Quat (struct)¶
The Quat represents a 3D rotation as a quaternion. Quaternions are used within the Xfo type. A Quat can be converted to and from Mat33 as well as Euler types.
/*
** Example: Quat
*/
// create several quaternions
Quat q0, q1, q2, q3, q4;
q0 = Quat(Vec3(1.0, 0.0, 0.0), 0.0);
q1.setFromEuler(Euler(PI, 0.0, 0.0));
q2.setFromDirectionAndUpvector(Vec3(1.0, 0.0, 0.0), Vec3(0.0, 1.0, 0.0));
q3.setFrom2Vectors(Vec3(1.0, 0.0, 0.0), Vec3(1.0, 1.0, 0.0));
q4.setFromAxisAndAngle(Vec3(0.0, 1.0, 0.0), HALF_PI);
Methods¶
| Quat ( in Euler e ) | |
| Quat ( in Mat33 mat ) | |
| Quat ( in Quat other ) | |
| Quat ( in Scalar w, in Vec3 v ) | |
| Quat ( in Scalar x, in Scalar y, in Scalar z, in Scalar w ) | |
| Quat ( in Vec3 v, in Scalar w ) | |
| Quat () | |
| Quat | add ? ( in Quat other ) |
| alignWith ! ( in Quat other ) | |
| Boolean | almostEqual ? ( in Quat other ) |
| Boolean | almostEqual ? ( in Quat other, in Scalar precision ) |
| Quat | clone ? () |
| Quat | conjugate ? () |
| Quat | divide ? ( in Quat other ) |
| Quat | divideScalar ? ( in Scalar other ) |
| Scalar | dot ? ( in Quat other ) |
| Boolean | equal ? ( in Quat other ) |
| get ? ( io Float32 v<> ) | |
| get ? ( io Float32 v<>, in UInt32 o ) | |
| get ? ( io Float32 v[] ) | |
| get ? ( io Float32 v[], in UInt32 o ) | |
| get ? ( io Float64 v<> ) | |
| get ? ( io Float64 v<>, in UInt32 o ) | |
| get ? ( io Float64 v[] ) | |
| get ? ( io Float64 v[], in UInt32 o ) | |
| Scalar | getAngle ? () |
| Vec3 | getXaxis ? () |
| Vec3 | getYaxis ? () |
| Vec3 | getZaxis ? () |
| UInt32 | hash ? () |
| Quat | inverse ? () |
| Scalar | length ? () |
| Scalar | lengthSquared ? () |
| Quat | linearInterpolate ? ( in Quat other, in Scalar t ) |
| mirror ! ( in Integer axisIndex ) | |
| Quat | multiply ? ( in Quat other ) |
| Quat | multiplyScalar ? ( in Scalar other ) |
| Vec3 | rotateVector ? ( in Vec3 v ) |
| set ! ( in Float32 v<> ) | |
| set ! ( in Float32 v<>, in UInt32 o ) | |
| set ! ( in Float64 v<> ) | |
| set ! ( in Float64 v<>, in UInt32 o ) | |
| set ! ( in Scalar w, in Vec3 v ) | |
| set ! ( in Scalar x, in Scalar y, in Scalar z, in Scalar w ) | |
| set ! ( in Vec3 v, in Scalar w ) | |
| Quat | setFrom2Vectors ! ( in Vec3 sourceDirVec, in Vec3 destDirVec ) |
| Quat | setFrom2Vectors ! ( in Vec3 sourceDirVec, in Vec3 destDirVec, in Boolean arbitraryIfAmbiguous ) |
| Quat | setFromAxisAndAngle ! ( in Vec3 axis, in Scalar angle ) |
| Quat | setFromDirectionAndUpvector ! ( in Vec3 direction, in Vec3 upvector ) |
| Quat | setFromEuler ! ( in Euler e ) |
| Quat | setFromEulerAngles ! ( in Scalar eulerX, in Scalar eulerY, in Scalar eulerZ ) |
| Quat | setFromEulerAngles ! ( in Scalar eulerX, in Scalar eulerY, in Scalar eulerZ, in RotationOrder ro ) |
| Quat | setFromEulerAngles ! ( in Vec3 angles ) |
| Quat | setFromEulerAngles ! ( in Vec3 angles, in RotationOrder ro ) |
| Quat | setFromMat33 ! ( in Mat33 mat ) |
| setIdentity ! () | |
| Scalar | setUnit ! () |
| Quat | sphericalLinearInterpolate ? ( in Quat q2, in Scalar t ) |
| Quat | subtract ? ( in Quat other ) |
| Euler | toEuler ? ( in RotationOrder rotationOrder ) |
| Vec3 | toEulerAngles ? ( in RotationOrder order ) |
| Vec3 | toEulerAngles ? () |
| Mat33 | toMat33 ? () |
| Quat | unit ? () |
| Quat | unit_safe ? () |
Methods in detail¶
Construct from euler angles
Construct from Mat33
copy constructor
Quat ( in Scalar w, in Vec3 v )
Construct from scalar and vector
Quat ( in Scalar x, in Scalar y, in Scalar z, in Scalar w )
Construct from scalars
Quat ( in Vec3 v, in Scalar w )
Construct from vector and scalar
Quat ()
Default constructor - set to identity
Quat Quat.add? ( in Quat other )
Overload method for the add operator
Quat.alignWith! ( in Quat other )
Aligns this quaternion with another one ensuring that the delta between the Quaternion values is the shortest path over the hypersphere.
Boolean Quat.almostEqual? ( in Quat other )
Returns true if this quaternion is almost equal to another one (using a default precision)
Boolean Quat.almostEqual? ( in Quat other, in Scalar precision )
Returns true if this quaternion is almost equal to another one (given a precision)
clone method
Returns the conjugate of this quaternion
Quat Quat.divide? ( in Quat other )
Overload method for the divide operator
Quat Quat.divideScalar? ( in Scalar other )
Returns the division of this quaternion and a scalar
Scalar Quat.dot? ( in Quat other )
Returns the dot product of this quaternion and another one
Boolean Quat.equal? ( in Quat other )
Returns true if this quaternion is equal to another one
Getter as external float32 array
Quat.get? ( io Float32 v<>, in UInt32 o )
Getter as external float32 array and an offset
Getter as float32 array
Quat.get? ( io Float32 v[], in UInt32 o )
Getter as float32 array and an offset
Getter as external float64 array
Quat.get? ( io Float64 v<>, in UInt32 o )
Getter as external float64 array and an offset
Getter as float64 array
Quat.get? ( io Float64 v[], in UInt32 o )
Getter as float64 array and an offset
Returns the angle of this quaternion (in radians)
Returns the X axis of this quaternion
Returns the Y axis of this quaternion
Returns the Z axis of this quaternion
Hash for this value
Returns a inverse quaternion of this one
Returns the length of this quaternion
Returns the squared length of this quaternion
Quat Quat.linearInterpolate? ( in Quat other, in Scalar t )
Interpolates two quaternions lineally (lerp) with a given blend value (0.0 to 1.0).
注釈
The interpolation of the 2 quaternions will result acceleration and deceleration. Use Quat.sphericalLinearInterpolate for an interpolation that does not introduce acceleration.
Quat.mirror! ( in Integer axisIndex )
Reflects this Quaternion according to the axis provided.
| axisIndex | An integer with value of 0 for the X axis, 1 for the Y axis, and 2 for the Z axis. |
Quat Quat.multiply? ( in Quat other )
Overload method for the multiply operator
Quat Quat.multiplyScalar? ( in Scalar other )
Returns the product of this quaternion and a scalar
Vec3 Quat.rotateVector? ( in Vec3 v )
Rotates a vector by this quaterion. Don’t forget to normalize the quaternion unless you want axial translation as well as rotation.
Setter from (standard/external) float32 array
Quat.set! ( in Float32 v<>, in UInt32 o )
Setter from (standard/external) float32 array and an offset
Setter from (standard/external) float64 array
Quat.set! ( in Float64 v<>, in UInt32 o )
Setter from (standard/external) float64 array and an offset
Quat.set! ( in Scalar w, in Vec3 v )
Setter from scalar and vector
Quat.set! ( in Scalar x, in Scalar y, in Scalar z, in Scalar w )
Sets each component with a single scalar value.
Quat.set! ( in Vec3 v, in Scalar w )
Setter from vector and scalar
Quat Quat.setFrom2Vectors! ( in Vec3 sourceDirVec, in Vec3 destDirVec )
Overload for previous setFrom2Vectors method, avoid arbitrary rotations.
Quat Quat.setFrom2Vectors! ( in Vec3 sourceDirVec, in Vec3 destDirVec, in Boolean arbitraryIfAmbiguous )
Set the quaternion to the rotation required to rotate the source vector to the destination vector Function taken from the ‘Game Programming Gems’ article ‘The Shortest Arc Quaternion’ by Stan Melax Both vectors must be units.
Quat Quat.setFromAxisAndAngle! ( in Vec3 axis, in Scalar angle )
Set this quat to a rotation defined by an axis and an angle (in radians)
Quat Quat.setFromDirectionAndUpvector! ( in Vec3 direction, in Vec3 upvector )
Set the quat to represent the direction as the Z axis and the upvector pointing along the XY plane.
Quat Quat.setFromEuler! ( in Euler e )
Set this quat from a euler rotation
Quat Quat.setFromEulerAngles! ( in Scalar eulerX, in Scalar eulerY, in Scalar eulerZ )
Set this quat to a given angles vector (in radians) using the default XYZ rotation order
Quat Quat.setFromEulerAngles! ( in Scalar eulerX, in Scalar eulerY, in Scalar eulerZ, in RotationOrder ro )
Set this quat to a given angles vector (in radians) and a rotation order
Quat Quat.setFromEulerAngles! ( in Vec3 angles )
Set this quat to a given angles vector (in radians) using the default XYZ rotation order
Quat Quat.setFromEulerAngles! ( in Vec3 angles, in RotationOrder ro )
Set this quat to a given angles vector (in radians) and a rotation order
Quat Quat.setFromMat33! ( in Mat33 mat )
Set this quat to the rotation described by a 3x3 rotation matrix
Quat.setIdentity! ()
Set this quat to the identity
Sets this quaternion to a unit quaternion and returns the previous length
Quat Quat.sphericalLinearInterpolate? ( in Quat q2, in Scalar t )
interpolates two quaternions spherically (slerp) given a scalar blend value (0.0 to 1.0).
注釈
this and q2 should be unit Quaternions
Quat Quat.subtract? ( in Quat other )
Overload method for the subtract operator
Euler Quat.toEuler? ( in RotationOrder rotationOrder )
Returns this quaternion as a Euler rotation giving a rotation order
Vec3 Quat.toEulerAngles? ( in RotationOrder order )
Returns this quaternion as a Euler angles using the rotationorder XYZ
Returns this quaternion as a Euler angles using the rotationorder XYZ
Returns this quaternion as a 3x3 rotation matrix
Returns a unit quaternion of this one
Returns a unit quaternion of this one, no error reported if cannot be made unit
