Aspose.3D FOSS
Class Quaternion

Class Quaternion

包：: @aspose/3d (v24.12.0)

Quaternion 在整个 @aspose/3d API 中用于表示无万向锁的旋转。 Transform.rotation 和 GlobalTransform.rotation.。单位四元数 (1, 0, 0, 0) 表示无旋转。. Quaternion 从 @aspose/3d/utilities 子路径导出。.

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

Properties

将节点绕 Y 轴旋转 90°，然后平滑插值回到单位四元数。.

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

Properties

PropertiesProperties
new Quaternion()创建单位四元数 (1, 0, 0, 0).
new Quaternion(w, x, y, z)从显式分量创建四元数。.

Properties

PropertiesPropertiesProperties
wnumber标量（实数）分量。对于单位旋转四元数，, w = cos(θ/2).
xnumber向量部分的 X 分量。.
ynumber向量部分的 Y 分量。.
znumber向量部分的 Z 分量。.
lengthnumber (只读)模长：: sqrt(w² + x² + y² + z²). 对于有效的旋转四元数，应该是 1.0。.

静态属性

PropertiesPropertiesProperties
Quaternion.IDENTITYQuaternion返回一个新的单位四元数 (1, 0, 0, 0).

静态方法

Quaternion.fromEulerAngle(pitch, yaw, roll)

从弧度制欧拉角创建四元数。.

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

Properties

pitch number — 绕 X 轴的旋转（单位：弧度）。.

yaw number — 绕 Y 轴的旋转（单位：弧度）。.

roll number — 绕 Z 轴的旋转（单位：弧度）。.

或者，传入单个 Vector3 其 x, y, z 包含俯仰、偏航和滚转。.

Properties 

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

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)

创建一个表示旋转的四元数，角度为 angle 弧度绕 axis.

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

Properties

angle number — 以弧度表示的旋转角度。.

axis Vector3 — 旋转轴。不需要归一化。.

Properties 

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)

创建最短弧线四元数，使方向向量 orig 到 dest.

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

Quaternion.slerp(t, v1, v2)

在…之间执行球面线性插值 v1 和 v2 在参数处 t (0.0 = v1, 1.0 = v2).

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

Properties 

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

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)

别名为 slerp. 执行球面线性插值。.

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

实例方法

normalize()

返回一个已缩放至单位长度的新四元数。.

normalize(): Quaternion

conjugate()

返回共轭 (w, -x, -y, -z).

conjugate(): Quaternion

inverse()

返回逆四元数。如果四元数长度为零则抛出异常。.

inverse(): Quaternion

dot(q)

返回与四元数的标量点积 q.

dot(q: Quaternion): number

concat(rhs)

返回四元数乘积 this * rhs,，表示先应用 this 然后 rhs.

concat(rhs: Quaternion): Quaternion

eulerAngles()

返回以弧度表示的欧拉角形式的旋转，作为 Vector3(pitch, yaw, roll).

eulerAngles(): Vector3

Properties 

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

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()

将此四元数转换为等价的 Matrix4 旋转矩阵。.

toMatrix(): Matrix4

equals(other)

Properties true 如果四个组件完全相等。.

equals(other: Quaternion): boolean

toString()

返回一个形式为 … 的字符串 Quaternion(w, x, y, z).

toString(): string
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