<!DOCTYPE html> <html lang="en"> <head> <meta charset="utf-8" /> <script src="../../list.js"></script> <script src="../../page.js"></script> <link type="text/css" rel="stylesheet" href="../../page.css" /> </head> <body> <h1>[name]</h1> <div class="desc">Implementation of a <a href="http://en.wikipedia.org/wiki/Quaternion">quaternion</a>. This is used for rotating things without encountering the dreaded <a href="http://en.wikipedia.org/wiki/Gimbal_lock">gimbal lock</a> issue, amongst other advantages.</div> <h2>Example</h2> <code>var quaternion = new THREE.Quaternion(); quaternion.setFromAxisAngle( new THREE.Vector3( 0, 1, 0 ), Math.PI / 2 ); var vector = new THREE.Vector3( 1, 0, 0 ); vector.applyQuaternion( quaternion ); </code> <h2>Constructor</h2> <h3>[name]( [page:Float x], [page:Float y], [page:Float z], [page:Float w] )</h3> <div> x - x coordinate<br /> y - y coordinate<br /> z - z coordinate<br /> w - w coordinate </div> <h2>Properties</h2> <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:Quaternion set]( [page:Float x], [page:Float y], [page:Float z], [page:Float w] )</h3> <div> Sets values of this quaternion. </div> <h3>[method:Quaternion copy]( [page:Quaternion q] )</h3> <div> Copies values of *q* to this quaternion. </div> <h3>[method:Quaternion setFromEuler]( [page:Euler euler] )</h3> <div> Sets this quaternion from rotation specified by Euler angle. </div> <h3>[method:Quaternion setFromAxisAngle]( [page:Vector3 axis], [page:Float angle] )</h3> <div> Sets this quaternion from rotation specified by axis and angle.<br /> Adapted from [link:http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm].<br /> *Axis* is asumed to be normalized, *angle* is in radians. </div> <h3>[method:Quaternion setFromRotationMatrix]( [page:Matrix4 m] )</h3> <div> Sets this quaternion from rotation component of *m*.<br /> Adapted from [link:http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm]. </div> <h3>[method:Quaternion setFromUnitVectors]( [page:Vector3 vFrom], [page:Vector3 vTo] )</h3> <div> Sets this quaternion to the rotation required to rotate direction vector *vFrom* to direction vector *vTo*.<br /> Adapted from [link:http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors].<br /> *vFrom* and *vTo* are assumed to be normalized. </div> <h3>[method:Quaternion inverse]()</h3> <div> Inverts this quaternion. </div> <h3>[method:Float length]()</h3> <div> Computes length of this quaternion. </div> <h3>[method:Quaternion normalize]()</h3> <div> Normalizes this quaternion. </div> <h3>[method:Quaternion multiply]( [page:Quaternion b] )</h3> <div> Multiplies this quaternion by *b*. </div> <h3>[method:Quaternion multiplyQuaternions]( [page:Quaternion a], [page:Quaternion b] )</h3> <div> Sets this quaternion to *a x b*<br /> Adapted from [link:http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm]. </div> <h3>[method:Quaternion multiplyVector3]( [page:Vector3 vector], [page:Vector3 dest] )</h3> <div> Rotates *vector* by this quaternion into *dest*.<br /> If *dest* is not specified, result goes to *vec*. </div> <h3>[method:Quaternion clone]()</h3> <div> Clones this quaternion. </div> <h2>Static methods</h2> <h3>[method:Quaternion slerp]( [page:Quaternion qa], [page:Quaternion qb], [page:Quaternion qm], [page:Float t] )</h3> <div> Adapted from [link:http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/]. </div> <h3>[method:Quaternion slerp]([page:Quaternion qb], [page:float t])</h3> <div> qb -- Target quaternion rotation.<br /> t -- Normalized [0..1] interpolation factor. </div> <div> Handles the spherical linear interpolation between this quaternion's configuration and that of *qb*. *t* represents how close to the current (0) or target (1) rotation the result should be. </div> <h3>[method:Array toArray]( [page:Array array] )</h3> <div> array -- Array to store the quaternion. </div> <div> Returns the numerical elements of this quaternion in an array of format (x, y, z, w). </div> <h3>[method:Boolean equals]([page:Quaternion v])</h3> <div> v -- Quaternion that this quaternion will be compared to. </div> <div> Compares each component of *v* to each component of this quaternion to determine if they represent the same rotation. </div> <h3>[method:Float lengthSq]()</h3> <div> Calculates the squared length of the quaternion. </div> <h3>[method:Quaternion fromArray]([page:Array array])</h3> <div> array -- Array of format (x, y, z, w) used to construct the quaternion. </div> <div> Sets this quaternion's component values from an array. </div> <h3>[method:Quaternion conjugate]()</h3> <div> Returns the rotational conjugate of this quaternion. The conjugate of a quaternion represents the same rotation in the opposite direction about the rotational axis. </div> <h2>Source</h2> [link:https://github.com/mrdoob/three.js/blob/master/src/[path].js src/[path].js] </body> </html>