Class Quaternion

constructor

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

  Creates a new Quaternion.

  Parameters

  • x: number = 0

    The x component. Defaults to 0.

  • y: number = 0

    The y component. Defaults to 0.

  • z: number = 0

    The z component. Defaults to 0.

  • w: number = 1

    The w component. Defaults to 1.

  Returns Quaternion

w

x

y

z

clone

• clone(): Quaternion

  Clones the quaternion into a new instance.

  Returns Quaternion

  A new Quaternion.

copyFrom

• copyFrom(q: Quaternion): this

  Copies the values from another quaternion.

  Parameters

  • q: Quaternion

    The other quaternion.

  Returns this

  this

identity

• identity(): this

  Resets the quaternion to the identity rotation.

  Returns this

  this

length

• length(): number

  Calculates the Euclidean length of the quaternion.

  Returns number

  The length.

multiply

• multiply(q: Quaternion): this

  Multiplies this quaternion by another (this = this * q).

  Parameters

  • q: Quaternion

    The other quaternion.

  Returns this

  this

normalize

• normalize(): this

  Normalizes the quaternion to a unit length of 1.

  Returns this

  this

premultiply

• premultiply(q: Quaternion): this

  Pre-multiplies this quaternion by another (this = q * this).

  Parameters

  • q: Quaternion

    The other quaternion.

  Returns this

  this

set

• set(x: number, y: number, z: number, w: number): this

  Sets the components of the quaternion.

  Parameters

  • x: number

    The x component.

  • y: number

    The y component.

  • z: number

    The z component.

  • w: number

    The w component.

  Returns this

  this

setFromAxisAngle

• setFromAxisAngle(axis: Vector3D, angle: number): this

  Sets the quaternion from axis and angle.

  Parameters

  • axis: Vector3D

    The rotation axis (must be normalized).

  • angle: number

    The rotation angle in radians.

  Returns this

  this

setFromRotationMatrix

• setFromRotationMatrix(m: Matrix4): this

  Sets the quaternion from a rotation matrix.

  Parameters

  • m: Matrix4

    The rotation matrix.

  Returns this

  this

slerp

• slerp(q: Quaternion, t: number): this

  Spherically interpolates this quaternion toward another by a factor t, taking the shortest arc (flips q if the two quaternions are more than 90 degrees apart). Falls back to linear interpolation + normalize when the two rotations are nearly identical, where slerp's formula becomes numerically unstable (division by a near-zero sinHalfTheta).

  Parameters

  • q: Quaternion

    The target quaternion.

  • t: number

    The interpolation factor, typically in [0, 1] (0 = stays at this, 1 = becomes q).

  Returns this

  this