Class Quaternion

constructor

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

  Parameters

  • Optionalx: number

    The x component. Default 0.

  • Optionaly: number

    The y component. Default 0.

  • Optionalz: number

    The z component. Default 0.

  • Optionalw: number

    The w component. Default 1.

  Returns Quaternion

onChangeCallback

w

x

y

z

add

• add(v: Vector4 | Quaternion): Quaternion

  Add a given Quaternion or Vector to this Quaternion. Addition is component-wise.

  Parameters

  • v: Vector4 | Quaternion

    The Quaternion or Vector to add to this Quaternion.

  Returns Quaternion

  This Quaternion.

calculateW

• calculateW(): Quaternion

  Calculates and sets the w component of this Quaternion based on the current x, y, and z components, so that the Quaternion has unit length. Assumes the x, y, and z values are already known and that their combined squared length does not exceed 1.undefined

  Returns Quaternion

  This Quaternion.

conjugate

• conjugate(): Quaternion

  Converts this Quaternion to its conjugate by negating the x, y, and z components while leaving w unchanged. For a unit quaternion, the conjugate is equivalent to the inverse and represents the opposite rotation.undefined

  Returns Quaternion

  This Quaternion.

copy

• copy(src: Vector4 | Quaternion): Quaternion

  Copy the components of a given Quaternion or Vector into this Quaternion.

  Parameters

  • src: Vector4 | Quaternion

    The Quaternion or Vector to copy the components from.

  Returns Quaternion

  This Quaternion.

dot

• dot(v: Vector4 | Quaternion): number

  Calculate the dot product of this Quaternion and the given Quaternion or Vector.

  Parameters

  • v: Vector4 | Quaternion

    The Quaternion or Vector to dot product with this Quaternion.

  Returns number

  The dot product of this Quaternion and the given Quaternion or Vector.

fromMat3

• fromMat3(mat: Matrix3): Quaternion

  Sets this Quaternion from the rotation represented by the given Matrix3, using the algorithm from Ken Shoemake's 1987 SIGGRAPH article "Quaternion Calculus and Fast Animation".

  Parameters

  • mat: Matrix3

    The Matrix3 to convert from.

  Returns Quaternion

  This Quaternion.

identity

• identity(): Quaternion

  Resets this Quaternion to the identity quaternion (0, 0, 0, 1), which represents no rotation.undefined

  Returns Quaternion

  This Quaternion.

invert

• invert(): Quaternion

  Calculates the multiplicative inverse of this Quaternion and sets the result. The inverse undoes the rotation represented by this Quaternion. If the Quaternion has zero length, no change is made.undefined

  Returns Quaternion

  This Quaternion.

length

• length(): number

  Calculate the length of this Quaternion.undefined

  Returns number

  The length of this Quaternion.

lengthSq

• lengthSq(): number

  Calculate the length of this Quaternion squared.undefined

  Returns number

  The length of this Quaternion, squared.

lerp

• lerp(v: Vector4 | Quaternion, t?: number): Quaternion

  Linearly interpolate this Quaternion towards the given Quaternion or Vector.

  Parameters

  • v: Vector4 | Quaternion

    The Quaternion or Vector to interpolate towards.

  • Optionalt: number

    The percentage of interpolation. Default 0.

  Returns Quaternion

  This Quaternion.

multiply

• multiply(b: Vector4 | Quaternion): Quaternion

  Multiply this Quaternion by the given Quaternion or Vector.

  Parameters

  • b: Vector4 | Quaternion

    The Quaternion or Vector to multiply this Quaternion by.

  Returns Quaternion

  This Quaternion.

normalize

• normalize(): Quaternion

  Normalizes this Quaternion, scaling it to unit length. If the Quaternion has zero length, no change is made.undefined

  Returns Quaternion

  This Quaternion.

rotateX

• rotateX(rad: number): Quaternion

  Rotate this Quaternion on the X axis.

  Parameters

  • rad: number

    The rotation angle in radians.

  Returns Quaternion

  This Quaternion.

rotateY

• rotateY(rad: number): Quaternion

  Rotate this Quaternion on the Y axis.

  Parameters

  • rad: number

    The rotation angle in radians.

  Returns Quaternion

  This Quaternion.

rotateZ

• rotateZ(rad: number): Quaternion

  Rotate this Quaternion on the Z axis.

  Parameters

  • rad: number

    The rotation angle in radians.

  Returns Quaternion

  This Quaternion.

rotationTo

• rotationTo(a: Vector3, b: Vector3): Quaternion

  Sets this Quaternion to represent the shortest arc rotation from unit vector a to unit vector b. This is the minimum rotation needed to align a with b. Both vectors must be normalized before calling this method.

  Parameters

  • a: Vector3

    The starting unit vector.

  • b: Vector3

    The target unit vector.

  Returns Quaternion

  This Quaternion.

scale

• scale(scale: number): Quaternion

  Scale this Quaternion by the given value.

  Parameters

  • scale: number

    The value to scale this Quaternion by.

  Returns Quaternion

  This Quaternion.

set

• set(
      x?: number | object,
      y?: number,
      z?: number,
      w?: number,
      update?: boolean,
  ): Quaternion

  Set the components of this Quaternion and optionally call the onChangeCallback.

  Parameters

  • Optionalx: number | object

    The x component, or an object containing x, y, z, and w components. Default 0.

  • Optionaly: number

    The y component. Default 0.

  • Optionalz: number

    The z component. Default 0.

  • Optionalw: number

    The w component. Default 0.

  • Optionalupdate: boolean

    Call the onChangeCallback? Default true.

  Returns Quaternion

  This Quaternion.

setAxes

• setAxes(view: Vector3, right: Vector3, up: Vector3): Quaternion

  Sets this Quaternion from the given view, right, and up axis vectors. The three vectors are written into a temporary Matrix3, which is then converted to a normalized quaternion. All three vectors should be mutually orthogonal unit vectors.

  Parameters

  • view: Vector3

    The view (forward) axis.

  • right: Vector3

    The right axis.

  • up: Vector3

    The up axis.

  Returns Quaternion

  This Quaternion.

setAxisAngle

• setAxisAngle(axis: Vector3, rad: number): Quaternion

  Sets this Quaternion to represent a rotation of rad radians around the given normalized axis vector.

  Parameters

  • axis: Vector3

    The normalized axis vector around which to rotate.

  • rad: number

    The rotation angle in radians.

  Returns Quaternion

  This Quaternion.

setFromEuler

• setFromEuler(euler: Euler, update?: boolean): Quaternion

  Sets this Quaternion from the given Euler object. The conversion respects the Euler's rotation order (e.g., 'XYZ', 'YXZ', 'ZXY', 'ZYX', 'YZX', 'XZY'), producing the equivalent quaternion rotation.

  Parameters

  • euler: Euler

    The Euler object to convert from.

  • Optionalupdate: boolean

    Run the onChangeCallback? Default true.

  Returns Quaternion

  This Quaternion.

setFromRotationMatrix

• setFromRotationMatrix(mat4: Matrix4): Quaternion

  Sets the rotation of this Quaternion from the given Matrix4.

  Parameters

  • mat4: Matrix4

    The Matrix4 to set the rotation from.

  Returns Quaternion

  This Quaternion.

slerp

• slerp(b: Vector4 | Quaternion, t: number): Quaternion

  Performs a spherical linear interpolation (slerp) between this Quaternion and the given Quaternion or Vector. Unlike lerp, slerp interpolates along the shortest arc on the unit sphere, maintaining constant angular velocity and producing smooth, natural-looking rotations.

  Parameters

  • b: Vector4 | Quaternion

    The Quaternion or Vector to interpolate towards.

  • t: number

    The interpolation factor, typically in the range [0, 1].

  Returns Quaternion

  This Quaternion.

subtract

• subtract(v: Vector4 | Quaternion): Quaternion

  Subtract a given Quaternion or Vector from this Quaternion. Subtraction is component-wise.

  Parameters

  • v: Vector4 | Quaternion

    The Quaternion or Vector to subtract from this Quaternion.

  Returns Quaternion

  This Quaternion.