Class quat

Quaternion type for representing rotations in 3D space.

Index

Constructors

Properties

w x y z

Constructors

constructor

new quat(w: number, x: number, y: number, z: number): quat
Constructs a quaternion with the given w, x, y, z components.
Parameters
- w: number
- x: number
- y: number
- z: number
Returns quat

Properties

w

w: number

The w (scalar) component of the quaternion.

x

x: number

The x component of the quaternion.

y

y: number

The y component of the quaternion.

z

z: number

The z component of the quaternion.

Methods

`Static`angleAxis

angleAxis(angle: number, axis: vec3): quat
Creates a quaternion from an angle in radians and a rotation axis.
Parameters
- angle: number
- axis: vec3
Returns quat

`Static`angleBetween

angleBetween(a: quat, b: quat): number
Returns the angle in radians between two quaternions.
Parameters
- a: quat
- b: quat
Returns number

dot

dot(quat: quat): number
Computes the dot product with another quaternion.
Parameters
- quat: quat
Returns number

equal

equal(quat: quat): boolean
Returns true if this quaternion equals another quaternion.
Parameters
- quat: quat
Returns boolean

`Static`fromEulerAngles

fromEulerAngles(x: number, y: number, z: number): quat
Creates a quaternion from Euler angles given as separate x, y, z values.
Parameters
- x: number
- y: number
- z: number
Returns quat

`Static`fromEulerVec

fromEulerVec(eulerAngles: vec3): quat
Creates a quaternion from a vec3 of Euler angles.
Parameters
- eulerAngles: vec3
Returns quat

`Static`fromRotationMat

fromRotationMat(rotationMat: mat3): quat
Creates a quaternion from a 3x3 rotation matrix.
Parameters
- rotationMat: mat3
Returns quat

`Static`fromRotationMat4

fromRotationMat4(rotationMat4: mat4): quat
Creates a quaternion from a 4x4 rotation matrix.
Parameters
- rotationMat4: mat4
Returns quat

getAngle

getAngle(): number
Returns the rotation angle in radians represented by this quaternion.

Returns number

getAxis

getAxis(): vec3
Returns the rotation axis as a vec3.

Returns vec3

invert

invert(): quat
Returns the inverse of this quaternion.

Returns quat

`Static`lerp

lerp(a: quat, b: quat, time: number): quat
Linearly interpolates between two quaternions by factor t.
Parameters
- a: quat
- b: quat
- time: number
Returns quat

`Static`lookAt

lookAt(forward: vec3, up: vec3): quat
Creates a quaternion representing a rotation that looks from one point toward another.
Parameters
- forward: vec3
- up: vec3
Returns quat

multiply

multiply(quat: quat): quat
Multiplies this quaternion by another, combining rotations.
Parameters
- quat: quat
Returns quat

multiplyVec3

multiplyVec3(vec3: vec3): vec3
Rotates a vec3 by this quaternion.
Parameters
- vec3: vec3
Returns vec3

normalize

normalize(): void
Returns a normalized copy of this quaternion.

Returns void

`Static`quatIdentity

quatIdentity(): quat
Returns the identity quaternion representing no rotation.

Returns quat

`Static`rotationFromTo

rotationFromTo(from: vec3, to: vec3): quat
Creates a quaternion representing the rotation from one vector to another.
Parameters
- from: vec3
- to: vec3
Returns quat

`Static`slerp

slerp(a: quat, b: quat, time: number): quat
Spherically interpolates between two quaternions by factor t.
Parameters
- a: quat
- b: quat
- time: number
Returns quat

toEulerAngles

toEulerAngles(): vec3
Converts this quaternion to Euler angles in radians.

Returns vec3

toString

toString(): string
Returns a string representation of this quaternion.

Returns string