Quaternion

Quaternion

A quaternion representing an orientation.

Constructor

new Quaternion()

Instantiates a Quaternion object.
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Methods

(static) identity() → {Quaternion}

Returns a quaternion that represents an oreintation matching the identity matrix.
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Returns:
The identity quaternion.
Type
Quaternion

(static) random() → {Quaternion}

Returns a random Quaternion of unit length.
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Returns:
A random vector of unit length.
Type
Quaternion

(static) rotation(angle, axis) → {Quaternion}

Returns a quaternion representing the rotation defined by an axis and an angle.
Parameters:
Name Type Description
angle number The angle of the rotation, in radians.
axis Vec3 | Array The axis of the rotation.
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Returns:
The quaternion representing the rotation.
Type
Quaternion

(static) rotationFromTo(from, to) → {Quaternion}

Returns a rotation matrix to rotate a vector from one direction to another.
Parameters:
Name Type Description
from Vec3 The starting direction.
to Vec3 The ending direction.
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Returns:
The quaternion representing the rotation.
Type
Quaternion

(static) slerp(fromRot, toRot, t) → {Quaternion}

Returns a quaternion that has been spherically interpolated between two provided quaternions for a given t value.
Parameters:
Name Type Description
fromRot Quaternion The rotation at t = 0.
toRot Quaternion The rotation at t = 1.
t number The t value, from 0 to 1.
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Returns:
The quaternion representing the interpolated rotation.
Type
Quaternion

axes() → {Object}

Returns the axes of the rotation matrix that the quaternion represents.
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Returns:
The axes of the matrix represented by the quaternion.
Type
Object

conjugate() → {Quaternion}

Returns the conjugate of the quaternion.
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Returns:
The conjugate of the quaternion.
Type
Quaternion

equals(that, epsilon) → {boolean}

Returns true if the vector components match those of a provided vector. An optional epsilon value may be provided.
Parameters:
Name Type Description
that Quaternion | Array The vector to calculate the dot product with.
epsilon number The epsilon value. Optional.
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Returns:
Whether or not the vector components match.
Type
boolean

inverse() → {Quaternion}

Returns the inverse of the quaternion.
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Returns:
The inverse of the quaternion.
Type
Quaternion

matrix() → {Mat33}

Returns the rotation matrix that the quaternion represents.
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Returns:
The rotation matrix represented by the quaternion.
Type
Mat33

multQuat(that) → {Quaternion}

Concatenates the rotations of the two quaternions, returning a new Quaternion object.
Parameters:
Name Type Description
that Quaternion | Array The quaterion to concatenate.
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Returns:
The resulting concatenated quaternion.
Type
Quaternion

negate() → {Quaternion}

Returns a new Quaternion with each component negated.
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Returns:
The negated quaternion.
Type
Quaternion

normalize() → {Quaternion}

Returns a new Quaternion of unit length.
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Returns:
The quaternion of unit length.
Type
Quaternion

rotate(that) → {Vec3}

Applies the orientation of the quaternion as a rotation matrix to the provided vector, returning a new Vec3 object.
Parameters:
Name Type Description
that Vec3 | Vec4 | Array The vector to rotate.
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Returns:
The resulting rotated vector.
Type
Vec3

toArray() → {Array}

Returns an array representation of the quaternion.
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Returns:
The quaternion as an array.
Type
Array

toString() → {String}

Returns a string representation of the quaternion.
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Returns:
The string representation of the quaternion.
Type
String

xAxis() → {Vec3}

Returns the x-axis of the rotation matrix that the quaternion represents.
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Returns:
The x-axis of the rotation matrix represented by the quaternion.
Type
Vec3

yAxis() → {Vec3}

Returns the y-axis of the rotation matrix that the quaternion represents.
Source:
Returns:
The y-axis of the rotation matrix represented by the quaternion.
Type
Vec3

zAxis() → {Vec3}

Returns the z-axis of the rotation matrix that the quaternion represents.
Source:
Returns:
The z-axis of the rotation matrix represented by the quaternion.
Type
Vec3