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Quaternion

Represents a vector that is used to encode three-dimensional physical rotations.

let quat = new Quaternion(x: number = 0, y: number = 0, z: number = 0, w: number = 1)

The Quaternion structure is used to efficiently rotate an object about the (x,y,z) vector by the angle theta,
where: w = cos(theta/2)

Instance properties​

  • x: The x value of the vector component of the quaternion.
  • y: The y value of the vector component of the quaternion.
  • z: The z value of the vector component of the quaternion.
  • w: The rotation component of the quaternion.
  • isIdentity: Indicates whether the current instance is the identity quaternion.

Static properties​

  • Identity: Gets a quaternion that represents no rotation.

Instance methods​

clone​

quat.clone(): Quaternion

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

equals​

quat.equals(q: Quaternion): boolean

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

length​

quat.length(): number

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

lengthSqr​

quat.lengthSqr(): number

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

angleTo​

quat.angleTo(q: Quaternion): number

Returns the angle between this quaternion and quaternion q in radians.

Static methods​

add​

Quaternion.add(q1: Quaternion, q2: Quaternion): Quaternion

Adds each element in one quaternion with its corresponding element in a second quaternion.

sub​

Quaternion.sub(q1: Quaternion, q2: Quaternion): Quaternion

Subtracts each element in a second quaternion from its corresponding element in a first quaternion.

conjugate​

Quaternion.conjugate(q: Quaternion): Quaternion

Returns the conjugate of a specified quaternion.

multiply​

Quaternion.multiply(q1: Quaternion, q2: Quaternion): Quaternion

Returns the quaternion that results from multiplying two quaternions together.

multiplyScalar​

Quaternion.multiplyScalar(q: Quaternion, s: number): Quaternion

Returns the quaternion that results from scaling all the components of a specified quaternion by a scalar factor.

divide​

Quaternion.divide(q1: Quaternion, q2: Quaternion): Quaternion

Divides one quaternion by a second quaternion.

invert​

Quaternion.invert(q: Quaternion): Quaternion

Returns the inverse of a quaternion.

normalize​

Quaternion.normalize(q: Quaternion): Quaternion

Divides each component of a specified Quaternion by its length.

slerp​

Quaternion.slerp(q1: Quaternion, q2: Quaternion, t: number): Quaternion

Interpolates between two quaternions, using spherical linear interpolation.

createFromAxisAngle​

Quaternion.createFromAxisAngle(axis: Vector3, angle: number): Quaternion

Creates a quaternion from a unit vector and an angle to rotate around the vector.

createFromRotationMatrix​

Quaternion.createFromRotationMatrix(m: Matrix4): Quaternion

Creates a quaternion from the specified rotation matrix.

createFromYawPitchRoll​

Quaternion.createFromYawPitchRoll(yaw: number, pitch: number, roll: number): Quaternion

Creates a new quaternion from the given yaw, pitch, and roll.

  • yaw: Angle of rotation, in radians, around the Y-axis.
  • pitch: Angle of rotation, in radians, around the X-axis.
  • roll: Angle of rotation, in radians, around the Z-axis.

concat​

Quaternion.concat(q1: Quaternion, q2: Quaternion): Quaternion

Concatenates two quaternions.

negate​

Quaternion.negate(q: Quaternion): Quaternion

Reverses the sign of each component of the quaternion.

dot​

Quaternion.dot(q1: Quaternion, q2: Quaternion): Quaternion

Returns dot product of 2 quaternions.