Quaternion

Members

staticconstantQuaternion.IDENTITY :Quaternion

An immutable Quaternion instance initialized to (0.0, 0.0, 0.0, 1.0).

Source: Core/Quaternion.js, line 1099

staticQuaternion.packedInterpolationLength :Number

The number of elements used to store the object into an array in its interpolatable form.

Source: Core/Quaternion.js, line 279

staticQuaternion.packedLength :Number

The number of elements used to pack the object into an array.

Source: Core/Quaternion.js, line 221

staticconstantQuaternion.ZERO :Quaternion

An immutable Quaternion instance initialized to (0.0, 0.0, 0.0, 0.0).

Source: Core/Quaternion.js, line 1091

w :Number

The W component.

Default Value: 0.0

Source: Core/Quaternion.js, line 61

x :Number

The X component.

Default Value: 0.0

Source: Core/Quaternion.js, line 40

y :Number

The Y component.

Default Value: 0.0

Source: Core/Quaternion.js, line 47

z :Number

The Z component.

Default Value: 0.0

Source: Core/Quaternion.js, line 54

Methods

staticQuaternion.add(left, right, result) → Quaternion

Computes the componentwise sum of two quaternions.

Name	Type	Description
left	Quaternion	The first quaternion.
right	Quaternion	The second quaternion.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 465

staticQuaternion.clone(quaternion, result) → Quaternion

Duplicates a Quaternion instance.

Name	Type	Description
quaternion	Quaternion	The quaternion to duplicate.
result	Quaternion	optional The object onto which to store the result.

Returns:

The modified result parameter or a new Quaternion instance if one was not provided. (Returns undefined if quaternion is undefined)

Source: Core/Quaternion.js, line 345

staticQuaternion.computeAngle(quaternion) → Number

Computes the angle of rotation of the provided quaternion.

Name	Type	Description
quaternion	Quaternion	The quaternion to use.

Returns:

The angle of rotation.

Source: Core/Quaternion.js, line 693

staticQuaternion.computeAxis(quaternion, result) → Cartesian3

Computes the axis of rotation of the provided quaternion.

Name	Type	Description
quaternion	Quaternion	The quaternion to use.
result	Cartesian3	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 663

staticQuaternion.computeInnerQuadrangle(q0, q1, q2, result) → Quaternion

Computes an inner quadrangle point.

This will compute quaternions that ensure a squad curve is C¹.

Name	Type	Description
q0	Quaternion	The first quaternion.
q1	Quaternion	The second quaternion.
q2	Quaternion	The third quaternion.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

See:

• Quaternion#squad

Source: Core/Quaternion.js, line 866

staticQuaternion.conjugate(quaternion, result) → Quaternion

Computes the conjugate of the provided quaternion.

Name	Type	Description
quaternion	Quaternion	The quaternion to conjugate.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 368

staticQuaternion.convertPackedArrayForInterpolation(packedArray, startingIndex, lastIndex, result)

Converts a packed array into a form suitable for interpolation.

Name	Type	Default	Description
packedArray	Array.<Number>		The packed array.
startingIndex	Number	0	optional The index of the first element to be converted.
lastIndex	Number	packedArray.length	optional The index of the last element to be converted.
result	Array.<Number>		optional The object into which to store the result.

Source: Core/Quaternion.js, line 289

staticQuaternion.divideByScalar(quaternion, scalar, result) → Quaternion

Divides the provided quaternion componentwise by the provided scalar.

Name	Type	Description
quaternion	Quaternion	The quaternion to be divided.
scalar	Number	The scalar to divide by.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 636

staticQuaternion.dot(left, right) → Number

Computes the dot (scalar) product of two quaternions.

Name	Type	Description
left	Quaternion	The first quaternion.
right	Quaternion	The second quaternion.

Returns:

The dot product.

Source: Core/Quaternion.js, line 544

staticQuaternion.equals(left, right) → Boolean

Compares the provided quaternions componentwise and returns true if they are equal, false otherwise.

Name	Type	Description
left	Quaternion	optional The first quaternion.
right	Quaternion	optional The second quaternion.

Returns:

true if left and right are equal, false otherwise.

Source: Core/Quaternion.js, line 1049

staticQuaternion.equalsEpsilon(left, right, epsilon) → Boolean

Compares the provided quaternions componentwise and returns true if they are within the provided epsilon, false otherwise.

Name	Type	Description
left	Quaternion	optional The first quaternion.
right	Quaternion	optional The second quaternion.
epsilon	Number	The epsilon to use for equality testing.

Returns:

true if left and right are within the provided epsilon, false otherwise.

Source: Core/Quaternion.js, line 1069

staticQuaternion.exp(cartesian, result) → Quaternion

The exponential quaternion function.

Name	Type	Description
cartesian	Cartesian3	The cartesian.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 824

staticQuaternion.fastSlerp(start, end, t, result) → Quaternion

Computes the spherical linear interpolation or extrapolation at t using the provided quaternions. This implementation is faster than Quaternion#slerp, but is only accurate up to 10^-6.

Name	Type	Description
start	Quaternion	The value corresponding to t at 0.0.
end	Quaternion	The value corresponding to t at 1.0.
t	Number	The point along t at which to interpolate.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

See:

• Quaternion#slerp

Source: Core/Quaternion.js, line 961

staticQuaternion.fastSquad(q0, q1, s0, s1, t, result) → Quaternion

Computes the spherical quadrangle interpolation between quaternions. An implementation that is faster than Quaternion#squad, but less accurate.

Name	Type	Description
q0	Quaternion	The first quaternion.
q1	Quaternion	The second quaternion.
s0	Quaternion	The first inner quadrangle.
s1	Quaternion	The second inner quadrangle.
t	Number	The time in [0,1] used to interpolate.
result	Quaternion	optional The object onto which to store the result.

Returns:

The modified result parameter or a new instance if none was provided.

See:

• Quaternion#squad

Source: Core/Quaternion.js, line 1023

staticQuaternion.fromAxisAngle(axis, angle, result) → Quaternion

Computes a quaternion representing a rotation around an axis.

Name	Type	Description
axis	Cartesian3	The axis of rotation.
angle	Number	The angle in radians to rotate around the axis.
result	Quaternion	optional The object onto which to store the result.

Returns:

The modified result parameter or a new Quaternion instance if one was not provided.

Source: Core/Quaternion.js, line 74

staticQuaternion.fromHeadingPitchRoll(heading, pitch, roll, result) → Quaternion

Computes a rotation from the given heading, pitch and roll angles. Heading is the rotation about the negative z axis. Pitch is the rotation about the negative y axis. Roll is the rotation about the positive x axis.

Name	Type	Description
heading	Number	The heading angle in radians.
pitch	Number	The pitch angle in radians.
roll	Number	The roll angle in radians.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter or a new Quaternion instance if none was provided.

Source: Core/Quaternion.js, line 191

staticQuaternion.fromRotationMatrix(matrix, result) → Quaternion

Computes a Quaternion from the provided Matrix3 instance.

Name	Type	Description
matrix	Matrix3	The rotation matrix.
result	Quaternion	optional The object onto which to store the result.

Returns:

The modified result parameter or a new Quaternion instance if one was not provided.

See:

• Matrix3.fromQuaternion

Source: Core/Quaternion.js, line 113

staticQuaternion.inverse(quaternion, result) → Quaternion

Computes the inverse of the provided quaternion.

Name	Type	Description
quaternion	Quaternion	The quaternion to normalize.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 445

staticQuaternion.lerp(start, end, t, result) → Quaternion

Computes the linear interpolation or extrapolation at t using the provided quaternions.

Name	Type	Description
start	Quaternion	The value corresponding to t at 0.0.
end	Quaternion	The value corresponding to t at 1.0.
t	Number	The point along t at which to interpolate.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 716

staticQuaternion.log(quaternion, result) → Cartesian3

The logarithmic quaternion function.

Name	Type	Description
quaternion	Quaternion	The unit quaternion.
result	Cartesian3	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 797

staticQuaternion.magnitude(quaternion) → Number

Computes magnitude for the provided quaternion.

Name	Type	Description
quaternion	Quaternion	The quaternion to conjugate.

Returns:

The magnitude.

Source: Core/Quaternion.js, line 407

staticQuaternion.magnitudeSquared(quaternion) → Number

Computes magnitude squared for the provided quaternion.

Name	Type	Description
quaternion	Quaternion	The quaternion to conjugate.

Returns:

The magnitude squared.

Source: Core/Quaternion.js, line 391

staticQuaternion.multiply(left, right, result) → Quaternion

Computes the product of two quaternions.

Name	Type	Description
left	Quaternion	The first quaternion.
right	Quaternion	The second quaternion.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 565

staticQuaternion.multiplyByScalar(quaternion, scalar, result) → Quaternion

Multiplies the provided quaternion componentwise by the provided scalar.

Name	Type	Description
quaternion	Quaternion	The quaternion to be scaled.
scalar	Number	The scalar to multiply with.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 608

staticQuaternion.negate(quaternion, result) → Quaternion

Negates the provided quaternion.

Name	Type	Description
quaternion	Quaternion	The quaternion to be negated.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 520

staticQuaternion.normalize(quaternion, result) → Quaternion

Computes the normalized form of the provided quaternion.

Name	Type	Description
quaternion	Quaternion	The quaternion to normalize.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 418

staticQuaternion.pack(value, array, startingIndex)

Stores the provided instance into the provided array.

Name	Type	Default	Description
value	Quaternion		The value to pack.
array	Array.<Number>		The array to pack into.
startingIndex	Number	0	optional The index into the array at which to start packing the elements.

Source: Core/Quaternion.js, line 230

staticQuaternion.slerp(start, end, t, result) → Quaternion

Computes the spherical linear interpolation or extrapolation at t using the provided quaternions.

Name	Type	Description
start	Quaternion	The value corresponding to t at 0.0.
end	Quaternion	The value corresponding to t at 1.0.
t	Number	The point along t at which to interpolate.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

See:

• Quaternion#fastSlerp

Source: Core/Quaternion.js, line 751

staticQuaternion.squad(q0, q1, s0, s1, t, result) → Quaternion

Computes the spherical quadrangle interpolation between quaternions.

Name	Type	Description
q0	Quaternion	The first quaternion.
q1	Quaternion	The second quaternion.
s0	Quaternion	The first inner quadrangle.
s1	Quaternion	The second inner quadrangle.
t	Number	The time in [0,1] used to interpolate.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Example:

// 1. compute the squad interpolation between two quaternions on a curve
var s0 = Cesium.Quaternion.computeInnerQuadrangle(quaternions[i - 1], quaternions[i], quaternions[i + 1]);
var s1 = Cesium.Quaternion.computeInnerQuadrangle(quaternions[i], quaternions[i + 1], quaternions[i + 2]);
var q = Cesium.Quaternion.squad(quaternions[i], quaternions[i + 1], s0, s1, t);

// 2. compute the squad interpolation as above but where the first quaternion is a end point.
var s1 = Cesium.Quaternion.computeInnerQuadrangle(quaternions[0], quaternions[1], quaternions[2]);
var q = Cesium.Quaternion.squad(quaternions[0], quaternions[1], quaternions[0], s1, t);

See:

• Quaternion#computeInnerQuadrangle

Source: Core/Quaternion.js, line 914

staticQuaternion.subtract(left, right, result) → Quaternion

Computes the componentwise difference of two quaternions.

Name	Type	Description
left	Quaternion	The first quaternion.
right	Quaternion	The second quaternion.
result	Quaternion	The object onto which to store the result.

Returns:

The modified result parameter.

Source: Core/Quaternion.js, line 493

staticQuaternion.unpack(array, startingIndex, result)

Retrieves an instance from a packed array.

Name	Type	Default	Description
array	Array.<Number>		The packed array.
startingIndex	Number	0	optional The starting index of the element to be unpacked.
result	Quaternion		optional The object into which to store the result.

Source: Core/Quaternion.js, line 256

staticQuaternion.unpackInterpolationResult(array, sourceArray, startingIndex, lastIndex, result)

Retrieves an instance from a packed array converted with convertPackedArrayForInterpolation.

Name	Type	Default	Description
array	Array.<Number>		The original packed array.
sourceArray	Array.<Number>		The converted array.
startingIndex	Number	0	optional The startingIndex used to convert the array.
lastIndex	Number	packedArray.length	optional The lastIndex used to convert the array.
result	Quaternion		optional The object into which to store the result.

Source: Core/Quaternion.js, line 320

clone(result) → Quaternion

Duplicates this Quaternion instance.

Name	Type	Description
result	Quaternion	optional The object onto which to store the result.

Returns:

The modified result parameter or a new Quaternion instance if one was not provided.

Source: Core/Quaternion.js, line 1107

equals(right) → Boolean

Compares this and the provided quaternion componentwise and returns true if they are equal, false otherwise.

Name	Type	Description
right	Quaternion	optional The right hand side quaternion.

Returns:

true if left and right are equal, false otherwise.

Source: Core/Quaternion.js, line 1118

equalsEpsilon(right, epsilon) → Boolean

Compares this and the provided quaternion componentwise and returns true if they are within the provided epsilon, false otherwise.

Name	Type	Description
right	Quaternion	optional The right hand side quaternion.
epsilon	Number	The epsilon to use for equality testing.

Returns:

true if left and right are within the provided epsilon, false otherwise.

Source: Core/Quaternion.js, line 1131

toString() → String

Returns a string representing this quaternion in the format (x, y, z, w).

Returns:

A string representing this Quaternion.

Source: Core/Quaternion.js, line 1140