Class: Quaternion

Constructor

new Quaternion(xopt, yopt, zopt, wopt)

Constructs a new quaternion.

Parameters:

Name	Type	Attributes	Default	Description
`x`	number	<optional>	0	The x value of this quaternion.
`y`	number	<optional>	0	The y value of this quaternion.
`z`	number	<optional>	0	The z value of this quaternion.
`w`	number	<optional>	1	The w value of this quaternion.

Members

(readonly) isQuaternion :boolean

This flag can be used for type testing.

Type:

boolean

Default Value: true

w :number

The w value of this quaternion.

Type:

number

Default Value: 1

x :number

The x value of this quaternion.

Type:

number

Default Value: 0

y :number

The y value of this quaternion.

Type:

number

Default Value: 0

z :number

The z value of this quaternion.

Type:

number

Default Value: 0

Methods

angleTo(q) → {number}

Returns the angle between this quaternion and the given one in radians.

Parameters:

Name	Type	Description
`q`	Quaternion	The quaternion to compute the angle with.

Returns:

The angle in radians.

Type:: number

clone() → {Quaternion}

Returns a new quaternion with copied values from this instance.

Returns:

A clone of this instance.

Type:: Quaternion

conjugate() → {Quaternion}

Returns the rotational conjugate of this quaternion. The conjugate of a quaternion represents the same rotation in the opposite direction about the rotational axis.

Returns:

A reference to this quaternion.

Type:: Quaternion

copy(quaternion) → {Quaternion}

Copies the values of the given quaternion to this instance.

Parameters:

Name	Type	Description
`quaternion`	Quaternion	The quaternion to copy.

Returns:

A reference to this quaternion.

Type:: Quaternion

dot(v) → {number}

Calculates the dot product of this quaternion and the given one.

Parameters:

Name	Type	Description
`v`	Quaternion	The quaternion to compute the dot product with.

Returns:

The result of the dot product.

Type:: number

equals(quaternion) → {boolean}

Returns true if this quaternion is equal with the given one.

Parameters:

Name	Type	Description
`quaternion`	Quaternion	The quaternion to test for equality.

Returns:

Whether this quaternion is equal with the given one.

Type:: boolean

fromArray(array, offsetopt, denormalizeopt) → {Quaternion}

Sets this quaternion's components from the given array.

Parameters:

Name	Type	Attributes	Default	Description
`array`	Array.<number>			An array holding the quaternion component values.
`offset`	number	<optional>	0	The offset into the array.
`denormalize`	boolean	<optional>	false	If true, denormalize the values, and array should be a typed array.

Returns:

A reference to this quaternion.

Type:: Quaternion

identity() → {Quaternion}

Sets this quaternion to the identity quaternion; that is, to the quaternion that represents "no rotation".

Returns:

A reference to this quaternion.

Type:: Quaternion

length() → {number}

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

Returns:

The Euclidean length.

Type:: number

lengthSq() → {number}

Computes the squared Euclidean length (straight-line length) of this quaternion, considered as a 4 dimensional vector. This can be useful if you are comparing the lengths of two quaternions, as this is a slightly more efficient calculation than Quaternion#length.

Returns:

The squared Euclidean length.

Type:: number

lerpQuaternions(q1, q2, ratio) → {Quaternion}

Linearly interpolates between two quaternions.

Parameters:

Name	Type	Description
`q1`	Quaternion
`q2`	Quaternion
`ratio`	number

Returns:

Type:: Quaternion

multiply(q) → {Quaternion}

Multiplies this quaternion by the given one.

Parameters:

Name	Type	Description
`q`	Quaternion	The quaternion.

Returns:

A reference to this quaternion.

Type:: Quaternion

multiplyQuaternions(a, b) → {Quaternion}

Multiplies the given quaternions and stores the result in this instance.

Parameters:

Name	Type	Description
`a`	Quaternion	The first quaternion.
`b`	Quaternion	The second quaternion.

Returns:

A reference to this quaternion.

Type:: Quaternion

normalize() → {Quaternion}

Normalizes this quaternion - that is, calculated the quaternion that performs the same rotation as this one, but has a length equal to 1.

Returns:

A reference to this quaternion.

Type:: Quaternion

onChange(callback) → {Quaternion}

Registers a callback that is called whenever the quaternion's angle value changes.

Parameters:

Name	Type	Description
`callback`	function	When the Quaternion angle value changes, the callback method is triggered

Returns:

A reference to this quaternion.

Type:: Quaternion

premultiply(q) → {Quaternion}

Pre-multiplies this quaternion by the given one.

Parameters:

Name	Type	Description
`q`	Quaternion	The quaternion.

Returns:

A reference to this quaternion.

Type:: Quaternion

set(x, y, z, w) → {Quaternion}

Sets the quaternion components.

Parameters:

Name	Type	Description
`x`	number	The x value of this quaternion.
`y`	number	The y value of this quaternion.
`z`	number	The z value of this quaternion.
`w`	number	The w value of this quaternion.

Returns:

A reference to this quaternion.

Type:: Quaternion

setFromAxisAngle(axis, angle) → {Quaternion}

Sets this quaternion from the given axis and angle.

Parameters:

Name	Type	Description
`axis`	Vector3	The normalized axis.
`angle`	number	The angle in radians.

Returns:

A reference to this quaternion.

Type:: Quaternion

setFromEuler(euler, updateopt) → {Quaternion}

Sets this quaternion from the rotation specified by the given Euler angles.

Parameters:

Name	Type	Attributes	Default	Description
`euler`	Euler			The Euler angles.
`update`	boolean	<optional>	true	Whether the internal `onChange` callback should be executed or not.

Returns:

A reference to this quaternion.

Type:: Quaternion

setFromRotationMatrix(m) → {Quaternion}

Sets this quaternion from the given rotation matrix.

Parameters:

Name	Type	Description
`m`	Matrix4	A 4x4 matrix of which the upper 3x3 of matrix is a pure rotation matrix (i.e. unscaled).

Returns:

A reference to this quaternion.

Type:: Quaternion

setFromUnitVectors(vFrom, vTo) → {Quaternion}

Sets this quaternion to the rotation required to rotate the direction vector vFrom to the direction vector vTo.

Parameters:

Name	Type	Description
`vFrom`	Vector3	The first (normalized) direction vector.
`vTo`	Vector3	The second (normalized) direction vector.

Returns:

A reference to this quaternion.

Type:: Quaternion

slerp(qb, t) → {Quaternion}

Performs a spherical linear interpolation between quaternions.

Parameters:

Name	Type	Description
`qb`	Quaternion	The target quaternion.
`t`	number	The interpolation factor in the closed interval `[0, 1]`.

Returns:

A reference to this quaternion.

Type:: Quaternion

slerpQuaternions(qa, qb, t) → {Quaternion}

Performs a spherical linear interpolation between the given quaternions and stores the result in this quaternion.

Parameters:

Name	Type	Description
`qa`	Quaternion	The source quaternion.
`qb`	Quaternion	The target quaternion.
`t`	number	The interpolation factor in the closed interval `[0, 1]`.

Returns:

A reference to this quaternion.

Type:: Quaternion

toArray(arrayopt, offsetopt, normalizeopt) → {Quaternion}

Writes the components of this quaternion to the given array. If no array is provided, the method returns a new instance.

Parameters:

Name	Type	Attributes	Default	Description
`array`	Array.<number>	<optional>	[]	The target array holding the quaternion components.
`offset`	number	<optional>	0	Index of the first element in the array.
`normalize`	boolean	<optional>	false	If true, normalize the values, and array should be a typed array.

Returns:

The quaternion components.

Type:: Quaternion

toMatrix4(target) → {Matrix4}

Convert the current quaternion to a matrix4.

Parameters:

Name	Type	Description
`target`	Matrix4	The target matrix to write the quaternion data to.

Returns:

The target matrix with the quaternion data written to it.

Type:: Matrix4

(static) multiplyQuaternionsFlat(dst, dstOffset, src0, srcOffset0, src1, srcOffset1) → {Array.<number>}

Multiplies two quaternions. This implementation assumes the quaternion data are managed in flat arrays.

Parameters:

Name	Type	Description
`dst`	Array.<number>	The destination array.
`dstOffset`	number	An offset into the destination array.
`src0`	Array.<number>	The source array of the first quaternion.
`srcOffset0`	number	An offset into the first source array.
`src1`	Array.<number>	The source array of the second quaternion.
`srcOffset1`	number	An offset into the second source array.

See: Quaternion#multiplyQuaternions

Returns:

The destination array.

Type:: Array.<number>

(static) slerpFlat(dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t)

Interpolates between two quaternions via SLERP. This implementation assumes the quaternion data are managed in flat arrays.

Parameters:

Name	Type	Description
`dst`	Array.<number>	The destination array.
`dstOffset`	number	An offset into the destination array.
`src0`	Array.<number>	The source array of the first quaternion.
`srcOffset0`	number	An offset into the first source array.
`src1`	Array.<number>	The source array of the second quaternion.
`srcOffset1`	number	An offset into the second source array.
`t`	number	The interpolation factor in the range `[0,1]`.

See: Quaternion#slerp