Quaternion

Members

w :Number

The W component.

Default Value:

• 0.0

x :Number

The X component.

Default Value:

• 0.0

y :Number

The Y component.

Default Value:

• 0.0

z :Number

The Z component.

Default Value:

• 0.0

<static> IDENTITY

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

<static> ZERO

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

Methods

add

Computes the componentwise sum of this and the provided quaternion.

Parameters:

Name	Type	Argument	Description
right	Quaternion		The right hand side quaternion.
result	Quaternion	<optional>	The object onto which to store the result.

Throws:

DeveloperError : right is required.

Returns:

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

clone

Duplicates this Quaternion instance.

Parameters:

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

Returns:

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

conjugate

Computes the conjugate of this quaternion.

Parameters:

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

Returns:

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

divideByScalar

Divides this quaternion componentwise by the provided scalar.

Parameters:

Name	Type	Argument	Description
scalar	Number		The scalar to divide by.
result	Quaternion	<optional>	The object onto which to store the result.

Throws:

DeveloperError : scalar is required and must be a number.

Returns:

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

dot

Computes the dot (scalar) product of this and the provided quaternion.

Parameters:

Name	Type	Description
right	Quaternion	The right hand side quaternion.

Throws:

DeveloperError : right is required.

Returns:

Number The dot product.

equals

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

Parameters:

Name	Type	Argument	Description
right	Quaternion	<optional>	The right hand side quaternion.

Returns:

Boolean true if left and right are equal, false otherwise.

equalsEpsilon

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

Parameters:

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

Throws:

DeveloperError : epsilon is required and must be a number.

Returns:

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

getAngle

Computes the angle of rotation of this quaternion.

Returns:

Number The angle of rotation.

getAxis

Computes the axis of rotation of this quaternion.

Parameters:

Name	Type	Argument	Description
result	Cartesian3	<optional>	The object onto which to store the result.

Returns:

Cartesian3 The modified result parameter or a new Cartesian3 instance if one was not provided.

inverse

Computes the inverse of the provided quaternion.

Parameters:

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

Returns:

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

lerp

Computes the linear interpolation or extrapolation at t using the provided quaternions. This quaternion is assumed to be t at 0.0.

Parameters:

Name	Type	Argument	Description
end			The value corresponding to t at 1.0.
t			The point along t at which to interpolate.
result	Quaternion	<optional>	The object onto which to store the result.

Throws:

• DeveloperError : end is required.
• DeveloperError : t is required and must be a number.

Returns:

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

magnitude

Computes magnitude for this quaternion.

Returns:

Number The magnitude.

magnitudeSquared

Computes magnitude squared for this quaternion.

Returns:

Number The magnitude squared.

multiply

Computes the product of this and the provided quaternion.

Parameters:

Name	Type	Argument	Description
right	Quaternion		The right hande side quaternion.
result	Quaternion	<optional>	The object onto which to store the result.

Throws:

DeveloperError : right is required.

Returns:

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

multiplyByScalar

Multiplies this quaternion componentwise by the provided scalar.

Parameters:

Name	Type	Argument	Description
scalar	Number		The scalar to multiply with.
result	Quaternion	<optional>	The object onto which to store the result.

Throws:

DeveloperError : scalar is required and must be a number.

Returns:

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

negate

Negates this quaternion.

Parameters:

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

Returns:

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

normalize

Computes the normalized form of this quaternion.

Parameters:

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

Returns:

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

slerp

Computes the spherical linear interpolation or extrapolation at t using the provided quaternions. This quaternion is assumed to be t at 0.0.

Parameters:

Name	Type	Argument	Description
end			The value corresponding to t at 1.0.
t			The point along t at which to interpolate.
result	Quaternion	<optional>	The object onto which to store the result.

Throws:

• DeveloperError : end is required.
• DeveloperError : t is required and must be a number.

Returns:

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

subtract

Computes the componentwise difference of this and the provided quaternion.

Parameters:

Name	Type	Argument	Description
right	Quaternion		The right hand side quaternion.
result	Quaternion	<optional>	The object onto which to store the result.

Throws:

DeveloperError : right is required.

Returns:

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

toString

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

Returns:

String A string representing this Quaternion.

<static> add

Computes the componentwise sum of two quaternions.

Parameters:

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

Throws:

• DeveloperError : left is required.
• DeveloperError : right is required.

Returns:

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

<static> clone

Duplicates a Quaternion instance.

Parameters:

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

Returns:

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

<static> conjugate

Computes the conjugate of the provided quaternion.

Parameters:

Name	Type	Argument	Description
quaternion	Quaternion		The quaternion to conjugate.
result	Quaternion	<optional>	The object onto which to store the result.

Throws:

DeveloperError : quaternion is required.

Returns:

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

<static> divideByScalar

Divides the provided quaternion componentwise by the provided scalar.

Parameters:

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

Throws:

• DeveloperError : quaternion is required.
• DeveloperError : scalar is required and must be a number.

Returns:

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

<static> dot

Computes the dot (scalar) product of two quaternions.

Parameters:

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

Throws:

• DeveloperError : left is required.
• DeveloperError : right is required.

Returns:

Number The dot product.

<static> equals

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

Parameters:

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

Returns:

Boolean true if left and right are equal, false otherwise.

<static> equalsEpsilon

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

Parameters:

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

Throws:

DeveloperError : epsilon is required and must be a number.

Returns:

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

<static> fromAxisAngle

Computes a quaternion representing a rotation around an axis.

Parameters:

Name	Type	Argument	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.

Throws:

• DeveloperError : axis is required.
• DeveloperError : angle is required and must be a number.

Returns:

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

<static> fromRotationMatrix

Computes a Quaternion from the provided Matrix3 instance.

Parameters:

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

Throws:

DeveloperError : matrix is required.

Returns:

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

See:

• Matrix3.fromQuaternion

<static> getAngle

Computes the angle of rotation of the provided quaternion.

Parameters:

Name	Type	Description
quaternion	Quaternion	The quaternion to use.

Throws:

DeveloperError : quaternion is required.

Returns:

Number The angle of rotation.

<static> getAxis

Computes the axis of rotation of the provided quaternion.

Parameters:

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

Throws:

DeveloperError : quaternion is required.

Returns:

Cartesian3 The modified result parameter or a new Cartesian3 instance if one was not provided.

<static> inverse

Computes the inverse of the provided quaternion.

Parameters:

Name	Type	Argument	Description
quaternion	Quaternion		The quaternion to normalize.
result	Quaternion	<optional>	The object onto which to store the result.

Throws:

DeveloperError : quaternion is required.

Returns:

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

<static> lerp

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

Parameters:

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

Throws:

• DeveloperError : start is required.
• DeveloperError : end is required.
• DeveloperError : t is required and must be a number.

Returns:

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

<static> magnitude

Computes magnitude for the provided quaternion.

Parameters:

Name	Type	Description
quaternion	Quaternion	The quaternion to conjugate.

Throws:

DeveloperError : quaternion is required.

Returns:

Number The magnitude.

<static> magnitudeSquared

Computes magnitude squared for the provided quaternion.

Parameters:

Name	Type	Description
quaternion	Quaternion	The quaternion to conjugate.

Throws:

DeveloperError : quaternion is required.

Returns:

Number The magnitude squared.

<static> multiply

Computes the product of two quaternions.

Parameters:

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

Throws:

• DeveloperError : left is required.
• DeveloperError : right is required.

Returns:

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

<static> multiplyByScalar

Multiplies the provided quaternion componentwise by the provided scalar.

Parameters:

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

Throws:

• DeveloperError : quaternion is required.
• DeveloperError : scalar is required and must be a number.

Returns:

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

<static> negate

Negates the provided quaternion.

Parameters:

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

Throws:

DeveloperError : quaternion is required.

Returns:

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

<static> normalize

Computes the normalized form of the provided quaternion.

Parameters:

Name	Type	Argument	Description
quaternion	Quaternion		The quaternion to normalize.
result	Quaternion	<optional>	The object onto which to store the result.

Throws:

DeveloperError : quaternion is required.

Returns:

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

<static> slerp

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

Parameters:

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

Throws:

• DeveloperError : start is required.
• DeveloperError : end is required.
• DeveloperError : t is required and must be a number.

Returns:

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

<static> subtract

Computes the componentwise difference of two quaternions.

Parameters:

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

Throws:

• DeveloperError : left is required.
• DeveloperError : right is required.

Returns:

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