Skip to content

class Quat (shared-side)

Available since version: 0.3.0

Quaternion representing 3D rotation.

Provides conversion to/from matrices, Euler angles and axis-angle, as well as common quaternion operations and interpolation utilities.

Constructor

Quat.new()

Parameters:

No parameters.

Constructor

Quat.new(number w)

Parameters:

  • number w: W component.

Constructor

Quat.new(number x, number y, number z, number w)

Parameters:

  • number x: X component.
  • number y: Y component.
  • number z: Z component.
  • number w: W component.

Properties

number x

X component.

number y

Y component.

number z

Z component.

number w

W component.

Methods

toMat3

Converts this quaternion to a 3x3 rotation matrix.

Mat3 toMat3()

Returns Mat3:

Rotation matrix.

fromMat3

Sets this quaternion from a 3x3 rotation matrix.

void fromMat3(Mat3 mat)

Parameters:

  • Mat3 mat: Rotation matrix.

toMat4

Converts this quaternion to a 4x4 rotation matrix.

Mat4 toMat4()

Returns Mat4:

Rotation matrix.

fromMat4

Sets this quaternion from a 4x4 transform matrix (rotation part).

void fromMat4(Mat4 mat)

Parameters:

  • Mat4 mat: Transform matrix.

toEuler

Converts this quaternion to Euler angles.

Vec3 toEuler()

Returns Vec3:

Euler angles as a 3D vector.

fromEuler

Sets this quaternion from Euler angles.

void fromEuler(Vec3 vec)

Parameters:

  • Vec3 vec: Euler angles as a 3D vector.

toAxisAngle

Converts this quaternion to axis-angle representation.

The returned Vec4 contains (axis.x, axis.y, axis.z, angle).

Vec4 toAxisAngle()

Returns Vec4:

Axis-angle as (x, y, z, angle).

fromAxisAngle

Sets this quaternion from an axis and angle.

void fromAxisAngle(Vec3 axis, number angle)

Parameters:

  • Vec3 axis: Rotation axis (typically normalized).
  • number angle: Rotation angle.

makeIdentity

Sets this quaternion to identity (no rotation).

void makeIdentity()

isIdentity

Returns true if this quaternion is identity (within epsilon tolerance).

bool isIdentity()

Returns bool:

True if identity.

len

Returns the quaternion length.

number len()

Returns number:

Quaternion length.

len2

Returns the squared quaternion length.

number len2()

Returns number:

Squared quaternion length.

lenApprox

Returns an approximate quaternion length.

number lenApprox()

Returns number:

Approximate length.

normalize

Normalizes the quaternion in-place.

If the quaternion length is zero, no change is applied.

Quat normalize()

Returns Quat:

This quaternion (normalized).

normalizeSafe

Normalizes the quaternion in-place using an epsilon check.

If the quaternion length is below a small threshold, no change is applied.

Quat normalizeSafe()

Returns Quat:

This quaternion (normalized).

normalizeApprox

Normalizes the quaternion in-place using an approximate inverse square root.

Quat normalizeApprox()

Returns Quat:

This quaternion (normalized).

set

Sets quaternion components.

void set(number x, number y, number z, number w)

Parameters:

  • number x: X component.
  • number y: Y component.
  • number z: Z component.
  • number w: W component.

inverse

Returns the inverse quaternion.

For unit quaternions, this is equivalent to conjugate().

Quat inverse()

Returns Quat:

Inverse quaternion.

conjugate

Returns the conjugate quaternion.

Quat conjugate()

Returns Quat:

Conjugated quaternion.

static dot

Returns the dot product of two quaternions.

number dot(Quat quat1, Quat quat2)

Parameters:

  • Quat quat1: First quaternion.
  • Quat quat2: Second quaternion.

Returns number:

Dot product.

static lerp

Linearly interpolates between two quaternions.

Quat lerp(number t, Quat q1, Quat q2)

Parameters:

  • number t: Interpolation factor (typically 0..1).
  • Quat q1: Start quaternion.
  • Quat q2: End quaternion.

Returns Quat:

Interpolated quaternion.

static slerp

Spherically interpolates between two quaternions.

Quat slerp(number t, Quat q1, Quat q2)

Parameters:

  • number t: Interpolation factor (typically 0..1).
  • Quat q1: Start quaternion.
  • Quat q2: End quaternion.

Returns Quat:

Spherically interpolated quaternion.

static squad

Performs a squad-style interpolation using three quaternions.

Quat squad(number t, Quat q1, Quat q2, Quat q3)

Parameters:

  • number t: Interpolation factor (typically 0..1).
  • Quat q1: First quaternion.
  • Quat q2: Second quaternion.
  • Quat q3: Third quaternion.

Returns Quat:

Interpolated quaternion.

static lookRotation

Creates a quaternion that looks in the given forward direction with the given up direction.

Quat lookRotation(Vec3 forward, Vec3 up)

Parameters:

  • Vec3 forward: Forward direction.
  • Vec3 up: Up direction.

Returns Quat:

Resulting rotation quaternion.

Callbacks

No callbacks.