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- <h1>[name]</h1>
- <p class="desc">
- Implementation of a [link:http://en.wikipedia.org/wiki/Quaternion quaternion].<br />
- Quaternions are used in three.js to represent
- [link:https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation rotations].
- </p>
- <p>
- Iterating through a [name] instance will yield its components (x, y, z, w)
- in the corresponding order.
- </p>
- <p>
- Note that three.js expects Quaternions to be normalized.
- </p>
- <h2>Code Example</h2>
- <code>
- 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 );
- </code>
- <h2>Constructor</h2>
- <h3>
- [name]( [param:Float x], [param:Float y], [param:Float z], [param:Float w] )
- </h3>
- <p>
- [page:Float x] - x coordinate<br />
- [page:Float y] - y coordinate<br />
- [page:Float z] - z coordinate<br />
- [page:Float w] - w coordinate
- </p>
- <h2>Properties</h2>
- <h3>[property:Boolean isQuaternion]</h3>
- <p>Read-only flag to check if a given object is of type [name].</p>
- <h3>[property:Float x]</h3>
- <h3>[property:Float y]</h3>
- <h3>[property:Float z]</h3>
- <h3>[property:Float w]</h3>
- <h2>Methods</h2>
- <h3>[method:Float angleTo]( [param:Quaternion q] )</h3>
- <p>
- Returns the angle between this quaternion and quaternion [page:Quaternion q] in radians.
- </p>
- <h3>[method:Quaternion clone]()</h3>
- <p>
- Creates a new Quaternion with identical [page:.x x], [page:.y y], [page:.z z]
- and [page:.w w] properties to this one.
- </p>
- <h3>[method:this conjugate]()</h3>
- <p>
- Returns the rotational conjugate of this quaternion. The conjugate of a
- quaternion represents the same rotation in the opposite direction about
- the rotational axis.
- </p>
- <h3>[method:this copy]( [param:Quaternion q] )</h3>
- <p>
- Copies the [page:.x x], [page:.y y], [page:.z z] and [page:.w w]
- properties of [page:Quaternion q] into this quaternion.
- </p>
- <h3>[method:Boolean equals]( [param:Quaternion v] )</h3>
- <p>
- [page:Quaternion v] - Quaternion that this quaternion will be compared
- to.<br /><br />
- Compares the [page:.x x], [page:.y y], [page:.z z] and [page:.w w]
- properties of [page:Quaternion v] to the equivalent properties of this
- quaternion to determine if they represent the same rotation.
- </p>
- <h3>[method:Float dot]( [param:Quaternion v] )</h3>
- <p>
- Calculates the [link:https://en.wikipedia.org/wiki/Dot_product dot product]
- of quaternions [page:Quaternion v] and this one.
- </p>
- <h3>
- [method:this fromArray]( [param:Array array], [param:Integer offset] )
- </h3>
- <p>
- [page:Array array] - array of format (x, y, z, w) used to construct the
- quaternion.<br />
- [page:Integer offset] - (optional) an offset into the array.<br /><br />
- Sets this quaternion's [page:.x x], [page:.y y], [page:.z z] and [page:.w w]
- properties from an array.
- </p>
- <h3>[method:this identity]()</h3>
- <p>
- Sets this quaternion to the identity quaternion; that is, to the
- quaternion that represents "no rotation".
- </p>
- <h3>[method:this invert]()</h3>
- <p>
- Inverts this quaternion - calculates the [page:.conjugate conjugate]. The
- quaternion is assumed to have unit length.
- </p>
- <h3>[method:Float length]()</h3>
- <p>
- Computes the [link:https://en.wikipedia.org/wiki/Euclidean_distance Euclidean length]
- (straight-line length) of this quaternion, considered as
- a 4 dimensional vector.
- </p>
- <h3>[method:Float lengthSq]()</h3>
- <p>
- Computes the squared
- [link:https://en.wikipedia.org/wiki/Euclidean_distance Euclidean length]
- (straight-line length) of this quaternion, considered as a 4 dimensional
- vector. This can be useful if you are comparing the lengths of two
- quaternions, as this is a slightly more efficient calculation than
- [page:.length length]().
- </p>
- <h3>[method:this normalize]()</h3>
- <p>
- [link:https://en.wikipedia.org/wiki/Normalized_vector Normalizes] this
- quaternion - that is, calculated the quaternion that performs the same
- rotation as this one, but has [page:.length length] equal to `1`.
- </p>
- <h3>[method:this multiply]( [param:Quaternion q] )</h3>
- <p>Multiplies this quaternion by [page:Quaternion q].</p>
- <h3>
- [method:this multiplyQuaternions]( [param:Quaternion a], [param:Quaternion b] )
- </h3>
- <p>
- Sets this quaternion to [page:Quaternion a] x [page:Quaternion b].<br />
- Adapted from the method outlined
- [link:http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.html here].
- </p>
- <h3>[method:this premultiply]( [param:Quaternion q] )</h3>
- <p>Pre-multiplies this quaternion by [page:Quaternion q].</p>
- <h3>[method:this random]()</h3>
- <p>Sets this quaternion to a uniformly random, normalized quaternion.</p>
- <h3>
- [method:this rotateTowards]( [param:Quaternion q], [param:Float step] )
- </h3>
- <p>
- [page:Quaternion q] - The target quaternion.<br />
- [page:Float step] - The angular step in radians.<br /><br />
- Rotates this quaternion by a given angular step to the defined quaternion
- *q*. The method ensures that the final quaternion will not overshoot *q*.
- </p>
- <h3>[method:this slerp]( [param:Quaternion qb], [param:Float t] )</h3>
- <p>
- [page:Quaternion qb] - The other quaternion rotation<br />
- [page:Float t] - interpolation factor in the closed interval `[0, 1]`.<br /><br />
- Handles the spherical linear interpolation between quaternions.
- [page:Float t] represents the amount of rotation between this quaternion
- (where [page:Float t] is 0) and [page:Quaternion qb] (where [page:Float t]
- is 1). This quaternion is set to the result. Also see the static version
- of the `slerp` below.
- <code>
- // rotate a mesh towards a target quaternion
- mesh.quaternion.slerp( endQuaternion, 0.01 );
- </code>
- </p>
- <h3>
- [method:this slerpQuaternions]( [param:Quaternion qa], [param:Quaternion qb], [param:Float t] )
- </h3>
- <p>
- Performs a spherical linear interpolation between the given quaternions
- and stores the result in this quaternion.
- </p>
- <h3>
- [method:this set]( [param:Float x], [param:Float y], [param:Float z], [param:Float w] )
- </h3>
- <p>
- Sets [page:.x x], [page:.y y], [page:.z z], [page:.w w] properties of this
- quaternion.
- </p>
- <h3>
- [method:this setFromAxisAngle]( [param:Vector3 axis], [param:Float angle] )
- </h3>
- <p>
- Sets this quaternion from rotation specified by [page:Vector3 axis] and
- [page:Float angle].<br />
- Adapted from the method
- [link:http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.html here].<br />
- `Axis` is assumed to be normalized, `angle` is in radians.
- </p>
- <h3>[method:this setFromEuler]( [param:Euler euler] )</h3>
- <p>
- Sets this quaternion from the rotation specified by [page:Euler] angle.
- </p>
- <h3>[method:this setFromRotationMatrix]( [param:Matrix4 m] )</h3>
- <p>
- [page:Matrix4 m] - a [page:Matrix4] of which the upper 3x3 of matrix is a
- pure [link:https://en.wikipedia.org/wiki/Rotation_matrix rotation matrix]
- (i.e. unscaled).<br />
- Sets this quaternion from rotation component of [page:Matrix4 m].<br />
- Adapted from the method
- [link:http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.html here].
- </p>
- <h3>
- [method:this setFromUnitVectors]( [param:Vector3 vFrom], [param:Vector3 vTo] )
- </h3>
- <p>
- Sets this quaternion to the rotation required to rotate direction vector
- [page:Vector3 vFrom] to direction vector [page:Vector3 vTo].<br />
- Adapted from the method
- [link:http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors here].<br />
- [page:Vector3 vFrom] and [page:Vector3 vTo] are assumed to be normalized.
- </p>
- <h3>
- [method:Array toArray]( [param:Array array], [param:Integer offset] )
- </h3>
- <p>
- [page:Array array] - An optional array to store the quaternion. If not
- specified, a new array will be created.<br />
- [page:Integer offset] - (optional) if specified, the result will be copied
- into this [page:Array].<br /><br />
- Returns the numerical elements of this quaternion in an array of format
- [x, y, z, w].
- </p>
- <h3>[method:Array toJSON]()</h3>
- <p>
- This methods defines the serialization result of [name]. Returns the
- numerical elements of this quaternion in an array of format [x, y, z, w].
- </p>
- <h3>
- [method:this fromBufferAttribute]( [param:BufferAttribute attribute], [param:Integer index] )
- </h3>
- <p>
- [page:BufferAttribute attribute] - the source attribute.<br />
- [page:Integer index] - index in the attribute.<br /><br />
- Sets [page:.x x], [page:.y y], [page:.z z], [page:.w w] properties of this
- quaternion from the [page:BufferAttribute attribute].
- </p>
- <h2>Static Methods</h2>
- <h3>
- [method:undefined slerpFlat]( [param:Array dst], [param:Integer dstOffset],
- [param:Array src0], [param:Integer srcOffset0], [param:Array src1],
- [param:Integer srcOffset1], [param:Float t] )
- </h3>
- <p>
- [page:Array dst] - The output array.<br />
- [page:Integer dstOffset] - An offset into the output array.<br />
- [page:Array src0] - The source array of the starting quaternion.<br />
- [page:Integer srcOffset0] - An offset into the array `src0`.<br />
- [page:Array src1] - The source array of the target quaternion.<br />
- [page:Integer srcOffset1] - An offset into the array `src1`.<br />
- [page:Float t] - Normalized interpolation factor (between `0` and `1`).<br /><br />
- This SLERP implementation assumes the quaternion data are managed in flat
- arrays.
- </p>
- <h3>
- [method:Array multiplyQuaternionsFlat]( [param:Array dst], [param:Integer dstOffset],
- [param:Array src0], [param:Integer srcOffset0], [param:Array src1], [param:Integer srcOffset1] )
- </h3>
- <p>
- [page:Array dst] - The output array.<br />
- [page:Integer dstOffset] - An offset into the output array.<br />
- [page:Array src0] - The source array of the starting quaternion.<br />
- [page:Integer srcOffset0] - An offset into the array `src0`.<br />
- [page:Array src1] - The source array of the target quaternion.<br />
- [page:Integer srcOffset1] - An offset into the array `src1`.<br /><br />
- This multiplication implementation assumes the quaternion data are managed
- in flat arrays.
- </p>
- <!-- Note: Do not add non-static methods to the bottom of this page. Put them above the <h2>Static Methods</h2> -->
- <h2>Source</h2>
- <p>
- [link:https://github.com/mrdoob/three.js/blob/master/src/[path].js src/[path].js]
- </p>
- </body>
- </html>
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