Class Quat

Immutable quaternion.

Remarks

Unit quaternions are used to represent rotations. Quaternions are difficult to visualize and generally shouldn't be constructed directly from their constituent components. Instead, you should use the various static construction functions.

Implements

IQuat

Index

Constructors

constructor

new Quat(x: number, y: number, z: number, w: number): Quat
Constructor.
Parameters
- x: number
  The x component.
- y: number
  The y component.
- z: number
  The z component.
- w: number
  The w component.
Returns Quat

Properties

`Readonly`w

w: number

The w component of the quaternion.

`Readonly`x

x: number

The x component of the quaternion.

`Readonly`y

y: number

The y component of the quaternion.

`Readonly`z

z: number

The z component of the quaternion.

Accessors

xaxis

get xaxis(): Vec3
The x-axis of the frame represented by the quaternion.

Returns Vec3

yaxis

get yaxis(): Vec3
The y-axis of the frame represented by the quaternion.

Returns Vec3

zaxis

get zaxis(): Vec3
The z-axis of the frame represented by the quaternion.

Returns Vec3

`Static`identity

get identity(): Quat
The identity rotation.

Returns Quat

Methods

toString

toString(): string
Converts the quaternion to a string.

Returns string
The string representation of the quaternion.

`Static`align

align(from: IVec3, to: IVec3): Quat
Creates a unit quaternion that represents that shortest-arc rotation from one vector to another.
Parameters
- from: IVec3
  The source unit vector.
- to: IVec3
  The target unit vector.
Returns Quat
The minimal rotation unit quaternion.

`Static`angle

angle(value: IQuat): number
Calculates the rotation angle of the specified quaternion.
Parameters
- value: IQuat
  The quaternion.
Returns number
The angle of rotation for the quaternion.

`Static`axisAngle

axisAngle(axis: IVec3, angle: number): Quat
Creates a unit quaternion that rotates the specified angle about the specified axis.
Parameters
- axis: IVec3
  The rotation axis (unit vector).
- angle: number
  The rotation angle (radians).
Returns Quat
The corresponding unit quaternion.

`Static`compose

compose(lhs: IQuat, rhs: IQuat): Quat
Composes (multiplies) two quaternions together.
Parameters
- lhs: IQuat
  The left-hand side quaternion.
- rhs: IQuat
  The right-hand side quaternion.
Returns Quat
The result of composing the two quaternions.

`Static`copy

copy(src: IQuat): Quat
Creates a copy of the provided quaternion.
Parameters
- src: IQuat
  The quaternion to be copied.
Returns Quat
The created copy.

`Static`distance

distance(from: IQuat, to: IQuat): number
Calculates the shortest unsigned angle between two unit quaternions.
Parameters
- from: IQuat
  The first unit quaternion.
- to: IQuat
  The second unit quaternion.
Returns number
The shortest unsigned angle (radians).

`Static`dot

dot(lhs: IQuat, rhs: IQuat): number
Calculates the dot product of two quaternions.
Parameters
- lhs: IQuat
  The first quaternion.
- rhs: IQuat
  The second quaternion.
Returns number
The dot product.

`Static`equals

equals(lhs: IQuat, rhs: IQuat): boolean
Determines whether two quaternions are exactly equal.
Parameters
- lhs: IQuat
  The first quaternion.
- rhs: IQuat
  The second quaternion.
Returns boolean
True if the two quaternions are exactly equal, false otherwise.

`Static`fromAxes

fromAxes(xaxis: IVec3, yaxis: IVec3, zaxis: IVec3): Quat
Creates a unit quaternion that is oriented with the specified unit axes.
Parameters
- xaxis: IVec3
  The x-axis for the quaternion.
- yaxis: IVec3
  The y-axis for the quaternion.
- zaxis: IVec3
  The x-axis for the quaternion.
Returns Quat
The corresponding unit quaternion.

Remarks
The axes provided must be orthonormal to each other.

`Static`fromEuler

fromEuler(xyz: IVec3): Quat
Creates a unit quaternion from the specified Euler angles.
Parameters
- xyz: IVec3
  The Euler angles (radians).
Returns Quat
The corresponding unit quaternion.

Remarks
This function will create a quaternion that rotates x radians about the x-axis then y radians about the y-axis and finally z radians about the z-axis.

`Static`inverse

inverse(value: IQuat): Quat
Creates a quaternion that is the inverse of the specified quaternion.
Parameters
- value: IQuat
  The quaternion.
Returns Quat
The inverse quaternion.

`Static`lerp

lerp(lhs: IQuat, rhs: IQuat, weight: number): Quat
Linearly interpolates between two unit quaternions.
Parameters
- lhs: IQuat
  The start unit quaternion.
- rhs: IQuat
  The end unit quaternion.
- weight: number
  The interpolation fraction between the two quaternions.
Returns Quat
The interpolated quaternion.

`Static`look

look(forward: IVec3, up: IVec3): Quat
Creates a unit quaternion that is oriented such that its z-axis points in the specified forward direction.
Parameters
- forward: IVec3
  The forward direction (unit vector).
- up: IVec3
  The unit vector the hints at which direction is up.
Returns Quat
The corresponding unit quaternion.

Remarks
The up direction specifes a hint. The y-axis for the frame represented by the returned unit quaternion may not equal the provided up direction. The forward and up direction vectors must not be colinear.

`Static`lookAt

lookAt(target: IVec3, source: IVec3, up: IVec3): Quat
Creates a unit quaternion that is oriented such that its z-axis points in the direction of the target point from the source point.
Parameters
- target: IVec3
  The target point to look at.
- source: IVec3
  The source point to look from.
- up: IVec3
  The unit vector the hints at which direction is up.
Returns Quat
The corresponding unit quaternion.

Remarks
The up direction specifes a hint. The y-axis for the frame represented by the returned unit quaternion may not equal the provided up direction. The target and source points must not be coincident. The direction from the source point to the target point must not be colinear to the up direction vector.

`Static`negate

negate(value: IQuat): Quat
Creates a quaternion that is the negation of the specified quaternion.
Parameters
- value: IQuat
  The quaternion.
Returns Quat
The negated quaternion.

`Static`norm

norm(value: IQuat): number
Calculates the magnitude of the specified quaternion.
Parameters
- value: IQuat
  The quaternion.
Returns number
The magnitude.

`Static`normalized

normalized(value: IQuat): Quat
Creates a unit length quaternion from the specified quaternion.
Parameters
- value: IQuat
  The quaternion.
Returns Quat
The normalized (unit) quaternion.

`Static`normsq

normsq(value: IQuat): number
Calculates the squared magnitude of the specified quaternion.
Parameters
- value: IQuat
  The quaternion.
Returns number
The squared magnitude.

`Static`notEquals

notEquals(lhs: IQuat, rhs: IQuat): boolean
Determines whether two quaternions are not exactly equal.
Parameters
- lhs: IQuat
  The first quaternion.
- rhs: IQuat
  The second quaternion.
Returns boolean
True if the two quaternions are different, false otherwise.

`Static`slerp

slerp(lhs: IQuat, rhs: IQuat, weight: number): Quat
Spherically interpolates between two unit quaternions.
Parameters
- lhs: IQuat
  The start unit quaternion.
- rhs: IQuat
  The end unit quaternion.
- weight: number
  The interpolation fraction between the two quaternions.
Returns Quat
The interpolated quaternion.

`Static`toEuler

toEuler(q: IQuat): Vec3
Calculates the xyz Euler angles for a unit quaternion.
Parameters
- q: IQuat
  The unit quaternion.
Returns Vec3
The xyz Euler angles (radians).

`Static`transform

transform(q: IQuat, v: IVec3): Vec3
Rotates the specified vector by the provided unit quaternion.
Parameters
- q: IQuat
  The unit quaternion.
- v: IVec3
  The vector to be rotated.
Returns Vec3
The rotated vector.

`Static`x

x(angle: number): Quat
Creates a unit quaternion that rotates the specified angle about the x-axis.
Parameters
- angle: number
  The rotation angle (radians).
Returns Quat
The corresponding unit quaternion.

`Static`y

y(angle: number): Quat
Creates a unit quaternion that rotates the specified angle about the y-axis.
Parameters
- angle: number
  The rotation angle (radians).
Returns Quat
The corresponding unit quaternion.

`Static`z

z(angle: number): Quat
Creates a unit quaternion that rotates the specified angle about the z-axis.
Parameters
- angle: number
  The rotation angle (radians).
Returns Quat
The corresponding unit quaternion.

Class Quat

Remarks

Implements

Index

Constructors

Properties

Accessors

Methods

Constructors

constructor

Parameters

Returns Quat

Properties

Readonlyw

Readonlyx

Readonlyy

Readonlyz

Accessors

xaxis

Returns Vec3

yaxis

Returns Vec3

zaxis

Returns Vec3

Staticidentity

Returns Quat

Methods

toString

Returns string

Staticalign

Parameters

Returns Quat

Staticangle

Parameters

Returns number

StaticaxisAngle

Parameters

Returns Quat

Staticcompose

Parameters

Returns Quat

Staticcopy

Parameters

Returns Quat

Staticdistance

Parameters

Returns number

Staticdot

Parameters

Returns number

Staticequals

Parameters

Returns boolean

StaticfromAxes

Parameters

Returns Quat

Remarks

StaticfromEuler

Parameters

Returns Quat

Remarks

Staticinverse

Parameters

Returns Quat

Staticlerp

Parameters

Returns Quat

Staticlook

Parameters

Returns Quat

Remarks

StaticlookAt

Parameters

Returns Quat

Remarks

Staticnegate

Parameters

Returns Quat

Staticnorm

Parameters

`Readonly`w

`Readonly`x

`Readonly`y

`Readonly`z

`Static`identity

`Static`align

`Static`angle

`Static`axisAngle

`Static`compose

`Static`copy

`Static`distance

`Static`dot

`Static`equals

`Static`fromAxes

`Static`fromEuler

`Static`inverse

`Static`lerp

`Static`look

`Static`lookAt

`Static`negate

`Static`norm

`Static`normalized

`Static`normsq

`Static`notEquals

`Static`slerp

`Static`toEuler

`Static`transform

`Static`x

`Static`y

`Static`z