Class Quaternion

A quaternion.

Methods that manipulate values are generally destructive. To preserve the original values, explicitly call clone() to create a duplicate instance.

Index

Constructors

Properties

w x y z

Methods

clone createEulerAngles dot equals identity invert length lengthSq multiply normalize set setFromAxisAngle setFromEulerAngles slerp toAxisAngle

Static Methods

axisAngle euler fromToRotation lookRotation

Constructors

constructor

new Quaternion(): Quaternion
Returns Quaternion
new Quaternion(x: number, y: number, z: number, w: number): Quaternion
Parameters
- x: number
- y: number
- z: number
- w: number
Returns Quaternion

Properties

w

w: number

x

x: number

y

y: number

z

z: number

Methods

clone

clone(): Quaternion
Clones the instance.

Returns Quaternion

createEulerAngles

createEulerAngles(): Vector3
Returns a value that represents the current rotation in Euler angles.

Returns Vector3

dot

dot(v: Quaternion): number
Returns the dot product of the quaternion and v.
Parameters
- v: Quaternion
Returns number

equals

equals(v: Quaternion): boolean
Compares the quaternion to v, and returns true if they are approximately equal.
Parameters
- v: Quaternion
Returns boolean

identity

identity(): this
Updates the quaternion's value to the identity rotation. This is the state of having no rotation.

Returns this

invert

invert(): this
Inverts the quaternion's value.

Returns this

length

length(): number
Returns the quaternion's length when viewed as a 4-dimensional vector.

Returns number

lengthSq

lengthSq(): number
Returns the quaternion's squared length when viewed as a 4-dimensional vector.

Returns number

multiply

multiply(v: Quaternion): this
Multiplies the quaternion's value by v.
Parameters
- v: Quaternion
Returns this

normalize

normalize(): this
Normalizes the quaternion's value.

Returns this

set

set(x: number, y: number, z: number, w: number): this
Sets the quaternion's component values to those specified in x, y, z, and w.
Parameters
- x: number
- y: number
- z: number
- w: number
Returns this

setFromAxisAngle

setFromAxisAngle(axis: Vector3, degree: number): this
Updates the quaternion to a value that represents a rotation of degree degrees around the axis.
Parameters
- axis: Vector3
- degree: number
Returns this
Example
```
new Quaternion().setFromAxisAngle(new Vector3(0, 1, 0), 90);
```

setFromEulerAngles

setFromEulerAngles(v: Vector3): this
Updates the quaternion to a value that represents a rotation in Euler angles. Axes are applied in the order of ZXY.
Parameters
- v: Vector3
Returns this
Example
```
new Quaternion().setFromEulerAngles(new Vector3(90, 0, 0));
```
setFromEulerAngles(x: number, y: number, z: number): this
Updates the quaternion to a value that represents a rotation in Euler angles. Axes are applied in the order of ZXY.
Parameters
- x: number
- y: number
- z: number
Returns this
Example
```
new Quaternion().setFromEulerAngles(90, 0, 0);
```

slerp

slerp(v: Quaternion, a: number): this
Calculates the spherical linear interpolation (slerp) between the current value and v, using a as the interpolation factor, then updates the quaternion's value to the result.
Parameters
- v: Quaternion
- a: number
  The interpolation factor, specified as a number between [0, 1].
Returns this
Example
```
let min = new Quaternion().identity();
let max = new Quaternion().setFromEulerAngles(0, 45, 0);
min.clone().slerp(max, 0.5);
```

toAxisAngle

toAxisAngle(): AxisAngle
Gets the axis and angle values that represent the current rotation.

Returns AxisAngle

Static Methods

`Static`axisAngle

axisAngle(axis: Vector3, angle: number): Quaternion
Gets the quaternion that represents a rotation of degree degrees around the axis.
Parameters
- axis: Vector3
- angle: number
Returns Quaternion
Example
```
let q = Quaternion.axisAngle(new Vector3(0, 1, 0), 90);
```

`Static`euler

euler(angles: Vector3): Quaternion
Gets the quaternion by the value that represents a rotation in Euler angles. Axes are applied in the order of ZXY.
Parameters
- angles: Vector3
Returns Quaternion
euler(x: number, y: number, z: number): Quaternion
Gets the quaternion by the value that represents a rotation in Euler angles. Axes are applied in the order of ZXY.
Parameters
- x: number
- y: number
- z: number
Returns Quaternion

`Static`fromToRotation

fromToRotation(from: Vector3, to: Vector3): Quaternion
Gets a Quaternion that changes orientation from from direction to another direction to.
Parameters
- from: Vector3
- to: Vector3
Returns Quaternion

`Static`lookRotation

lookRotation(forward: Vector3, up: Vector3): Quaternion
Creates a Quaternion looking towards forward direction with the upward direction being up.

up is optional, and if omitted, it will be treated as if new Vector3(0, 1, 0) was specified.
Parameters
- forward: Vector3
- up: Vector3
Returns Quaternion