Quat

Quaternion.

Properties

Constants

• IDENTITY = Quat( 0, 0, 0, 1 )

A unit quaternion used for representing 3D rotations.

It is similar to Basis, which implements matrix representation of rotations, and can be parametrized using both an axis-angle pair or Euler angles. But due to its compactness and the way it is stored in memory, certain operations (obtaining axis-angle and performing SLERP, in particular) are more efficient and robust against floating point errors.

Quaternions need to be (re)normalized.

Tutorials

• w

W component of the quaternion. Default value:

• float x

X component of the quaternion. Default value:

• y

Y component of the quaternion. Default value:

• float z

Method Descriptions

• Quat ( Basis from )

Returns the rotation matrix corresponding to the given quaternion.

• Quat ( Vector3 euler )

Returns a quaternion that will perform a rotation specified by Euler angles (in the YXZ convention: first Z, then X, and Y last), given in the vector format as (X-angle, Y-angle, Z-angle).

• Quat ( Vector3 axis, angle )

Returns a quaternion that will rotate around the given axis by the specified angle. The axis must be a normalized vector.

• Quat Quat ( x, float y, z, float w )

Returns a quaternion defined by these values.

• cubic_slerp ( Quat b, pre_a, Quat post_b, t )

Performs a cubic spherical-linear interpolation with another quaternion.

Returns the dot product of two quaternions.

• Vector3 get_euler ( )

Returns Euler angles (in the YXZ convention: first Z, then X, and Y last) corresponding to the rotation represented by the unit quaternion. Returned vector contains the rotation angles in the format (X-angle, Y-angle, Z-angle).

• inverse ( )

• bool is_normalized ( )

Returns whether the quaternion is normalized or not.

• length ( )

Returns the length of the quaternion.

• float length_squared ( )

Returns the length of the quaternion, squared.

• normalized ( )

Returns a copy of the quaternion, normalized to unit length.

• void set_axis_angle ( Vector3 axis, angle )

Set the quaternion to a rotation which rotates around axis by the specified angle, in radians. The axis must be a normalized vector.

• void set_euler ( Vector3 euler )

Set the quaternion to a rotation specified by Euler angles (in the YXZ convention: first Z, then X, and Y last), given in the vector format as (X-angle, Y-angle, Z-angle).

• slerp ( Quat b, t )

Performs a spherical-linear interpolation with another quaternion.

• Vector3 xform ( v )

Transforms the vector by this quaternion.