Quat

Category: Built-In Types

Brief Description

Quaternion.

Properties

float w
float x
float y
float z

Methods

Quat Quat ( Basis from )
Quat Quat ( Vector3 euler )
Quat Quat ( Vector3 axis, float angle )
Quat Quat ( float x, float y, float z, float w )
Quat cubic_slerp ( Quat b, Quat pre_a, Quat post_b, float t )
float dot ( Quat b )
Vector3 get_euler ( )
Quat inverse ( )
bool is_normalized ( )
float length ( )
float length_squared ( )
Quat normalized ( )
void set_axis_angle ( Vector3 axis, float angle )
void set_euler ( Vector3 euler )
Quat slerp ( Quat b, float t )
Quat slerpni ( Quat b, float t )
Vector3 xform ( Vector3 v )

Constants

  • IDENTITY = Quat( 0, 0, 0, 1 )

Description

A unit quaternion used for representing 3D rotations.

It is similar to Basis, which implements matrix representation of rotations, and can be parametrized using both an axis-angle pair or Euler angles. But due to its compactness and the way it is stored in memory, certain operations (obtaining axis-angle and performing SLERP, in particular) are more efficient and robust against floating point errors.

Quaternions need to be (re)normalized.

Tutorials

Property Descriptions

W component of the quaternion. Default value: 1

X component of the quaternion. Default value: 0

Y component of the quaternion. Default value: 0

Z component of the quaternion. Default value: 0

Method Descriptions

Returns the rotation matrix corresponding to the given quaternion.

Returns a quaternion that will perform a rotation specified by Euler angles (in the YXZ convention: first Z, then X, and Y last), given in the vector format as (X-angle, Y-angle, Z-angle).

Returns a quaternion that will rotate around the given axis by the specified angle. The axis must be a normalized vector.

Returns a quaternion defined by these values.

Performs a cubic spherical-linear interpolation with another quaternion.

Returns the dot product of two quaternions.

Return Euler angles (in the YXZ convention: first Z, then X, and Y last) corresponding to the rotation represented by the unit quaternion. Returned vector contains the rotation angles in the format (X-angle, Y-angle, Z-angle).

Returns the inverse of the quaternion.

  • bool is_normalized ( )

Returns whether the quaternion is normalized or not.

Returns the length of the quaternion.

  • float length_squared ( )

Returns the length of the quaternion, squared.

  • Quat normalized ( )

Returns a copy of the quaternion, normalized to unit length.

Set the quaternion to a rotation which rotates around axis by the specified angle, in radians. The axis must be a normalized vector.

Set the quaternion to a rotation specified by Euler angles (in the YXZ convention: first Z, then X, and Y last), given in the vector format as (X-angle, Y-angle, Z-angle).

Performs a spherical-linear interpolation with another quaternion.

Performs a spherical-linear interpolation with another quaterion without checking if the rotation path is not bigger than 90°.

Transforms the vector v by this quaternion.