Class: ObservableQuaternion

Constructor

new ObservableQuaternion(elements): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1814

Creates a new Quaternion initialized with values in an array.

Parameters

elements

number[]

Array that contains the x, y, z, w values.

Returns

ObservableQuaternion

Inherited from

Constructor

new ObservableQuaternion(array): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1819

Creates a new Quaternion initialized with values in a Float32Array.

Parameters

array

Float32Array

Float32Array object that contains the x, y, z, w values.

Returns

ObservableQuaternion

Inherited from

Constructor

new ObservableQuaternion(buffer, offset): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1825

Creates a new Quaternion placed on a given ArrayBuffer object.

Parameters

buffer

ArrayBuffer

The array buffer object.

offset

number

The byte offset of the buffer where the vector placed at.

Returns

ObservableQuaternion

Inherited from

Constructor

new ObservableQuaternion(): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1829

Creates a new identity Quaternion.

Returns

ObservableQuaternion

Inherited from

Quaternion.magnitudeSq

Accessors

magnitude

Get Signature

get magnitude(): number

Defined in: libs/base/src/math/vector.ts:1939

Get the length of the quaternion.

Returns

number

Inherited from

Quaternion.magnitude

magnitudeSq

Get Signature

get magnitudeSq(): number

Defined in: libs/base/src/math/vector.ts:1943

Get the squared length of the quaternion.

Returns

number

Inherited from

callback

Get Signature

get callback(): () => void

Defined in: libs/base/src/math/vector.ts:2591

The callback function which will be executed when the value changed

Returns

() => void

Set Signature

set callback(cb): void

Defined in: libs/base/src/math/vector.ts:2594

Parameters

cb

() => void

Returns

void

x

Get Signature

get x(): number

Defined in: libs/base/src/math/vector.ts:2605

Get the x component value.

Returns

number

Set Signature

set x(val): void

Defined in: libs/base/src/math/vector.ts:2608

Get the x component value.

Parameters

val

number

Returns

void

Overrides

Quaternion.x

y

Get Signature

get y(): number

Defined in: libs/base/src/math/vector.ts:2618

Get the y component value.

Returns

number

Set Signature

set y(val): void

Defined in: libs/base/src/math/vector.ts:2621

Get the y component value.

Parameters

val

number

Returns

void

Overrides

Quaternion.y

z

Get Signature

get z(): number

Defined in: libs/base/src/math/vector.ts:2631

Get the z component value.

Returns

number

Set Signature

set z(val): void

Defined in: libs/base/src/math/vector.ts:2634

Get the z component value.

Parameters

val

number

Returns

void

Overrides

Quaternion.z

w

Get Signature

get w(): number

Defined in: libs/base/src/math/vector.ts:2644

Get the w component value.

Returns

number

Set Signature

set w(val): void

Defined in: libs/base/src/math/vector.ts:2647

Get the w component value.

Parameters

val

number

Returns

void

Overrides

Quaternion.w

Methods

equalsTo()

equalsTo(other, epsl?): boolean

Defined in: libs/base/src/math/vector.ts:31

Check if all data is close enough to another

Parameters

other

Float32Array<ArrayBuffer>

The data to be compared with.

epsl?

number

Returns

boolean

true if close enough, otherwise false.

Inherited from

Quaternion.equalsTo

toString()

toString(): string

Defined in: libs/base/src/math/vector.ts:51

Convert this to string object.

Returns

string

Inherited from

Quaternion.toString

isNaN()

isNaN(): boolean

Defined in: libs/base/src/math/vector.ts:60

Check the data for the presence of NaN.

Returns

boolean

true if NaN is present, otherwise false.

Inherited from

Quaternion.isNaN

setRandom()

setRandom(minValue, maxValue): void

Defined in: libs/base/src/math/vector.ts:74

Generate random vector

Parameters

minValue

number

Minimum value of any component of the vector

maxValue

number

Maximum value of any component of the vector

Returns

void

Inherited from

Quaternion.setRandom

clone()

clone(): Quaternion

Defined in: libs/base/src/math/vector.ts:1871

Creates a new Quaternion initialized with values from this quaternion.

Returns

Quaternion.setAndNormalize

The new quaternion.

Inherited from

Quaternion.clone

scaleBy()

scaleBy(f): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1922

Scale this quaternion by a scalar number.

Parameters

f

number

amount to scale this quaternion by.

Returns

ObservableQuaternion

self

Inherited from

Quaternion.scaleBy

setAndNormalize()

setAndNormalize(x, y, z, w): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1934

Set component values and then normalize the quaternion.

Parameters

x

number

The x component value.

y

number

The y component value.

z

number

The z component value.

w

number

The w component value.

Returns

ObservableQuaternion

self

Inherited from

identity()

identity(): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1947

Make this quaternion an identity quaternion

Returns

ObservableQuaternion

Inherited from

Quaternion.identity

inplaceNormalize()

inplaceNormalize(): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1955

Normalize this quaternion inplace.

Returns

ObservableQuaternion

self

Inherited from

Quaternion.inplaceNormalize

inplaceConjugate()

inplaceConjugate(): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1963

Calculates the conjugate of this quaternion inplace.

Returns

ObservableQuaternion

self

Inherited from

Quaternion.inplaceConjugate

inplaceInverse()

inplaceInverse(): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1971

Calculates the inverse of this quaternion inplace.

Returns

ObservableQuaternion

self

Inherited from

Quaternion.inplaceInverse

multiplyRight()

multiplyRight(other): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1980

Multiply this quaternion by another quaternion at the right side inplace.

Parameters

other

Quaternion.multiplyRight

The quaternion that to be multiplied by.

Returns

ObservableQuaternion

self

Inherited from

multiplyLeft()

multiplyLeft(other): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1989

Multiply this quaternion by another quaternion at the left side inplace.

Parameters

other

Quaternion.multiplyLeft

The quaternion that to be multiplied by.

Returns

ObservableQuaternion

self

Inherited from

unitVectorToUnitVector()

unitVectorToUnitVector(from, to): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:1999

Make a quaternion used to rotate a unit vector to another inplace.

Parameters

from

The unit vector to be rotated.

to

Quaternion.unitVectorToUnitVector

The destination unit vector.

Returns

ObservableQuaternion

self

Inherited from

fromEulerAngle()

fromEulerAngle(x, y, z, order?): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:2011

Calculates the quaternion from an euler angle in specific order inplace.

Parameters

x

number

Angle to rotate around X axis in radians.

y

number

Angle to rotate around Y axis in radians.

z

number

Angle to rotate around Z axis in radians.

order?

EulerAngleOrder = 'ZYX'

Intrinsic order for conversion.

Returns

ObservableQuaternion

self

Inherited from

Quaternion.fromEulerAngle

fromAxisAngle()

fromAxisAngle(axis, angle): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:2021

Calculates the quaternion from the given angle and rotation axis inplace.

Parameters

axis

Quaternion.fromAxisAngle

The rotation axis.

angle

number

The rotate angle.

Returns

ObservableQuaternion

self

Inherited from

toAxisAngle()

toAxisAngle(axis): number

Defined in: libs/base/src/math/vector.ts:2030

Calculates the rotation axis and angle for this quaternion

Parameters

axis

Quaternion.toAxisAngle

A vector that receives the rotation axis.

Returns

number

The rotation angle

Inherited from

toEulerAngles()

toEulerAngles(angles?): Vector3

Defined in: libs/base/src/math/vector.ts:2045

Convert this rotation to euler angles in ZYX order

Parameters

angles?

A vector that receives the euler angles. If not given, a new vector will be created.

Returns

Quaternion.toEulerAngles

The vector that holds the euler angles.

Inherited from

fromRotationMatrix()

fromRotationMatrix(matrix): ObservableQuaternion

Defined in: libs/base/src/math/vector.ts:2062

Calculates the quaternion from a rotation matrix inplace.

Parameters

matrix

Matrix3x3 | Matrix4x4

The rotation matrix.

Returns

ObservableQuaternion

self

Inherited from

Quaternion.fromRotationMatrix

decomposeSwingTwist()

decomposeSwingTwist(axis, outSwing?, outTwist?): void

Defined in: libs/base/src/math/vector.ts:2084

Decompose the quaternion into swing and twist components around a given axis.

Parameters

axis

The twist axis (must be normalized)

outSwing?

Output swing rotation

outTwist?

Quaternion.decomposeSwingTwist

Output twist rotation

Returns

void

Remarks

Given a rotation Q and an axis A, decompose Q into:

Twist: rotation around A
Swing: rotation perpendicular to A Such that Q = Twist * Swing

Algorithm:

Project Q's imaginary part onto axis to get twist component
Normalize to get pure twist rotation
Calculate swing = twist^-1 * Q

Inherited from

getTwistAngle()

getTwistAngle(axis): number

Defined in: libs/base/src/math/vector.ts:2132

Get the twist angle (in radians) around an axis.

Parameters

axis

Quaternion.getTwistAngle

The twist axis (must be normalized)

Returns

number

Twist angle in radians, range [-PI, PI]

Inherited from

toMatrix3x3()

toMatrix3x3(matrix?): Matrix3x3

Defined in: libs/base/src/math/vector.ts:2157

Convert this quaternion to a 3x3 rotation matrix.

Parameters

matrix?

Matrix3x3

The output matrix, if not specified, a new matrix will be created.

Returns

Matrix3x3

The output matrix.

Inherited from

Quaternion.toMatrix3x3

toMatrix4x4()

toMatrix4x4(matrix?): Matrix4x4

Defined in: libs/base/src/math/vector.ts:2171

Convert this quaternion to a 4x4 rotation matrix.

Parameters

matrix?

Matrix4x4

The output matrix, if not specified, a new matrix will be created.

Returns

Matrix4x4

The output matrix.

Remarks

Only left top 3x3 part of the matrix will be changed.

Inherited from

Quaternion.toMatrix4x4

getDirectionX()

getDirectionX(result?): Vector3

Defined in: libs/base/src/math/vector.ts:2188

Get the direction of axis x

Parameters

result?

The output vector, if not specified, a new vector will be created.

Returns

Quaternion.getDirectionX

The direction of axis x

Inherited from

getDirectionY()

getDirectionY(result?): Vector3

Defined in: libs/base/src/math/vector.ts:2201

Get the direction of axis y

Parameters

result?

The output vector, if not specified, a new vector will be created.

Returns

Quaternion.getDirectionY

The direction of axis y

Inherited from

getDirectionZ()

getDirectionZ(result?): Vector3

Defined in: libs/base/src/math/vector.ts:2214

Get the direction of axis z

Parameters

result?

The output vector, if not specified, a new vector will be created.

Returns

Quaternion.getDirectionZ

The direction of axis z

Inherited from

getAxisAngle()

getAxisAngle(result?): Vector4

Defined in: libs/base/src/math/vector.ts:2227

Get the rotate angle and the rotation axis for this quaternion.

Parameters

result?

Vector4

The output vector, if not specified, a new vector will be created.

Returns

Vector4

An vector4 that the x, y, z component presents the axis and the w component presents the angle.

Inherited from

Quaternion.getAxisAngle

transform()

transform(v, result?): Vector3

Defined in: libs/base/src/math/vector.ts:2244

Rotate a vector

Parameters

v

The vector to be rotated.

result?

The output vector, if not specified, a new vector will be created.

Returns

The rotation result.

Inherited from

Quaternion.transform

scale()

static scale(q, t, result?): Quaternion

Defined in: libs/base/src/math/vector.ts:2271

Scale a Quaternion by a scalar number.

Parameters

q

t

number

result?

The output quaternion (can be the same quaternion as a). if not specified, a new quaternion will be created.

Returns

The output quaternion

Inherited from

Quaternion.scale

dot()

static dot(a, b): number

Defined in: libs/base/src/math/vector.ts:2281

Calculates the dot product of two Quaternion's.

Parameters

a

The first operand.

b

The second operand.

Returns

number

dot product of a and b

Inherited from

Quaternion.dot

identity()

static identity(q?): Quaternion

Defined in: libs/base/src/math/vector.ts:2289

Create an identity quaternion

Parameters

q?

The output quaternion, if not specified, a new quaternion will be created.

Returns

The output quaternion

Inherited from

Quaternion.identity

normalize()

static normalize(q, result?): Quaternion

Defined in: libs/base/src/math/vector.ts:2298

Normalize a quaternion

Parameters

q

The input quaternion

result?

The output quaternion (can be the same as q), if not specified, a new quaternion will be created.

Returns

The output quaternion

Inherited from

Quaternion.normalize

conjugate()

static conjugate(q, result?): Quaternion

Defined in: libs/base/src/math/vector.ts:2308

Gets the conjugate of a quaternion

Parameters

q

The input quaternion

result?

The output quaternion (can be the same as q), if not specified, a new quaternion will be created.

Returns

The output quaternion

Inherited from

Quaternion.conjugate

inverse()

static inverse(q, result?): Quaternion

Defined in: libs/base/src/math/vector.ts:2317

Gets the inverse of a quaternion

Parameters

q

The input quaternion

result?

The output quaternion (can be the same as q), if not specified, a new quaternion will be created.

Returns

The output quaternion

Inherited from

Quaternion.inverse

multiply()

static multiply(a, b, result?): Quaternion

Defined in: libs/base/src/math/vector.ts:2335

Multiply two Quaternion's.

Parameters

a

The first operand.

b

The second operand.

result?

The output quaternion (can be the same as a or b). if not specified, a new quaternion will be created.

Returns

The output quaternion

Inherited from

Quaternion.multiply

slerp()

static slerp(a, b, t, result?): Quaternion

Defined in: libs/base/src/math/vector.ts:2351

Performs a spherical linear interpolation between two quat.

Parameters

a

The first operand.

b

The second operand.

t

number

The interpolation amount, in the range [0-1].

result?

The output quaternion (can be the same as a or b), if not specified, a new quaternion will be created.

Returns

The output quaternion

Inherited from

Quaternion.slerp

angleBetween()

static angleBetween(a, b): number

Defined in: libs/base/src/math/vector.ts:2400

Gets the angular distance between two unit quaternions.

Parameters

a

The origin quaternion

b

Quaternion.angleBetween

The destination quaternion

Returns

number

The angle in radians

Inherited from

unitVectorToUnitVector()

static unitVectorToUnitVector(from, to, result?): Quaternion

Defined in: libs/base/src/math/vector.ts:2412

Creates a quaternion used to rotate a unit vector to another.

Parameters

from

The unit vector to be rotated.

to

The destination unit vector.

result?

The output quaternion, if not specified, a new quaternion will be created.

Returns

Quaternion.unitVectorToUnitVector

The output quaternion

Inherited from

fromEulerAngle()

static fromEulerAngle(a, b, c, order?, result?): Quaternion

Defined in: libs/base/src/math/vector.ts:2441

Creates a quaternion from an euler angle in specific order.

Parameters

a

number

b

number

c

number

order?

EulerAngleOrder = 'ZYX'

Intrinsic order for conversion.

result?

The output quaternion, if not specified, a new quaternion will be created.

Returns

Quaternion.fromEulerAngle

The output quaternion

Inherited from

fromAxisAngle()

static fromAxisAngle(axis, angle, result?): Quaternion

Defined in: libs/base/src/math/vector.ts:2507

Creates a quaternion from the given angle and rotation axis.

Parameters

axis

The rotation axis.

angle

number

The rotate angle.

result?

The output quaternion, if not specified, a new quaternion will be created.

Returns

Quaternion.fromAxisAngle

The output quaternion

Inherited from

fromRotationMatrix()

static fromRotationMatrix(matrix, result?): Quaternion

Defined in: libs/base/src/math/vector.ts:2520

Creates a quaternion from a rotation matrix.

Parameters

matrix

Matrix3x3 | Matrix4x4

The rotation matrix.

result?

The output quaternion, if not specified, a new quaternion will be created.

Returns