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class Quat (shared-side)

Available since version: 0.3.0

This class represents a Quaternion.

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

Represents X component.

number y

Represents Y component.

number z

Represents Z component.

number w

Represents W component.

Methods

toMat3

This method converts this quaternion to a 3x3 rotation matrix.

Mat3 toMat3()

Returns Mat3:

Rotation matrix.

fromMat3

This method sets this quaternion from a 3x3 rotation matrix.

void fromMat3(Mat3 mat)

Parameters:

  • Mat3 mat: Rotation matrix.

toMat4

This method converts this quaternion to a 4x4 rotation matrix.

Mat4 toMat4()

Returns Mat4:

Rotation matrix.

fromMat4

This method sets this quaternion from a 4x4 transform matrix (rotation part).

void fromMat4(Mat4 mat)

Parameters:

  • Mat4 mat: Transform matrix.

toEuler

This method converts this quaternion to Euler angles.

Vec3 toEuler()

Returns Vec3:

Euler angles as a 3D vector.

fromEuler

This method sets this quaternion from Euler angles.

void fromEuler(Vec3 vec)

Parameters:

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

toAxisAngle

This method 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

This method 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

This method sets this quaternion to identity (no rotation).

void makeIdentity()

isIdentity

This method returns true if this quaternion is identity (within epsilon tolerance).

boolean isIdentity()

Returns boolean:

True if identity.

len

This method returns the quaternion length.

number len()

Returns number:

Quaternion length.

len2

This method returns the squared quaternion length.

number len2()

Returns number:

Squared quaternion length.

lenApprox

This method returns an approximate quaternion length.

number lenApprox()

Returns number:

Approximate length.

normalize

This method normalizes the quaternion in-place. If the quaternion length is zero, no change is applied.

Quat normalize()

Returns Quat:

This quaternion (normalized).

normalizeSafe

This method 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

This method normalizes the quaternion in-place using an approximate inverse square root.

Quat normalizeApprox()

Returns Quat:

This quaternion (normalized).

set

This method 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

This method returns the inverse quaternion. For unit quaternions, this is equivalent to conjugate().

Quat inverse()

Returns Quat:

Inverse quaternion.

conjugate

This method returns the conjugate quaternion.

Quat conjugate()

Returns Quat:

Conjugated quaternion.

static dot

This method 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

This method 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

This method 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

This method 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

This method 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.