Class Quaternion

Implementation of a quaternion. Quaternions are used to represent rotations.

Example

const quaternion = new Quaternion();
quaternion.setFromAxisAngle( new Vector3( 0, 1, 0 ), Math.PI / 2 );

const vector = new Vector3( 1, 0, 0 );
vector.applyQuaternion( quaternion );

Hierarchy

Base
- Quaternion

Constructors

constructor

new Quaternion(x?: number, y?: number, z?: number, w?: number): Quaternion
Create a new instance. Default is a unit quaternion
Parameters
- Optional x: number
  
  x coordinate
- Optional y: number
  
  y coordinate
- Optional z: number
  
  z coordinate
- Optional w: number
  
  w coordinate
Returns Quaternion
Overrides Base.constructor
- Defined in Quaternion.d.ts:55

Properties

_w

_w: number

_x

_x: number

_y

_y: number

_z

_z: number

Accessors

isBox2

get isBox2(): boolean
Returns boolean
Inherited from Base.isBox2
- Defined in Base.d.ts:2

isBox3

get isBox3(): boolean
Returns boolean
Inherited from Base.isBox3
- Defined in Base.d.ts:3

isColor

get isColor(): boolean
Returns boolean
Inherited from Base.isColor
- Defined in Base.d.ts:4

isCylindrical

get isCylindrical(): boolean
Returns boolean
Inherited from Base.isCylindrical
- Defined in Base.d.ts:5

isEuler

get isEuler(): boolean
Returns boolean
Inherited from Base.isEuler
- Defined in Base.d.ts:6

isLine3

get isLine3(): boolean
Returns boolean
Inherited from Base.isLine3
- Defined in Base.d.ts:7

isMatrix3

get isMatrix3(): boolean
Returns boolean
Inherited from Base.isMatrix3
- Defined in Base.d.ts:8

isMatrix4

get isMatrix4(): boolean
Returns boolean
Inherited from Base.isMatrix4
- Defined in Base.d.ts:9

isPlane

get isPlane(): boolean
Returns boolean
Inherited from Base.isPlane
- Defined in Base.d.ts:10

isQuaternion

get isQuaternion(): boolean
Read-only flag to check if a given object is of type Quaternion.

Returns boolean
Overrides Base.isQuaternion
- Defined in Quaternion.d.ts:59

isRay

get isRay(): boolean
Returns boolean
Inherited from Base.isRay
- Defined in Base.d.ts:12

isSphere

get isSphere(): boolean
Returns boolean
Inherited from Base.isSphere
- Defined in Base.d.ts:13

isSpherical

get isSpherical(): boolean
Returns boolean
Inherited from Base.isSpherical
- Defined in Base.d.ts:14

isTriangle

get isTriangle(): boolean
Returns boolean
Inherited from Base.isTriangle
- Defined in Base.d.ts:15

isVector2

get isVector2(): boolean
Returns boolean
Inherited from Base.isVector2
- Defined in Base.d.ts:16

isVector3

get isVector3(): boolean
Returns boolean
Inherited from Base.isVector3
- Defined in Base.d.ts:17

isVector4

get isVector4(): boolean
Returns boolean
Inherited from Base.isVector4
- Defined in Base.d.ts:18

w

get w(): number
Returns number
- Defined in Quaternion.d.ts:66
set w(value: number): void
Parameters
- value: number
Returns void
- Defined in Quaternion.d.ts:67

x

get x(): number
Returns number
- Defined in Quaternion.d.ts:60
set x(value: number): void
Parameters
- value: number
Returns void
- Defined in Quaternion.d.ts:61

y

get y(): number
Returns number
- Defined in Quaternion.d.ts:62
set y(value: number): void
Parameters
- value: number
Returns void
- Defined in Quaternion.d.ts:63

z

get z(): number
Returns number
- Defined in Quaternion.d.ts:64
set z(value: number): void
Parameters
- value: number
Returns void
- Defined in Quaternion.d.ts:65

Methods

[iterator]

[iterator](): IterableIterator<number>
Returns IterableIterator<number>
- Defined in Quaternion.d.ts:243

_onChange

_onChange(callback: (() => void)): Quaternion
Parameters
- callback: (() => void)
  - - (): void
    - Returns void
Returns Quaternion
- Defined in Quaternion.d.ts:241

_onChangeCallback

_onChangeCallback(): void
Returns void
- Defined in Quaternion.d.ts:242

angleTo

angleTo(q: Quaternion): number
Find the angle between this quaternion and quaternion q in radians.

Returns
The angle.
Parameters
- q: Quaternion
Returns number
- Defined in Quaternion.d.ts:122

clone

clone(): Quaternion
Creates a new Quaternion with identical x, y, z and w properties to this one.

Returns
A new instance.

Returns Quaternion
- Defined in Quaternion.d.ts:81

conjugate

conjugate(): Quaternion
Compute the rotational conjugate of this quaternion. The conjugate of a quaternion represents the same rotation in the opposite direction about the rotational axis.

Returns
The conjugate quaternion.

Returns Quaternion
- Defined in Quaternion.d.ts:149

copy

copy(quaternion: Quaternion): Quaternion
Copies the x, y, z and w properties of q into this quaternion.

Returns
This instance.
Parameters
- quaternion: Quaternion
Returns Quaternion
- Defined in Quaternion.d.ts:87

dot

dot(v: Quaternion): number
Calculates the dot product of quaternions v and this one.

Returns
The dot product.
Parameters
- v: Quaternion
Returns number
- Defined in Quaternion.d.ts:155

equals

equals(quaternion: Quaternion): boolean
Compares the x, y, z and w properties of v to the equivalent properties of this quaternion to determine if they represent the same rotation.

Returns
True when equivalance is found; false otherwise.
Parameters
- quaternion: Quaternion
  
  quaternion that this quaternion will be compared to.
Returns boolean
- Defined in Quaternion.d.ts:225

fromArray

fromArray(array: number[], offset?: number): Quaternion
Sets this quaternion's x, y, z and w properties from an array.

Returns
This instance.
Parameters
- array: number[]
  
  array of format (x, y, z, w) used to construct the quaternion.
- Optional offset: number
  
  an offset into the array.
Returns Quaternion
- Defined in Quaternion.d.ts:232

identity

identity(): Quaternion
Sets this quaternion to the identity quaternion; that is, to the quaternion that represents "no rotation".

Returns
This instance

Returns Quaternion
- Defined in Quaternion.d.ts:136

invert

invert(): Quaternion
Inverts this quaternion - calculates the conjugate. The quaternion is assumed to have unit length.

Returns
This instance.

Returns Quaternion
- Defined in Quaternion.d.ts:142

length

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

Returns
The Euclidean length.

Returns number
- Defined in Quaternion.d.ts:169

lengthSq

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 length().

Returns
The squared Euclidean length.

Returns number
- Defined in Quaternion.d.ts:163

multiply

multiply(q: Quaternion): Quaternion
Multiplies this quaternion by q.

Returns
This instance.
Parameters
- q: Quaternion
Returns Quaternion
- Defined in Quaternion.d.ts:181

multiplyQuaternions

multiplyQuaternions(a: Quaternion, b: Quaternion): Quaternion
Sets this quaternion to a x b.

Returns
This instance.
Parameters
- a: Quaternion
- b: Quaternion
Returns Quaternion
- Defined in Quaternion.d.ts:194

normalize

normalize(): Quaternion
Normalizes this quaternion - that is, calculated the quaternion that performs the same rotation as this one, but has length equal to 1.

Returns
This instance.

Returns Quaternion
- Defined in Quaternion.d.ts:175

premultiply

premultiply(q: Quaternion): Quaternion
Pre-multiplies this quaternion by q.

Returns
This instance.
Parameters
- q: Quaternion
Returns Quaternion
- Defined in Quaternion.d.ts:187

random

random(): Quaternion
Sets this quaternion to a uniformly random, normalized quaternion.

Returns
This instance.

Returns Quaternion
- Defined in Quaternion.d.ts:218

rotateTowards

rotateTowards(q: Quaternion, step: number): Quaternion
Rotates this quaternion by a given angular step to the defined quaternion q. The method ensures that the final quaternion will not overshoot q.

Returns
This instance.
Parameters
- q: Quaternion
  
  THe target quaternion
- step: number
  
  The angular step in radians
Returns Quaternion
- Defined in Quaternion.d.ts:130

set

set(x: number, y: number, z: number, w: number): Quaternion
Sets x, y, z, w properties of this quaternion.

Returns
This instance.
Parameters
- x: number
- y: number
- z: number
- w: number
Returns Quaternion
- Defined in Quaternion.d.ts:76

setFromAxisAngle

setFromAxisAngle(axis: Vector3, angle: number): Quaternion
Sets this quaternion from rotation specified by axis and angle. Axis is assumed to be normalized, angle is in radians.

See
http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm

Returns
This instance.
Parameters
- axis: Vector3
- angle: number
Returns Quaternion
- Defined in Quaternion.d.ts:102

setFromEuler

setFromEuler(euler: Euler, update?: boolean): Quaternion
Sets this quaternion from the rotation specified by Euler angle.

Returns
This instance.
Parameters
- euler: Euler
- Optional update: boolean
Returns Quaternion
- Defined in Quaternion.d.ts:93

setFromRotationMatrix

setFromRotationMatrix(m: Matrix4): Quaternion
Sets this quaternion from rotation component of m.

Returns
This instance.
Parameters
- m: Matrix4
  
  a Matrix4 of which the upper 3x3 of matrix is a pure rotation matrix (i.e. unscaled).
Returns Quaternion
- Defined in Quaternion.d.ts:108

setFromUnitVectors

setFromUnitVectors(vFrom: Vector3, vTo: Vector3): Quaternion
Sets this quaternion to the rotation required to rotate direction vector vFrom to direction vector vTo.

Returns
This instance.
Parameters
- vFrom: Vector3
- vTo: Vector3
Returns Quaternion
- Defined in Quaternion.d.ts:116

slerp

slerp(qb: Quaternion, t: number): Quaternion
Handles the spherical linear interpolation between quaternions. t represents the amount of rotation between this quaternion (where t is 0) and qb (where t is 1). This quaternion is set to the result. Also see the static version of the slerp below.

Returns
This instance.
Parameters
- qb: Quaternion
  
  The other quaternion rotation
- t: number
  
  interpolation factor in the closed interval [0, 1].
Returns Quaternion
- Defined in Quaternion.d.ts:204

slerpQuaternions

slerpQuaternions(qa: Quaternion, qb: Quaternion, t: number): Quaternion
Performs a spherical linear interpolation between the given quaternions and stores the result in this quaternion.

Returns
This instance.
Parameters
- qa: Quaternion
- qb: Quaternion
- t: number
Returns Quaternion
- Defined in Quaternion.d.ts:213

toArray

toArray(array?: number[], offset?: number): number[]
Calculates the numerical elements of this quaternion in an array of format [x, y, z, w].

Returns
The array equivalent of this quaternion.
Parameters
- Optional array: number[]
  
  An optional array to store the quaternion. If not specified, a new array will be created.
- Optional offset: number
  
  if specified, the result will be copied into this Array.
Returns number[]
- Defined in Quaternion.d.ts:240

`Static` multiplyQuaternionsFlat

multiplyQuaternionsFlat(dst: number[], dstOffset: number, src0: number[], srcOffset0: number, src1: number[], srcOffset1: number): number[]
Multiply 2 quaterions. This multiplication implementation assumes the quaternion data are managed in flat arrays.
Parameters
- dst: number[]
  
  The output array.
- dstOffset: number
  
  An offset into the output array.
- src0: number[]
  
  The source array of the starting quaternion.
- srcOffset0: number
  
  An offset into the array src0.
- src1: number[]
  
  The source array of the target quaternion.
- srcOffset1: number
  
  An offset into the array src1.
Returns number[]
- Defined in Quaternion.d.ts:42

`Static` slerpFlat

slerpFlat(dst: number[], dstOffset: number, src0: number[], srcOffset0: number, src1: number[], srcOffset1: number, t: number): void
This SLERP implementation assumes the quaternion data are managed in flat arrays.
Parameters
- dst: number[]
- dstOffset: number
  
  An offset into the output array.
- src0: number[]
  
  The source array of the starting quaternion.
- srcOffset0: number
  
  An offset into the array src0.
- src1: number[]
  
  The source array of the target quatnerion.
- srcOffset1: number
  
  An offset into the array src1.
- t: number
  
  Normalized interpolation factor (between 0 and 1).
Returns void
- Defined in Quaternion.d.ts:29

Class Quaternion

Example

Hierarchy

Index

Constructors

Properties

Accessors

Methods

Constructors

constructor

Parameters

Optional x: number

Optional y: number

Optional z: number

Optional w: number

Returns Quaternion

Properties

_w

_x

_y

_z

Accessors

isBox2

Returns boolean

isBox3

Returns boolean

isColor

Returns boolean

isCylindrical

Returns boolean

isEuler

Returns boolean

isLine3

Returns boolean

isMatrix3

Returns boolean

isMatrix4

Returns boolean

isPlane

Returns boolean

isQuaternion

Returns boolean

isRay

Returns boolean

isSphere

Returns boolean

isSpherical

Returns boolean

isTriangle

Returns boolean

isVector2

Returns boolean

isVector3

Returns boolean

isVector4

Returns boolean

w

Returns number

Parameters

value: number

Returns void

x

Returns number

Parameters

value: number

Returns void

y

Returns number

Parameters

value: number

Returns void

z

Returns number

Parameters

value: number

Returns void

Methods

[iterator]

Returns IterableIterator<number>

_onChange

`Optional` x: number

`Optional` y: number

`Optional` z: number

`Optional` w: number

`Optional` offset: number