Type
buffer	BinaryBuffer

quaternion.fromBinaryBufferFloat32(buffer)

Kind: instance method of Quaternion

Param	Type
buffer	BinaryBuffer

quaternion.decodeFromUint32(value)

Deprecated

Based on GDC talk from Bungie on destiny, compressing quaternions for animation

Kind: instance method of Quaternion

Param	Type
value	number

quaternion.encodeToUint32() ⇒ number

Deprecated

Based on GDC talk from Bungie on destiny, compressing quaternions for animation

Kind: instance method of Quaternion

quaternion.readFromArray(array, offset)

Kind: instance method of Quaternion

Param	Type	Default
array	Array.<number>
offset	number	0

quaternion.writeToArray([array], [offset]) ⇒ Array.<number>

Kind: instance method of Quaternion

Param	Type	Default
[array]	Array.<number>
[offset]	number	0

quaternion.equals(other) ⇒ boolean

Kind: instance method of Quaternion

Param	Type
other	Quaternion

quaternion.hash() ⇒ number

Kind: instance method of Quaternion

quaternion.roughlyEquals(other, [tolerance]) ⇒ boolean

Kind: instance method of Quaternion

Param	Type
other	Quaternion
[tolerance]	number

quaternion.random([random]) ⇒ Quaternion

Based on http://planning.cs.uiuc.edu/node198.html

Kind: instance method of Quaternion

Param	Type
[random]	function

Quaternion.identity : Quaternion

Kind: static property of Quaternion
Read only: true

Quaternion.random(random) ⇒ Quaternion

Kind: static method of Quaternion

Param	Type	Description
random	function	random number generator function

Quaternion.fromEulerAngles(x, y, z) ⇒ Quaternion

Kind: static method of Quaternion

Param	Type	Description
x	number	in radians
y	number	in radians
z	number	in radians

Quaternion.rotateTowards(result, from, to, max_delta)

Behaves similarly to Unity's Quaternion RotateToward method

Kind: static method of Quaternion

Param	Type	Description
result	Quaternion
from	Quaternion
to	Quaternion
max_delta	number	in radians