Quaternion

Pakke: @aspose/3d (v24.12.0)

Quaternion brukes gjennom hele @aspose/3d API-et for å representere rotasjoner uten gimbal lock. Det er typen som returneres av Transform.rotation og GlobalTransform.rotation. Identitetskvaternionen (1, 0, 0, 0) representerer ingen rotasjon. Quaternion eksporteres fra @aspose/3d/utilities understien.

export class Quaternion

import { Quaternion } from '@aspose/3d/utilities';

Example

Roter en node 90° rundt Y‑aksen og interpoler deretter jevnt tilbake til identitet.

import { Scene } from '@aspose/3d';
import { Quaternion } from '@aspose/3d/utilities';

const scene = new Scene();
const node = scene.rootNode.createChildNode('spinner');

// 90° around Y
const q90 = Quaternion.fromEulerAngle(0, Math.PI / 2, 0);
node.transform.rotation = q90;

// Slerp halfway back to identity
const identity = Quaternion.IDENTITY;
const half = Quaternion.slerp(0.5, q90, identity);
console.log(`Half rotation W: ${half.w.toFixed(4)}`);
// Half rotation W: 0.9239

Example

Name	Type	Access	Description
`w`	`number`	Read/Write	Gets the w.
`x`	`number`	Read/Write	Gets the x.
`y`	`number`	Read/Write	Gets the y.
`z`	`number`	Read/Write	Gets the z.
`length`	`number`	Read	Gets the length.

Example

Signature	Description
`constructor()`	Initializes a quaternion with the given w, x, y, and z components
`constructor(w: number, x: number, y: number, z: number)`
`constructor(w: number, x: number, y: number, z: number)`
`IDENTITY()` → `Quaternion`	Returns the identity quaternion representing no rotation
`normalize()` → `Quaternion`	Returns a unit‑length version of this quaternion
`conjugate()` → `Quaternion`	Returns the conjugate of the quaternion
`inverse()` → `Quaternion`	Returns the multiplicative inverse of the quaternion
`dot(q: Quaternion)` → `number`	Computes the dot product with another quaternion
`concat(rhs: Quaternion)` → `Quaternion`	Returns the concatenation (multiplication) of this quaternion with another
`eulerAngles()` → `Vector3`	Returns a Vector3 of Euler angles representing the rotation
`fromEulerAngle(pitch: number, yaw: number, roll: number)` → `Quaternion`	Overload accepts a Vector3 or numeric pitch with yaw and roll
`fromEulerAngle(vec: Vector3)` → `Quaternion`
`fromEulerAngle(pitch: Vector3	number, yaw: number, roll: number) `→` Quaternion`
`fromAngleAxis(a: number, axis: Vector3)` → `Quaternion`	Creates a quaternion from a rotation angle and axis vector
`fromRotation(orig: Vector3, dest: Vector3)` → `Quaternion`	Builds a quaternion that rotates from one direction vector to another
`interpolate(t: number, fromQ: Quaternion, toQ: Quaternion)` → `Quaternion`	Linearly interpolates between two quaternions using parameter t
`slerp(t: number, v1: Quaternion, v2: Quaternion)` → `Quaternion`	Performs spherical linear interpolation between two quaternions at t
`toString()` → `string`	Returns a string representation of the quaternion components
`equals(other: Quaternion)` → `boolean`	Checks whether another quaternion has identical component values
`toMatrix()` → `Matrix4`	Converts the quaternion into a 4×4 rotation matrix

Lysklasse referanse

Example	Example	Example
`Quaternion.IDENTITY`	`Quaternion`	Returnerer en ny identitetskvaternion `(1, 0, 0, 0)`.

Statisk metoder

Quaternion.fromEulerAngle(pitch, yaw, roll)

Oppretter en kvaternion fra Euler‑vinkler i radianer.

static fromEulerAngle(pitch: number, yaw: number, roll: number): Quaternion
static fromEulerAngle(vec: Vector3): Quaternion

Example

pitch number — Rotasjon rundt X-aksen i radianer.

yaw number — Rotasjon rundt Y-aksen i radianer.

roll number — Rotasjon rundt Z-aksen i radianer.

Alternativt, send inn en enkelt Vector3 som x, y, z inneholder pitch, yaw og roll.

Example

const q = Quaternion.fromEulerAngle(0, Math.PI / 4, 0); // 45° around Y console.log(W: ${q.w.toFixed(4)}); // W: 0.9239


---

### Quaternion.fromAngleAxis(angle, axis)

Oppretter en kvaternion som representerer en rotasjon på `angle` radianer rundt `axis`.

```typescript
static fromAngleAxis(angle: number, axis: Vector3): Quaternion

Example

angle number — Rotasjonsvinkel i radianer.

axis Vector3 — Rotasjonsaksen. Trenger ikke å normaliseres.

Example

import { Quaternion, Vector3 } from '@aspose/3d/utilities';

const axis = new Vector3(0, 1, 0);
const q = Quaternion.fromAngleAxis(Math.PI / 2, axis);
console.log(`Rotating 90° around Y — W: ${q.w.toFixed(4)}`);
// Rotating 90° around Y — W: 0.7071

Quaternion.fromRotation(orig, dest)

Oppretter den korteste-ark kvaternionen som roterer retningsvektoren orig til dest.

static fromRotation(orig: Vector3, dest: Vector3): Quaternion

Quaternion.slerp(t, v1, v2)

Utfører sfærisk lineær interpolasjon mellom v1 og v2 ved parameter t (0.0 = v1, 1.0 = v2).

static slerp(t: number, v1: Quaternion, v2: Quaternion): Quaternion

Example

const start = Quaternion.fromEulerAngle(0, 0, 0); const end = Quaternion.fromEulerAngle(0, Math.PI, 0); const mid = Quaternion.slerp(0.5, start, end); console.log(Mid W: ${mid.w.toFixed(4)}); // Mid W: 0.7071


---

### Quaternion.interpolate(t, fromQ, toQ)

Alias for `slerp`. Utfører sfærisk lineær interpolasjon.

```typescript
static interpolate(t: number, fromQ: Quaternion, toQ: Quaternion): Quaternion

Instansmetoder

normalize()

Returnerer en ny kvaternion skalert til enhetslengde.

normalize(): Quaternion

conjugate()

Returnerer konjugatet (w, -x, -y, -z).

conjugate(): Quaternion

inverse()

Returnerer den inverse kvaternionen. Kaster en feil hvis kvaternionen har null lengde.

inverse(): Quaternion

dot(q)

Returnerer det skalarproduktet med kvaternionen q.

dot(q: Quaternion): number

concat(rhs)

Returnerer kvaternionproduktet this * rhs, som representerer den kombinerte rotasjonen ved først å anvende this og deretter rhs.

concat(rhs: Quaternion): Quaternion

eulerAngles()

Returnerer rotasjonen uttrykt som Euler‑vinkler i radianer som en Vector3(pitch, yaw, roll).

eulerAngles(): Vector3

Example

const q = Quaternion.fromEulerAngle(0, Math.PI / 3, 0); const euler = q.eulerAngles(); console.log(Yaw: ${euler.y.toFixed(4)}); // Yaw: 1.0472 (= π/3)


---

### toMatrix()

Konverterer denne kvaternionen til en tilsvarende `Matrix4` rotasjonsmatrise.

```typescript
toMatrix(): Matrix4

equals(other)

Example true hvis alle fire komponenter er strengt like.

equals(other: Quaternion): boolean

toString()

Returnerer en streng i formatet Quaternion(w, x, y, z).

toString(): string