Quaternion
API for creating and manipulating quaternions.
Constants
Quaternion.IDENTITY
An identity quaternion is the inverse of itself (i.e. it performs no rotation).
Quaternion.IDENTITY: Quaternion
Functions
Quaternion.create
Creates a new quaternion.
Quaternion.create(imaginary: vector, scalar: number): Quaternion
Parameters
| Name | Type | Description |
|---|---|---|
| imaginary | vector | The imaginary part of the quaternion. |
| scalar | number | The scalar part of the quaternion. |
Returns
| Name | Type | Description |
|---|---|---|
| quaternion | Quaternion | No description |
Quaternion.fromEuler
Creates a quaternion from Euler angles.
Quaternion.fromEuler(eulerAngles: vector): Quaternion
Parameters
| Name | Type | Description |
|---|---|---|
| eulerAngles | vector | No description |
Returns
| Name | Type | Description |
|---|---|---|
| quaternion | Quaternion | No description |
Quaternion.toEuler
Converts a quaternion to Euler angles in pitch, yaw, roll order.
Quaternion.toEuler(quaternion: Quaternion): vector
Parameters
| Name | Type | Description |
|---|---|---|
| quaternion | Quaternion | No description |
Returns
| Name | Type | Description |
|---|---|---|
| eulerAngles | vector | No description |
Quaternion.fromAxisAngle
Creates a quaternion from an axis and an angle.
Quaternion.fromAxisAngle(axis: vector, angle: number): Quaternion
Parameters
| Name | Type | Description |
|---|---|---|
| axis | vector | The axis of rotation. |
| angle | number | The angle of rotation in radians about the axis. |
Returns
| Name | Type | Description |
|---|---|---|
| quaternion | Quaternion | No description |
Quaternion.conjugate
Returns the conjugate of a quaternion.
Quaternion.conjugate(quaternion: Quaternion): Quaternion
Parameters
| Name | Type | Description |
|---|---|---|
| quaternion | Quaternion | No description |
Returns
| Name | Type | Description |
|---|---|---|
| quaternion | Quaternion | No description |
Quaternion.inverse
Returns the inverse of a quaternion.
Quaternion.inverse(quaternion: Quaternion): Quaternion
Parameters
| Name | Type | Description |
|---|---|---|
| quaternion | Quaternion | No description |
Returns
| Name | Type | Description |
|---|---|---|
| quaternion | Quaternion | No description |
Quaternion.rotate
Rotates a vector by a quaternion.
Quaternion.rotate(quaternion: Quaternion, vector: vector): vector
Parameters
| Name | Type | Description |
|---|---|---|
| quaternion | Quaternion | The quaternion to rotate by. |
| vector | vector | The vector to rotate. |
Returns
| Name | Type | Description |
|---|---|---|
| vector | vector | The rotated vector. |
Quaternion.mul
Multiplies two quaternions. Quaternion multiplication is not commutative.
Quaternion.mul(a: Quaternion, b: Quaternion): Quaternion
Parameters
| Name | Type | Description |
|---|---|---|
| a | Quaternion | The first quaternion. |
| b | Quaternion | The second quaternion. |
Returns
| Name | Type | Description |
|---|---|---|
| quaternion | Quaternion | The product of the two quaternions. |
Quaternion.normalise
Returns a normalised copy of the quaternion.
Quaternion.normalise(quaternion: Quaternion): Quaternion
Parameters
| Name | Type | Description |
|---|---|---|
| quaternion | Quaternion | Quaternion to normalise. |
Returns
| Name | Type | Description |
|---|---|---|
| normalisedQuaternion | Quaternion | Copy of the quaternion with unit length. |
Quaternion.getRotationBetween
Returns a quaternion which will rotate the first direction to the second along the shortest path. May introduce unwanted roll.
Quaternion.getRotationBetween(startDirection: vector, endDirection: vector): Quaternion
Parameters
| Name | Type | Description |
|---|---|---|
| startDirection | vector | Start direction of the rotation. |
| endDirection | vector | End direction of the rotation. |
Returns
| Name | Type | Description |
|---|---|---|
| rotation | Quaternion | Rotation from start to end. |
Types
Quaternion
Rotation represented by imaginary and scalar components which does not suffer from gimbal lock.
type Quaternion = { [1]: vector, [2]: number }
Properties
| Field | Type | Description |
|---|---|---|
| 1 | vector | The imaginary part of the quaternion. |
| 2 | number | The scalar part of the quaternion. |