Documentation / base / Quaternion

Class: Quaternion

Defined in: libs/base/src/math/vector.ts:1801

Quaternion

Extends

• VectorBase

Extended by

• ObservableQuaternion

Indexable

[index: number]: number

Constructors

Constructor

new Quaternion(x, y, z, w): Quaternion

Defined in: libs/base/src/math/vector.ts:1809

Creates a new Quaternion initialized with values.

Parameters

x

number

The x component.

y

number

The y component.

z

number

The z component.

w

number

The w component.

Returns

Quaternion

Overrides

VectorBase.constructor

Constructor

new Quaternion(elements): Quaternion

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

Quaternion

Overrides

VectorBase.constructor

Constructor

new Quaternion(array): Quaternion

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

Quaternion

Overrides

VectorBase.constructor

Constructor

new Quaternion(buffer, offset): Quaternion

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

Quaternion

Overrides

VectorBase.constructor

Constructor

new Quaternion(): Quaternion

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

Creates a new identity Quaternion.

Returns

Quaternion

Overrides

VectorBase.constructor

Accessors

x

Get Signature

get x(): number

Defined in: libs/base/src/math/vector.ts:1875

Get the x component value.

Returns

number

Set Signature

set x(v): void

Defined in: libs/base/src/math/vector.ts:1878

Parameters

v

number

Returns

void

---

y

Get Signature

get y(): number

Defined in: libs/base/src/math/vector.ts:1882

Get the y component value.

Returns

number

Set Signature

set y(v): void

Defined in: libs/base/src/math/vector.ts:1885

Parameters

v

number

Returns

void

---

z

Get Signature

get z(): number

Defined in: libs/base/src/math/vector.ts:1889

Get the z component value.

Returns

number

Set Signature

set z(v): void

Defined in: libs/base/src/math/vector.ts:1892

Parameters

v

number

Returns

void

---

w

Get Signature

get w(): number

Defined in: libs/base/src/math/vector.ts:1896

Get the w component value.

Returns

number

Set Signature

set w(v): void

Defined in: libs/base/src/math/vector.ts:1899

Parameters

v

number

Returns

void

---

magnitude

Get Signature

get magnitude(): number

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

Get the length of the quaternion.

Returns

number

---

magnitudeSq

Get Signature

get magnitudeSq(): number

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

Get the squared length of the quaternion.

Returns

number

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

VectorBase.equalsTo

---

toString()

toString(): string

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

Convert this to string object.

Returns

string

Inherited from

VectorBase.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

VectorBase.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

VectorBase.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

The new quaternion.

---

setXYZW()

setXYZW(x, y, z, w): Quaternion

Defined in: libs/base/src/math/vector.ts:1910

Set component values.

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

Quaternion

self

---

scaleBy()

scaleBy(f): Quaternion

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

Quaternion

self

---

setAndNormalize()

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

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

Quaternion

self

---

identity()

identity(): Quaternion

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

Make this quaternion an identity quaternion

Returns

Quaternion

---

inplaceNormalize()

inplaceNormalize(): Quaternion

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

Normalize this quaternion inplace.

Returns

Quaternion

self

---

inplaceConjugate()

inplaceConjugate(): Quaternion

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

Calculates the conjugate of this quaternion inplace.

Returns

Quaternion

self

---

inplaceInverse()

inplaceInverse(): Quaternion

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

Calculates the inverse of this quaternion inplace.

Returns

Quaternion

self

---

multiplyRight()

multiplyRight(other): Quaternion

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

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

Parameters

other

Quaternion

The quaternion that to be multiplied by.

Returns

Quaternion

self

---

multiplyLeft()

multiplyLeft(other): Quaternion

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

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

Parameters

other

Quaternion

The quaternion that to be multiplied by.

Returns

Quaternion

self

---

unitVectorToUnitVector()

unitVectorToUnitVector(from, to): Quaternion

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

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

Parameters

from

Vector3

The unit vector to be rotated.

to

Vector3

The destination unit vector.

Returns

Quaternion

self

---

fromEulerAngle()

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

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

Quaternion

self

---

fromAxisAngle()

fromAxisAngle(axis, angle): Quaternion

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

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

Parameters

axis

Vector3

The rotation axis.

angle

number

The rotate angle.

Returns

Quaternion

self

---

toAxisAngle()

toAxisAngle(axis): number

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

Calculates the rotation axis and angle for this quaternion

Parameters

axis

Vector3

A vector that receives the rotation axis.

Returns

number

• The rotation angle

---

toEulerAngles()

toEulerAngles(angles?): Vector3

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

Convert this rotation to euler angles in ZYX order

Parameters

angles?

Vector3

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

Returns

Vector3

The vector that holds the euler angles.

---

fromRotationMatrix()

fromRotationMatrix(matrix): Quaternion

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

Quaternion

self

---

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

Vector3

The twist axis (must be normalized)

outSwing?

Quaternion

Output swing rotation

outTwist?

Quaternion

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:

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

---

getTwistAngle()

getTwistAngle(axis): number

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

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

Parameters

axis

Vector3

The twist axis (must be normalized)

Returns

number

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

---

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.

---

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.

---

getDirectionX()

getDirectionX(result?): Vector3

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

Get the direction of axis x

Parameters

result?

Vector3

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

Returns

Vector3

The direction of axis x

---

getDirectionY()

getDirectionY(result?): Vector3

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

Get the direction of axis y

Parameters

result?

Vector3

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

Returns

Vector3

The direction of axis y

---

getDirectionZ()

getDirectionZ(result?): Vector3

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

Get the direction of axis z

Parameters

result?

Vector3

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

Returns

Vector3

The direction of axis z

---

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.

---

transform()

transform(v, result?): Vector3

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

Rotate a vector

Parameters

v

Vector3

The vector to be rotated.

result?

Vector3

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

Returns

Vector3

The rotation result.

---

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

Quaternion

t

number

result?

Quaternion

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

Returns

Quaternion

The output quaternion

---

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

Quaternion

The first operand.

b

Quaternion

The second operand.

Returns

number

dot product of a and b

---

identity()

static identity(q?): Quaternion

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

Create an identity quaternion

Parameters

q?

Quaternion

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

Returns

Quaternion

The output quaternion

---

normalize()

static normalize(q, result?): Quaternion

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

Normalize a quaternion

Parameters

q

Quaternion

The input quaternion

result?

Quaternion

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

Returns

Quaternion

The output quaternion

---

conjugate()

static conjugate(q, result?): Quaternion

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

Gets the conjugate of a quaternion

Parameters

q

Quaternion

The input quaternion

result?

Quaternion

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

Returns

Quaternion

The output quaternion

---

inverse()

static inverse(q, result?): Quaternion

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

Gets the inverse of a quaternion

Parameters

q

Quaternion

The input quaternion

result?

Quaternion

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

Returns

Quaternion

The output quaternion

---

multiply()

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

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

Multiply two Quaternion's.

Parameters

a

Quaternion

The first operand.

b

Quaternion

The second operand.

result?

Quaternion

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

Returns

Quaternion

The output quaternion

---

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

Quaternion

The first operand.

b

Quaternion

The second operand.

t

number

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

result?

Quaternion

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

Returns

Quaternion

The output quaternion

---

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

Quaternion

The origin quaternion

b

Quaternion

The destination quaternion

Returns

number

• The angle in radians

---

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

Vector3

The unit vector to be rotated.

to

Vector3

The destination unit vector.

result?

Quaternion

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

Returns

Quaternion

The output quaternion

---

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?

Quaternion

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

Returns

Quaternion

The output quaternion

---

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

Vector3

The rotation axis.

angle

number

The rotate angle.

result?

Quaternion

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

Returns

Quaternion

The output quaternion

---

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?

Quaternion

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

Returns

Quaternion

self