Class Quaternion

Storing and manipulating rotations in the form of quaternions. Constructed out of the 4 components: (x, y, z, w). Mathematical notation: w + xi + yj + zk. A Quaternion can be described with an axis and angle: (x, y, z) = sin(angle/2)*axis; w = cos(angle/2). roll: x, pitch: y, yaw: z. Note that operations are adapted to work with vectors where y is up and z is forward.

Authors

Matthias Roming, HFU, 2023 | Marko Fehrenbach, HFU, 2020 | Jonas Plotzky, HFU, 2023

Hierarchy (View Summary)

Mutable
- Quaternion

Implements

Constructors

constructor

new Quaternion(_x?: number, _y?: number, _z?: number, _w?: number): Quaternion
Parameters
- _x: number = 0
- _y: number = 0
- _z: number = 0
- _w: number = 1
Returns Quaternion
Overrides Mutable.constructor
- Defined in Source/Core/Math/Quaternion.ts:25

Properties

w

w: number

x

x: number

y

y: number

z

z: number

Accessors

clone

get clone(): Quaternion
Creates and returns a clone of this quaternion.

Returns Quaternion
- Defined in Source/Core/Math/Quaternion.ts:407

eulerAngles

get eulerAngles(): Vector3
- get: return the euler angle representation of the rotation in degrees. Caution! Use immediately and readonly, since the vector is going to be reused internally. Create a clone to keep longer and manipulate.
- set: set the euler angle representation of the rotation in degrees.
Returns Vector3
- Defined in Source/Core/Math/Quaternion.ts:416
set eulerAngles(_eulerAngles: Vector3): void
Parameters
- _eulerAngles: Vector3
Returns void
- Defined in Source/Core/Math/Quaternion.ts:443

isArrayConvertible

get isArrayConvertible(): true
Returns true
Implementation of ArrayConvertible.isArrayConvertible
- Defined in Source/Core/Math/Quaternion.ts:400

type

get type(): string
Retrieves the type of this mutable subclass as the name of the runtime class

Returns string
The type of the mutable
Inherited from Mutable.type
- Defined in Source/Core/Serialization/Mutable.ts:193

Methods

addEventListener

addEventListener(
    _type: string,
    _handler: EventListenerUnified,
    _options?: boolean | AddEventListenerOptions,
): void
See EventTarget.addEventListener for reference. Works with EventListenerUnified and EventUnified
Parameters
- _type: string
- _handler: EventListenerUnified
- Optional_options: boolean | AddEventListenerOptions
Returns void
Inherited from Mutable.addEventListener
- Defined in Source/Core/Event/Event.ts:91

animate

animate(_mutator: AnimationMutator): void
Updates the property values of the instance according to the state of the animation mutator. Override to implement custom animation behavior.
Parameters
- _mutator: AnimationMutator
Returns void
Inherited from Mutable.animate
- Defined in Source/Core/Serialization/Mutable.ts:329

conjugate

conjugate(): Quaternion
Conjugates this quaternion and returns it.

Returns Quaternion
A reference to this quaternion.
- Defined in Source/Core/Math/Quaternion.ts:566

copy

copy(_original: Quaternion): Quaternion
Copies the given quaternion.
Parameters
- _original: Quaternion
Returns Quaternion
A reference to this quaternion.
- Defined in Source/Core/Math/Quaternion.ts:476

deserialize

deserialize(_serialization: Serialization): Promise<Quaternion>
Recreates this instance of Serializable with the information from the given Serialization.
Parameters
- _serialization: Serialization
Returns Promise<Quaternion>
Implementation of Serializable.deserialize
- Defined in Source/Core/Math/Quaternion.ts:620

dispatchEvent

dispatchEvent(_event: EventUnified): boolean
See EventTarget.dispatchEvent for reference. Works with with EventUnified
Parameters
- _event: EventUnified
Returns boolean
Inherited from Mutable.dispatchEvent
- Defined in Source/Core/Event/Event.ts:105

equals

equals(_compare: Quaternion, _tolerance?: number): boolean
Returns true if this quaternion is equal to the given quaternion within the given tolerance.
Parameters
- _compare: Quaternion
- _tolerance: number = Number.EPSILON
Returns boolean
- Defined in Source/Core/Math/Quaternion.ts:513

fromArray

fromArray(_array: ArrayLike<number>, _offset?: number): this
Set the values of this object from the given array starting at the given offset.
Parameters
- _array: ArrayLike<number>
  The array to read the values from.
- _offset: number = 0
  (optional) The offset to start reading from.
Returns this
A reference to this instance.
Implementation of ArrayConvertible.fromArray
- Defined in Source/Core/Math/Quaternion.ts:597

getMetaAttributeTypes

getMetaAttributeTypes(): MetaAttributeTypes
Retrieves the specified attribute types from the metadata of this instance's class.

Returns MetaAttributeTypes
Inherited from Mutable.getMetaAttributeTypes
- Defined in Source/Core/Serialization/Mutable.ts:289

getMetadata

getMetadata(): Metadata
Retrieves the metadata of this instance's class.

Returns Metadata
Inherited from Mutable.getMetadata
- Defined in Source/Core/Serialization/Mutable.ts:296

getMutator

getMutator(_extendable?: boolean): Mutator
Collect applicable attributes of the instance and copies of their values in a Mutator-object. By default, a mutator cannot be extended, since extensions are not available in the object the mutator belongs to. A mutator may be reduced by the descendants of Mutable to contain only the properties needed.
Parameters
- _extendable: boolean = false
Returns Mutator
Inherited from Mutable.getMutator
- Defined in Source/Core/Serialization/Mutable.ts:202

getMutatorAttributeTypes

getMutatorAttributeTypes(_mutator: Mutator): MutatorAttributeTypes
Returns an associative array with the same attributes as the given mutator, but with the corresponding types as string-values. Does not recurse into objects! This will return the decorated meta-type instead of the runtime-type of the object, if available.
Parameters
- _mutator: Mutator
Returns MutatorAttributeTypes
Inherited from Mutable.getMutatorAttributeTypes
- Defined in Source/Core/Serialization/Mutable.ts:260

getMutatorForAnimation

getMutatorForAnimation(_extendable?: boolean): MutatorForAnimation
Collect the attributes of the instance and their values applicable for animation. Basic functionality is identical to getMutator, returned mutator should then be reduced by the subclassed instance
Parameters
- _extendable: boolean = false
Returns MutatorForAnimation
Inherited from Mutable.getMutatorForAnimation
- Defined in Source/Core/Serialization/Mutable.ts:237

getMutatorForUserInterface

getMutatorForUserInterface(_extendable?: boolean): MutatorForUserInterface
Collect the attributes of the instance and their values applicable for the user interface. Basic functionality is identical to getMutator, returned mutator should then be reduced by the subclassed instance
Parameters
- _extendable: boolean = false
Returns MutatorForUserInterface
Inherited from Mutable.getMutatorForUserInterface
- Defined in Source/Core/Serialization/Mutable.ts:245

invert

invert(): Quaternion
Invert this quaternion. Quaternion is assumed to be normalized.

Returns Quaternion
A reference to this quaternion.
- Defined in Source/Core/Math/Quaternion.ts:558

multiply

multiply(_quaternion: Quaternion, _fromLeft?: boolean): Quaternion
Multiply this quaternion with the given quaternion.
Parameters
- _quaternion: Quaternion
- _fromLeft: boolean = false
Returns Quaternion
A reference to this quaternion.
- Defined in Source/Core/Math/Quaternion.ts:578

mutate

mutate(_mutator: Mutator): void
Updates the attribute values of the instance according to the state of the mutator. The mutation may be restricted to a subset of the mutator and the event dispatching suppressed. Uses mutateBase, but can be overwritten in subclasses
Parameters
- _mutator: Mutator
Returns void
Overrides Mutable.mutate
- Defined in Source/Core/Math/Quaternion.ts:628

negate

negate(): Quaternion
Negates this quaternion.

Returns Quaternion
A reference to this quaternion.
- Defined in Source/Core/Math/Quaternion.ts:544

normalize

normalize(): Quaternion
Normalizes this quaternion to a length of 1 (a unit quaternion) making it a valid rotation representation.

Returns Quaternion
A reference to this quaternion.
- Defined in Source/Core/Math/Quaternion.ts:524

premultiply

premultiply(_quaternion: Quaternion): Quaternion
Premultiply this quaternion with the given quaternion.
Parameters
- _quaternion: Quaternion
Returns Quaternion
A reference to this quaternion.
- Defined in Source/Core/Math/Quaternion.ts:586

recycle

recycle(): void
Resets the quaternion to the identity-quaternion and clears cache. Used by the recycler to reset.

Returns void
Implementation of Recycable.recycle
- Defined in Source/Core/Math/Quaternion.ts:491

removeEventListener

removeEventListener(
    _type: string,
    _handler: EventListenerUnified,
    _options?: boolean | AddEventListenerOptions,
): void
See EventTarget.removeEventListener for reference. Works with EventListenerUnified and EventUnified
Parameters
- _type: string
- _handler: EventListenerUnified
- Optional_options: boolean | AddEventListenerOptions
Returns void
Inherited from Mutable.removeEventListener
- Defined in Source/Core/Event/Event.ts:98

serialize

serialize(): Serialization
Returns a Serialization of this object.

Returns Serialization
Implementation of Serializable.serialize
- Defined in Source/Core/Math/Quaternion.ts:614

set

set(_x: number, _y: number, _z: number, _w: number): Quaternion
Sets the components of this quaternion.
Parameters
- _x: number
- _y: number
- _z: number
- _w: number
Returns Quaternion
A reference to this quaternion.
- Defined in Source/Core/Math/Quaternion.ts:499

toArray

toArray<T extends { [n: number]: number } = number[]>(
_out?: T,
_offset?: number,
): T
Copy the values of this object into the given array starting at the given offset. Creates a new array if none is provided.
Type Parameters
- T extends { [n: number]: number } = number[]
Parameters
- _out: T = ...
  (optional) The receiving array.
- _offset: number = 0
  (optional) The offset to start writing to.
Returns T
_out or a new array if none is provided.
Implementation of ArrayConvertible.toArray
- Defined in Source/Core/Math/Quaternion.ts:605

toString

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

Returns string
- Defined in Source/Core/Math/Quaternion.ts:593

updateMutator

updateMutator(_mutator: Mutator): void
Updates the values of the given mutator according to the current state of the instance
Parameters
- _mutator: Mutator
Returns void
Inherited from Mutable.updateMutator
- Defined in Source/Core/Serialization/Mutable.ts:304

`Static`ANGLE

ANGLE(_from: Quaternion, _to: Quaternion): number
Return the angle in degrees between the two given quaternions.
Parameters
- _from: Quaternion
- _to: Quaternion
Returns number
- Defined in Source/Core/Math/Quaternion.ts:303

`Static`CONJUGATE

CONJUGATE(_quaternion: Quaternion, _out?: Quaternion): Quaternion
Computes and returns the conjugate of a passed quaternion.
Parameters
- _quaternion: Quaternion
- _out: Quaternion = ...
  Optional quaternion to store the result in.
Returns Quaternion
- Defined in Source/Core/Math/Quaternion.ts:210

`Static`DOT

DOT(_a: Quaternion, _b: Quaternion): number
Returns the dot product of two quaternions.
Parameters
- _a: Quaternion
- _b: Quaternion
Returns number
- Defined in Source/Core/Math/Quaternion.ts:217

`Static`getMutatorFromPath

getMutatorFromPath(_mutator: Mutator, _path: string[]): Mutator
Decorator allows to attach Mutable functionality to existing classes.
Parameters
- _mutator: Mutator
- _path: string[]
Returns Mutator
Inherited from Mutable.getMutatorFromPath
- Defined in Source/Core/Serialization/Mutable.ts:178

`Static`IDENTITY

IDENTITY(): Quaternion
Retrieve a new identity quaternion

Returns Quaternion
- Defined in Source/Core/Math/Quaternion.ts:34

`Static`INVERSE

INVERSE(_quaternion: Quaternion, _out?: Quaternion): Quaternion
Computes and returns the inverse of a passed quaternion. Quaternion is assumed to be normalized.
Parameters
- _quaternion: Quaternion
- _out: Quaternion = ...
  Optional quaternion to store the result in.
Returns Quaternion
- Defined in Source/Core/Math/Quaternion.ts:202

`Static`LERP

LERP(
    _a: Readonly<Quaternion>,
    _b: Readonly<Quaternion>,
    _t: number,
    _out?: Quaternion,
): Quaternion
Performs a linear interpolation between two quaternions. Result should be normalized afterwards to represent a valid rotation.
Parameters
- _a: Readonly<Quaternion>
  the first operand.
- _b: Readonly<Quaternion>
  the second operand.
- _t: number
  interpolation amount, in the range [0-1], between the two inputs.
- Optional_out: Quaternion
  (optional) the receiving quaternion.
Returns Quaternion
_out or a new quaternion if none is provided.

Source
https://github.com/toji/gl-matrix
- Defined in Source/Core/Math/Quaternion.ts:230
LERP<T extends QuaternionLike>(
    _a: Readonly<T>,
    _b: Readonly<T>,
    _t: number,
    _out: T,
): T
Performs a linear interpolation between two quaternions. Result should be normalized afterwards to represent a valid rotation.
Type Parameters
- T extends QuaternionLike
Parameters
- _a: Readonly<T>
  the first operand.
- _b: Readonly<T>
  the second operand.
- _t: number
  interpolation amount, in the range [0-1], between the two inputs.
- _out: T
  (optional) the receiving quaternion.
Returns T
_out or a new quaternion if none is provided.

Source
https://github.com/toji/gl-matrix
- Defined in Source/Core/Math/Quaternion.ts:231

`Static`negate

negate(_q: Quaternion): void
Negates the given quaternion.
Parameters
- _q: Quaternion
Returns void
- Defined in Source/Core/Math/Quaternion.ts:391

`Static`NORMALIZATION

NORMALIZATION(_q: Readonly<Quaternion>, _out?: Quaternion): Quaternion
Normalize a quaternion making it a valid rotation representation.
Parameters
- _q: Readonly<Quaternion>
  quaternion to normalize
- Optional_out: Quaternion
  (optional) the receiving quaternion.
Returns Quaternion
_out or a new quaternion if none is provided.
- Defined in Source/Core/Math/Quaternion.ts:44
NORMALIZATION<T extends QuaternionLike>(_q: Readonly<T>, _out: T): T
Normalize a quaternion making it a valid rotation representation.
Type Parameters
- T extends QuaternionLike
Parameters
- _q: Readonly<T>
  quaternion to normalize
- _out: T
  (optional) the receiving quaternion.
Returns T
_out or a new quaternion if none is provided.
- Defined in Source/Core/Math/Quaternion.ts:45

`Static`NORMALIZE_ARRAY

NORMALIZE_ARRAY<T extends { [n: number]: number }>(
    _a: Readonly<T>,
    _aOffset: number,
    _out: T,
    _outOffset: number,
): T
Normalize a quaternion array.
Type Parameters
- T extends { [n: number]: number }
Parameters
- _a: Readonly<T>
  quaternion array to normalize.
- _aOffset: number
  the offset into the quaternion array.
- _out: T
  the receiving quaternion array.
- _outOffset: number
  the offset into the receiving quaternion array.
Returns T
out

Source
https://github.com/toji/gl-matrix
- Defined in Source/Core/Math/Quaternion.ts:373

`Static`PRODUCT

PRODUCT(_left: Quaternion, _right: Quaternion, _out?: Quaternion): Quaternion
Computes and returns the product of two passed quaternions.
Parameters
- _left: Quaternion
- _right: Quaternion
- _out: Quaternion = ...
  Optional quaternion to store the result in.
Returns Quaternion
- Defined in Source/Core/Math/Quaternion.ts:176

`Static`ROTATION

ROTATION(_eulerAngles: Vector3): Quaternion
Returns a quaternion that rotates coordinates when multiplied by, using the angles given. Rotation occurs around the axis in the order Z-Y-X.
Parameters
- _eulerAngles: Vector3
Returns Quaternion
Deprecated
Use ROTATION_EULER_ANGLES instead.
- Defined in Source/Core/Math/Quaternion.ts:128
ROTATION(_axis: Vector3, _angle: number): Quaternion
Returns a quaternion that rotates coordinates when multiplied by, using the axis and angle given. Axis must be normalized. Angle is in degrees.
Parameters
- _axis: Vector3
- _angle: number
Returns Quaternion
Deprecated
Use ROTATION_AXIS_ANGLE instead.
- Defined in Source/Core/Math/Quaternion.ts:134
ROTATION(_forward: Vector3, _up: Vector3): Quaternion
Returns a quaternion that rotates coordinates when multiplied by, using the forward and up direction given.
Parameters
- _forward: Vector3
- _up: Vector3
Returns Quaternion
Deprecated
Use ROTATION_LOOK_IN instead.
- Defined in Source/Core/Math/Quaternion.ts:139

`Static`ROTATION_AXIS_ANGLE

ROTATION_AXIS_ANGLE(
    _axis: Vector3,
    _angle: number,
    _out?: Quaternion,
): Quaternion
Returns a quaternion that rotates coordinates when multiplied by, using the axis and angle given. Axis must be normalized. Angle is in degrees.
Parameters
- _axis: Vector3
- _angle: number
- _out: Quaternion = ...
  Optional quaternion to store the result in.
Returns Quaternion
- Defined in Source/Core/Math/Quaternion.ts:77

`Static`ROTATION_EULER_ANGLES

ROTATION_EULER_ANGLES(_eulerAngles: Vector3, _out?: Quaternion): Quaternion
Returns a quaternion that rotates coordinates when multiplied by, using the angles given. Rotation occurs around the axis in the order Z-Y-X.
Parameters
- _eulerAngles: Vector3
- _out: Quaternion = ...
  Optional quaternion to store the result in.
Returns Quaternion
- Defined in Source/Core/Math/Quaternion.ts:67

`Static`ROTATION_FROM_TO

ROTATION_FROM_TO(_from: Vector3, _to: Vector3, _out?: Quaternion): Quaternion
Returns a quaternion that will rotate one vector to align with another.
Parameters
- _from: Vector3
  The normalized direction vector to rotate from.
- _to: Vector3
  The normalized direction vector to rotate to.
- _out: Quaternion = ...
  Optional quaternion to store the result in.
Returns Quaternion
- Defined in Source/Core/Math/Quaternion.ts:115

`Static`ROTATION_LOOK_IN

ROTATION_LOOK_IN(_forward: Vector3, _up: Vector3, _out?: Quaternion): Quaternion
Returns a quaternion with the given forward and up direction.
Parameters
- _forward: Vector3
  A unit vector indicating the desired forward-direction.
- _up: Vector3
  A unit vector indicating the up-direction.
- _out: Quaternion = ...
  Optional quaternion to store the result in.
Returns Quaternion
- Defined in Source/Core/Math/Quaternion.ts:94

`Static`SLERP

SLERP(
    _a: Readonly<Quaternion>,
    _b: Readonly<Quaternion>,
    _t: number,
    _out?: Quaternion,
): Quaternion
Performs a spherical linear interpolation between two quaternions.
Parameters
- _a: Readonly<Quaternion>
  the first operand.
- _b: Readonly<Quaternion>
  the second operand.
- _t: number
  interpolation amount, in the range [0-1], between the two inputs.
- Optional_out: Quaternion
  (optional) the receiving quaternion.
Returns Quaternion
_out or a new quaternion if none is provided.

Source
https://github.com/toji/gl-matrix
- Defined in Source/Core/Math/Quaternion.ts:253
SLERP<T extends QuaternionLike>(
    _a: Readonly<T>,
    _b: Readonly<T>,
    _t: number,
    _out: T,
): T
Performs a spherical linear interpolation between two quaternions.
Type Parameters
- T extends QuaternionLike
Parameters
- _a: Readonly<T>
  the first operand.
- _b: Readonly<T>
  the second operand.
- _t: number
  interpolation amount, in the range [0-1], between the two inputs.
- _out: T
  (optional) the receiving quaternion.
Returns T
_out or a new quaternion if none is provided.

Source
https://github.com/toji/gl-matrix
- Defined in Source/Core/Math/Quaternion.ts:254

`Static`SLERP_ARRAY

SLERP_ARRAY<T extends { [n: number]: number }>(
    _a: Readonly<T>,
    _aOffset: number,
    _b: Readonly<T>,
    _bOffset: number,
    _t: number,
    _out: T,
    _outOffset: number,
): T
Performs a spherical linear interpolation between two quaternion arrays.
Type Parameters
- T extends { [n: number]: number }
Parameters
- _a: Readonly<T>
  the first operand.
- _aOffset: number
  the offset into the first operand.
- _b: Readonly<T>
  the second operand.
- _bOffset: number
  the offset into the second operand.
- _t: number
  interpolation amount, in the range [0-1], between the two inputs.
- _out: T
  the receiving quaternion array.
- _outOffset: number
  the offset into the receiving quaternion array.
Returns T
out

Source
https://github.com/toji/gl-matrix
- Defined in Source/Core/Math/Quaternion.ts:319

Class Quaternion

Authors

Hierarchy (View Summary)

Implements

Index

Constructors

Properties

Accessors

Methods

Constructors

constructor

Parameters

Returns Quaternion

Properties

w

x

y

z

Accessors

clone

Returns Quaternion

eulerAngles

Returns Vector3

Parameters

Returns void

isArrayConvertible

Returns true

type

Returns string

Methods

addEventListener

Parameters

Returns void

animate

Parameters

Returns void

conjugate

Returns Quaternion

copy

Parameters

Returns Quaternion

deserialize

Parameters

Returns Promise<Quaternion>

dispatchEvent

Parameters

Returns boolean

equals

Parameters

Returns boolean

fromArray

Parameters

Returns this

getMetaAttributeTypes

Returns MetaAttributeTypes

getMetadata

Returns Metadata

getMutator

Parameters

Returns Mutator

getMutatorAttributeTypes

Parameters

Returns MutatorAttributeTypes

getMutatorForAnimation

Parameters

Returns MutatorForAnimation

getMutatorForUserInterface

Parameters

Returns MutatorForUserInterface

invert

Returns Quaternion

multiply

Parameters

Returns Quaternion

mutate

Parameters

Returns void

negate

Returns Quaternion

normalize

`Static`ANGLE

`Static`CONJUGATE

`Static`DOT

`Static`getMutatorFromPath

`Static`IDENTITY

`Static`INVERSE

`Static`LERP

`Static`negate

`Static`NORMALIZATION

`Static`NORMALIZE_ARRAY

`Static`PRODUCT

`Static`ROTATION