Class Quaternion

Represents a quaternion using Hamilton's notation: q = a + bi + cj + dk

Implements

Index

Accessors

a

get a(): number
Gets the first real component of this quaternion

Returns number
Example
```
const q = new Quaternion(1, 2, 3, 4);
console.log(q.a); // 1
```
- Defined in Quaternion.ts:47

b

get b(): number
Gets the i-coefficient of this quaternion

Returns number
Example
```
const q = new Quaternion(1, 2, 3, 4);
console.log(q.b); // 2
```
- Defined in Quaternion.ts:61

c

get c(): number
Gets the j-coefficient of this quaternion

Returns number
Example
```
const q = new Quaternion(1, 2, 3, 4);
console.log(q.c); // 3
```
- Defined in Quaternion.ts:75

d

get d(): number
Gets the k-coefficient of this quaternion

Returns number
Example
```
const q = new Quaternion(1, 2, 3, 4);
console.log(q.d); // 4
```
- Defined in Quaternion.ts:89

Constructors

constructor

new Quaternion(a: number, b: number, c: number, d: number): Quaternion
Constructor of quaternion: q = a + bi + cj + dk
Parameters
- a: number
  the first real component
- b: number
  the i-coefficient
- c: number
  the j-coefficient
- d: number
  the k-coefficient
Returns Quaternion
Example
```
const q = new Quaternion(1, 0, 0, 0);
```
- Defined in Quaternion.ts:30

Factory Methods

`Static`identity

identity(): Quaternion
Returns Quaternion
new identity quaternion instance
Example
```
const q = Quaternion.identity();
console.log(q); // (1, 0, 0, 0)
```
- Defined in Quaternion.ts:104

`Static`fromAxisAndAngle

fromAxisAndAngle(axis: Vector3, angle: number): Quaternion
Parameters
- axis: Vector3
  the rotation axis
- angle: number
  the rotation angle in radians
Returns Quaternion
new normalized quaternion instance from axis and radian
Example
```
const axis = new Vector3(0, 1, 0);
const radian = Math.PI / 3;
const q = Quaternion.identity(axis, radian);
```
- Defined in Quaternion.ts:122

Methods

clone

clone(): Quaternion
Returns Quaternion
new cloned quaternion instance
Example
```
const q = Quaternion.identity();
const c = q.clone();
console.log(c); // (1, 0, 0, 0)
```
Implementation of Clonable.clone
- Defined in Quaternion.ts:138

set

set(a: number, b: number, c: number, d: number): Quaternion
Sets all components of this quaternion: q = a + bi + cj + dk (mutates this)
Parameters
- a: number
  the first real component
- b: number
  the i-coefficient
- c: number
  the j-coefficient
- d: number
  the k-coefficient
Returns Quaternion
this instance, for method chaining
Example
```
const q = Quaternion.identity();
console.log(q); // (1, 0, 0, 0)
q.set(0, 0, 0, 1);
console.log(q); // (0, 0, 0, 1)
```
- Defined in Quaternion.ts:159

copy

copy(other: Quaternion): Quaternion
Sets this quaternion to other quaternion (mutates this)
Parameters
- other: Quaternion
  the other quaternion
Returns Quaternion
this instance, for method chaining
Example
```
const q1 = new Quaternion(1, 2, 3, 4);
const q2 = new Quaternion(5, 6, 7, 8);
q1.copy(q2);
console.log(q1); // (5, 6, 7, 8)
console.log(q2); // (5, 6, 7, 8)
```
- Defined in Quaternion.ts:181

setIdentity

setIdentity(): void
Sets this instance to identity quaternion (mutates this)

Returns void
this instance, for method chaining
Example
```
const q = new Quaternion(1, 2, 3, 4);
q.setIdentity();
console.log(q); // (1, 0, 0, 0)
```
- Defined in Quaternion.ts:197

setAxisAndAngle

setAxisAndAngle(axis: Vector3, angle: number): void
Sets this quaternion from axis and radian (mutates this)
Parameters
- axis: Vector3
  the rotation axis
- angle: number
  the rotation angle in radians
Returns void
this instance, for method chaining
Example
```
const q = Quaternion.identity();
const axis = new Vector3(0, 1, 0);
const radian = Math.PI / 3;
q.setAxisAndAngle(axis, radian);
```
- Defined in Quaternion.ts:216

squaredNorm

squaredNorm(): number
Calculates squared norm of this quaternion (pure)

Returns number
squared norm of this quaternion
Example
```
const q = new Quaternion(1, 2, 2, 4);
console.log(q.squaredNorm()); // 25
```
- Defined in Quaternion.ts:237

norm

norm(): number
Calculates norm of this quaternion (pure)

Returns number
norm of this quaternion
Example
```
const q = new Quaternion(1, 2, 2, 4);
console.log(q.norm()); // 5
```
- Defined in Quaternion.ts:252

conjugate

conjugate(): Quaternion
Calculates conjugate of this quaternion (mutates this)

Returns Quaternion
this instance, for method chaining
Example
```
const q = new Quaternion(1, 2, 3, 4);
q.conjugate();
console.log(q); // (1, -2, -3, -4)
```
- Defined in Quaternion.ts:267

add

add(other: Quaternion): Quaternion
Adds other quaternion to this instance (mutates this)
Parameters
- other: Quaternion
  other quaternion
Returns Quaternion
this instance, for method chaining
Example
```
const q1 = new Quaternion(1, 2, 3, 4);
const q2 = new Quaternion(5, 6, 7, 8);
q1.add(q2);
console.log(q1); // (6, 8, 10, 12)
console.log(q2); // (5, 6, 7, 8)
```
Implementation of AdditiveGroup.add
- Defined in Quaternion.ts:288

subtract

subtract(other: Quaternion): Quaternion
Subtracts other quaternion from this instance (mutates this)
Parameters
- other: Quaternion
  other quaternion
Returns Quaternion
this instance, for method chaining
Example
```
const q1 = new Quaternion(5, 6, 7, 8);
const q2 = new Quaternion(1, 2, 3, 4);
q1.subtract(q2);
console.log(q1); // (4, 4, 4, 4)
console.log(q2); // (1, 2, 3, 4)
```
Implementation of AdditiveGroup.subtract
- Defined in Quaternion.ts:311

multiply

multiply(other: Quaternion): Quaternion
Multiplies this instance by other quaternion (mutates this)
Parameters
- other: Quaternion
  other quaternion
Returns Quaternion
this instance, for method chaining
Example
```
const q1 = new Quaternion(1, 2, 3, 4);
const q2 = new Quaternion(5, 6, 7, 8);
q1.multiply(q2);
console.log(q1); // (-60, 12, 30, 24)
console.log(q2); // (5, 6, 7, 8)
```
Implementation of PartialMultiplicativeGroup.multiply
- Defined in Quaternion.ts:334

invert

invert(): Quaternion | null
Calculates inverse of this quaternion (mutates this)

Returns Quaternion | null
this instance, for method chaining
Example
```
const q = new Quaternion(1, 2, 3, 4);
q.inverse();
console.log(q); // (0.0333, -0.0667, -0.1, -0.1333)
```
Implementation of PartialMultiplicativeGroup.invert
- Defined in Quaternion.ts:355

divide

divide(other: Quaternion): Quaternion | null
Divides this instance by other quaternion (mutates this)
Parameters
- other: Quaternion
  other quaternion
Returns Quaternion | null
this instance, for method chaining
Example
```
const q1 = new Quaternion(1, 2, 3, 4);
const q2 = new Quaternion(5, 6, 7, 8);
q1.divide(q2);
console.log(q1); // (0.1333, 0.0667, 0.1, 0.1333)
console.log(q2); // (5, 6, 7, 8)
```
Implementation of PartialMultiplicativeGroup.divide
- Defined in Quaternion.ts:377

multiplyScalar

multiplyScalar(scalar: number): Quaternion
Multiplies this quaternion by a scalar (mutates this)
Parameters
- scalar: number
  scalar value
Returns Quaternion
this instance, for method chaining
Example
```
const q = new Quaternion(1, 2, 3, 4);
q.multiplyScalar(2);
console.log(q); // (2, 4, 6, 8)
```
Implementation of Scalable.multiplyScalar
- Defined in Quaternion.ts:398

divideScalar

divideScalar(scalar: number): Quaternion
Divides this quaternion by a scalar (mutates this)
Parameters
- scalar: number
  scalar value
Returns Quaternion
this instance, for method chaining
Example
```
const q = new Quaternion(2, 4, 6, 8);
q.divideScalar(2);
console.log(q); // (1, 2, 3, 4)
```
Implementation of Scalable.divideScalar
- Defined in Quaternion.ts:418

rotateX

rotateX(radian: number): Quaternion
Rotates this quaternion around X axis by given radian (mutates this)
Parameters
- radian: number
  the rotation angle in radians
Returns Quaternion
this instance, for method chaining
Example
```
const q = Quaternion.identity();
q.rotateX(Math.PI / 2);
console.log(q); // (0.7071, 0.7071, 0, 0)
```
- Defined in Quaternion.ts:438

rotateY

rotateY(radian: number): Quaternion
Rotates this quaternion around Y axis by given radian (mutates this)
Parameters
- radian: number
  the rotation angle in radians
Returns Quaternion
this instance, for method chaining
Example
```
const q = Quaternion.identity();
q.rotateY(Math.PI / 2);
console.log(q); // (0.7071, 0, 0.7071, 0)
```
- Defined in Quaternion.ts:457

rotateZ

rotateZ(radian: number): Quaternion
Rotates this quaternion around Z axis by given radian (mutates this)
Parameters
- radian: number
  the rotation angle in radians
Returns Quaternion
this instance, for method chaining
Example
```
const q = Quaternion.identity();
q.rotateZ(Math.PI / 2);
console.log(q); // (0.7071, 0, 0, 0.7071)
```
- Defined in Quaternion.ts:476

Class Quaternion

Implements

Index

Accessors

Constructors

Factory Methods

Methods

Accessors

a

Returns number

Example

b

Returns number

Example

c

Returns number

Example

d

Returns number

Example

Constructors

constructor

Parameters

Returns Quaternion

Example

Factory Methods

Staticidentity

Returns Quaternion

Example

StaticfromAxisAndAngle

Parameters

Returns Quaternion

Example

Methods

clone

Returns Quaternion

Example

set

Parameters

Returns Quaternion

Example

copy

Parameters

Returns Quaternion

Example

setIdentity

Returns void

Example

setAxisAndAngle

Parameters

Returns void

Example

squaredNorm

Returns number

Example

norm

Returns number

Example

conjugate

Returns Quaternion

Example

add

Parameters

Returns Quaternion

Example

subtract

Parameters

Returns Quaternion

Example

multiply

Parameters

Returns Quaternion

Example

invert

Returns Quaternion | null

Example

divide

Parameters

Returns Quaternion | null

Example

`Static`identity

`Static`fromAxisAndAngle