Quat

Category: Built-In Types

Brief Description

Quaternion.

Member Functions

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 )

Member Variables

  • float w - W component of the quaternion. Default value: 1
  • float x - X component of the quaternion. Default value: 0
  • float y - Y component of the quaternion. Default value: 0
  • float z - Z component of the quaternion. Default value: 0

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.

Member Function Description

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.