Quaternion

Description

class Quaternion

Constructor

new Quaternion(x, y, z, w)

Creates a new Quaternion from the passed floats.

Parameters

	Name	Type	Description
optional	x	number
optional	y	number
optional	z	number

Members

x : number

y : number

z : number

w : number

Methods

toString() → string

Returns a string with the Quaternion coordinates.

getClassName() → string

Returns the string "Quaternion".

getHashCode() → number

Returns the Quaternion hash code.

asArray() → number[]

Returns a new array populated with 4 elements : the Quaternion coordinates.

equals(otherQuaternion) → boolean

Boolean : True if the current Quaterion and the passed one coordinates are strictly equal.

Parameters

	Name	Type	Description
	otherQuaternion	Quaternion

clone() → Quaternion

Returns a new Quaternion copied from the current one.

copyFrom(other) → Quaternion

Updates the current Quaternion from the passed one coordinates.

Returns the updated Quaterion.

Parameters

	Name	Type	Description
	other	Quaternion

copyFromFloats(x, y, z, w) → Quaternion

Updates the current Quaternion from the passed float coordinates.

Returns the updated Quaterion.

Parameters

	Name	Type	Description
	x	number
	y	number
	z	number

set(x, y, z, w) → Quaternion

Updates the current Quaternion from the passed float coordinates.

Returns the updated Quaterion.

Parameters

	Name	Type	Description
	x	number
	y	number
	z	number

add(other) → Quaternion

Returns a new Quaternion as the addition result of the passed one and the current Quaternion.

Parameters

	Name	Type	Description
	other	Quaternion

subtract(other) → Quaternion

Returns a new Quaternion as the subtraction result of the passed one from the current Quaternion.

Parameters

	Name	Type	Description
	other	Quaternion

scale(value) → Quaternion

Returns a new Quaternion set by multiplying the current Quaterion coordinates by the float "scale".

Parameters

	Name	Type	Description
	value	number

multiply(q1) → Quaternion

Returns a new Quaternion set as the quaternion mulplication result of the current one with the passed one "q1".

Parameters

	Name	Type	Description
	q1	Quaternion

multiplyToRef(q1, result) → Quaternion

Sets the passed "result" as the quaternion mulplication result of the current one with the passed one "q1".

Returns the current Quaternion.

Parameters

	Name	Type	Description
	q1	Quaternion
	result	Quaternion

multiplyInPlace(q1) → Quaternion

Updates the current Quaternion with the quaternion mulplication result of itself with the passed one "q1".

Returns the updated Quaternion.

Parameters

	Name	Type	Description
	q1	Quaternion

conjugateToRef(ref) → Quaternion

Sets the passed "ref" with the conjugation of the current Quaternion.

Returns the current Quaternion.

Parameters

	Name	Type	Description
	ref	Quaternion

conjugateInPlace() → Quaternion

Conjugates in place the current Quaternion.

Returns the updated Quaternion.

conjugate() → Quaternion

Returns a new Quaternion as the conjugate of the current Quaternion.

length() → number

Returns the Quaternion length (float).

normalize() → Quaternion

Normalize in place the current Quaternion.

Returns the updated Quaternion.

toEulerAngles(order) → Vector3

Returns a new Vector3 set with the Euler angles translated from the current Quaternion.

Parameters

	Name	Type	Description
optional	order	string

toEulerAnglesToRef(result, order) → Quaternion

Sets the passed vector3 "result" with the Euler angles translated from the current Quaternion.

Returns the current Quaternion.

Parameters

	Name	Type	Description
	result	Vector3
optional	order	string

toRotationMatrix(result) → Quaternion

Updates the passed rotation matrix with the current Quaternion values.

Returns the current Quaternion.

Parameters

	Name	Type	Description
	result	Matrix

fromRotationMatrix(matrix) → Quaternion

Updates the current Quaternion from the passed rotation matrix values.

Returns the updated Quaternion.

Parameters

	Name	Type	Description
	matrix	Matrix

static FromRotationMatrix(matrix) → Quaternion

Returns a new Quaternion set from the passed rotation matrix values.

Parameters

	Name	Type	Description
	matrix	Matrix

static FromRotationMatrixToRef(matrix, result) → void

Updates the passed quaternion "result" with the passed rotation matrix values.

Parameters

	Name	Type	Description
	matrix	Matrix
	result	Quaternion

static Zero() → Quaternion

Returns a new Quaternion set to (0.0, 0.0, 0.0).

static Inverse(q) → Quaternion

Returns a new Quaternion as the inverted current Quaternion.

Parameters

	Name	Type	Description
	q	Quaternion

static Identity() → Quaternion

Returns the identity Quaternion.

static IsIdentity(quaternion) → boolean

Parameters

	Name	Type	Description
	quaternion	Quaternion

static RotationAxis(axis, angle) → Quaternion

Returns a new Quaternion set from the passed axis (Vector3) and angle in radians (float).

Parameters

	Name	Type	Description
	axis	Vector3
	angle	number

static RotationAxisToRef(axis, angle, result) → Quaternion

Sets the passed quaternion "result" from the passed axis (Vector3) and angle in radians (float).

Parameters

	Name	Type	Description
	axis	Vector3
	angle	number
	result	Quaternion

static FromArray(array, offset) → Quaternion

Retuns a new Quaternion set from the starting index of the passed array.

Parameters

	Name	Type	Description
	array	ArrayLike<number>
optional	offset	number

static RotationYawPitchRoll(yaw, pitch, roll) → Quaternion

Returns a new Quaternion set from the passed Euler float angles (y, x, z).

Parameters

	Name	Type	Description
	yaw	number
	pitch	number
	roll	number

static RotationYawPitchRollToRef(yaw, pitch, roll, result) → void

Sets the passed quaternion "result" from the passed float Euler angles (y, x, z).

Parameters

	Name	Type	Description
	yaw	number
	pitch	number
	roll	number

static RotationAlphaBetaGamma(alpha, beta, gamma) → Quaternion

Returns a new Quaternion from the passed float Euler angles expressed in z-x-z orientation

Parameters

	Name	Type	Description
	alpha	number
	beta	number
	gamma	number

static RotationAlphaBetaGammaToRef(alpha, beta, gamma, result) → void

Sets the passed quaternion "result" from the passed float Euler angles expressed in z-x-z orientation

Parameters

	Name	Type	Description
	alpha	number
	beta	number
	gamma	number

static RotationQuaternionFromAxis(axis1, axis2, axis3, ref) → Quaternion

Returns a new Quaternion as the quaternion rotation value to reach the target (axis1, axis2, axis3) orientation as a rotated XYZ system.

cf to Vector3.RotationFromAxis() documentation.

Note : axis1, axis2 and axis3 are normalized during this operation.

Parameters

	Name	Type	Description
	axis1	Vector3
	axis2	Vector3
	axis3	Vector3

static RotationQuaternionFromAxisToRef(axis1, axis2, axis3, ref) → void

Sets the passed quaternion "ref" with the quaternion rotation value to reach the target (axis1, axis2, axis3) orientation as a rotated XYZ system.

cf to Vector3.RotationFromAxis() documentation.

Note : axis1, axis2 and axis3 are normalized during this operation.

Parameters

	Name	Type	Description
	axis1	Vector3
	axis2	Vector3
	axis3	Vector3

static Slerp(left, right, amount) → Quaternion

Parameters

	Name	Type	Description
	left	Quaternion
	right	Quaternion
	amount	number

static SlerpToRef(left, right, amount, result) → void

Parameters

	Name	Type	Description
	left	Quaternion
	right	Quaternion
	amount	number

static Hermite(value1, tangent1, value2, tangent2, amount) → Quaternion

Returns a new Quaternion located for "amount" (float) on the Hermite interpolation spline defined by the vectors "value1", "tangent1", "value2", "tangent2".

Parameters

	Name	Type	Description
	value1	Quaternion
	tangent1	Quaternion
	value2	Quaternion
	tangent2	Quaternion