Class Quaternion

Implementation of a quaternion. This is used for rotating things without incurring in the dreaded gimbal lock issue, amongst other advantages.

Example

const quaternion = new THREE.Quaternion();
quaternion.setFromAxisAngle( new THREE.Vector3( 0, 1, 0 ), Math.PI / 2 );
const vector = new THREE.Vector3( 1, 0, 0 );
vector.applyQuaternion( quaternion );

Constructors

constructor

Properties

x y z w isQuaternion _onChangeCallback

Methods

slerpFlat multiplyQuaternionsFlat set clone copy setFromEuler setFromAxisAngle setFromRotationMatrix setFromUnitVectors angleTo rotateTowards identity invert conjugate dot lengthSq length normalize multiply premultiply multiplyQuaternions slerp slerpQuaternions equals fromArray toArray toJSON fromBufferAttribute _onChange random [iterator]

Constructors

constructor

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

  • Parameters

    • Optionalx: number

      x coordinate

    • Optionaly: number

      y coordinate

    • Optionalz: number

      z coordinate

    • Optionalw: number

      w coordinate

    Returns Quaternion

Properties

x

x: number

Default

0

y

y: number

Default

0

z

z: number

Default

0

w

w: number

Default

1

ReadonlyisQuaternion

isQuaternion: true

_onChangeCallback

_onChangeCallback: (() => void)

Methods

StaticslerpFlat

  • slerpFlat(dst, dstOffset, src0, srcOffset, src1, stcOffset1, t): void

  • Parameters

    • dst: number[]
    • dstOffset: number
    • src0: number[]
    • srcOffset: number
    • src1: number[]
    • stcOffset1: number
    • t: number

    Returns void

StaticmultiplyQuaternionsFlat

  • multiplyQuaternionsFlat(dst, dstOffset, src0, srcOffset, src1, stcOffset1): number[]

  • Parameters

    • dst: number[]
    • dstOffset: number
    • src0: number[]
    • srcOffset: number
    • src1: number[]
    • stcOffset1: number

    Returns number[]

set

  • set(x, y, z, w): this

  • Sets values of this quaternion.

    Parameters

    • x: number
    • y: number
    • z: number
    • w: number

    Returns this

clone

  • clone(): this

  • Clones this quaternion.

    Returns this

copy

  • copy(q): this

  • Copies values of q to this quaternion.

    Parameters

    Returns this

setFromEuler

  • setFromEuler(euler, update?): this

  • Sets this quaternion from rotation specified by Euler angles.

    Parameters

    • euler: Euler
    • Optionalupdate: boolean

    Returns this

setFromAxisAngle

setFromRotationMatrix

setFromUnitVectors

  • setFromUnitVectors(vFrom, vTo): this

  • Parameters

    Returns this

angleTo

  • angleTo(q): number

  • Parameters

    Returns number

rotateTowards

  • rotateTowards(q, step): this

  • Parameters

    Returns this

identity

  • identity(): this

  • Returns this

invert

  • invert(): this

  • Inverts this quaternion.

    Returns this

conjugate

  • conjugate(): this

  • Returns this

dot

  • dot(v): number

  • Parameters

    Returns number

lengthSq

  • lengthSq(): number

  • Returns number

length

  • length(): number

  • Computes length of this quaternion.

    Returns number

normalize

  • normalize(): this

  • Normalizes this quaternion.

    Returns this

multiply

  • multiply(q): this

  • Multiplies this quaternion by b.

    Parameters

    Returns this

premultiply

  • premultiply(q): this

  • Parameters

    Returns this

multiplyQuaternions

slerp

  • slerp(qb, t): this

  • Parameters

    Returns this

slerpQuaternions

  • slerpQuaternions(qa, qb, t): this

  • Parameters

    Returns this

equals

  • equals(v): boolean

  • Parameters

    Returns boolean

fromArray

  • fromArray(array, offset?): this

  • Sets this quaternion's x, y, z and w value from the provided array or array-like.

    Parameters

    • array: number[] | ArrayLike<number>

      the source array or array-like.

    • Optionaloffset: number

      (optional) offset into the array. Default is 0.

    Returns this

toArray

  • toArray(array?, offset?): number[]

  • Returns an array [x, y, z, w], or copies x, y, z and w into the provided array.

    Parameters

    • Optionalarray: number[]

      (optional) array to store the quaternion to. If this is not provided, a new array will be created.

    • Optionaloffset: number

      (optional) optional offset into the array.

    Returns number[]

    The created or provided array.

  • toArray(array, offset?): ArrayLike<number>

  • Copies x, y, z and w into the provided array-like.

    Parameters

    • array: ArrayLike<number>

      array-like to store the quaternion to.

    • Optionaloffset: number

      (optional) optional offset into the array.

    Returns ArrayLike<number>

    The provided array-like.

toJSON

  • toJSON(): [number, number, number, number]

  • This method defines the serialization result of Quaternion.

    Returns [number, number, number, number]

    The numerical elements of this quaternion in an array of format [x, y, z, w].

fromBufferAttribute

  • fromBufferAttribute(attribute, index): this

  • Sets x, y, z, w properties of this quaternion from the attribute.

    Parameters

    Returns this

_onChange

  • _onChange(callback): this

  • Parameters

    • callback: (() => void)
        • (): void

        • Returns void

    Returns this

random

  • random(): this

  • Returns this

[iterator]

  • [iterator](): Generator<number, void, unknown>

  • Returns Generator<number, void, unknown>

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constructorxyzwisQuaternion_onChangeCallbackslerpFlatmultiplyQuaternionsFlatsetclonecopysetFromEulersetFromAxisAnglesetFromRotationMatrixsetFromUnitVectorsangleTorotateTowardsidentityinvertconjugatedotlengthSqlengthnormalizemultiplypremultiplymultiplyQuaternionsslerpslerpQuaternionsequalsfromArraytoArraytoJSONfromBufferAttribute_onChangerandom[iterator]