Class: Quaternion

四元数，主要用于在三维世界描述旋转

const a = new Quaternion(0, 0, 0, 0);

Hierarchy

• default

  ↳ Quaternion

Table of contents

Constructors

• constructor

Properties

• elements

Accessors

• x
• y
• z
• w

Methods

• fromObject
• toObject
• fromAxisAngle
• getAxisAngle
• fromEuler
• fromMat3
• set
• length
• multiply
• slerp
• invert
• conjugate
• normalize
• dot
• angleTo
• clone
• copy
• equals
• onChange
• triggerChange
• toString
• fromArray
• toArray

Constructors

constructor

• new Quaternion(x?, y?, z?, w?): Quaternion

Parameters

Name	Type	Default value	Description
x	number	0	x 坐标，默认为 0
y	number	0	y 坐标，默认为 0
z	number	0	z 坐标，默认为 0
w	number	0	w 坐标，默认为 0

Returns

Quaternion

Overrides

Vector.constructor

Defined in

src/math/Quaternion.ts:45

Properties

elements

• elements: Float32Array | Float64Array

Overrides

Vector.elements

Defined in

src/math/Quaternion.ts:35

Accessors

x

• get x(): number

获取 x 值

Returns

number

number;

Defined in

src/math/Quaternion.ts:58

• set x(x): void

设置 x 值

Parameters

Name	Type
x	number

Returns

void

Defined in

src/math/Quaternion.ts:66

---

y

• get y(): number

获取 y 值

Returns

number

number;

Defined in

src/math/Quaternion.ts:75

• set y(y): void

设置 y 值

Parameters

Name	Type
y	number

Returns

void

Defined in

src/math/Quaternion.ts:83

---

z

• get z(): number

获取 z 值

Returns

number

number;

Defined in

src/math/Quaternion.ts:92

• set z(z): void

设置 z 值

Parameters

Name	Type
z	number

Returns

void

Defined in

src/math/Quaternion.ts:100

---

w

• get w(): number

获取 w 值

Returns

number

number;

Defined in

src/math/Quaternion.ts:109

• set w(w): void

设置 w 值

Parameters

Name	Type
w	number

Returns

void

Defined in

src/math/Quaternion.ts:117

Methods

fromObject

▸ fromObject(object): Quaternion

从对象赋值 Quaternion 的 x、y、z、w 值

Parameters

Name	Type
object	Object
object.x	any
object.y	any
object.z	any
object.w	any

Returns

Quaternion

Defined in

src/math/Quaternion.ts:126

---

toObject

▸ toObject(): Object

转换到对象

Returns

Object

Name	Type
x	number
y	number
z	number
w	number

Defined in

src/math/Quaternion.ts:138

---

fromAxisAngle

▸ fromAxisAngle(axis, rad): Quaternion

给定的角度和旋转轴设置此四元数的值

Parameters

Name	Type
axis	Vector3
rad	number

Returns

Quaternion

Defined in

src/math/Quaternion.ts:152

---

getAxisAngle

▸ getAxisAngle(axis?): any

从此四元数获取旋转轴和旋转角度

Parameters

Name	Type
axis	Vector3

Returns

any

Defined in

src/math/Quaternion.ts:162

---

fromEuler

▸ fromEuler(e): Quaternion

从给定的欧拉角 e 创建四元数

Parameters

Name	Type
e	Euler

Returns

Quaternion

Defined in

src/math/Quaternion.ts:172

---

fromMat3

▸ fromMat3(m): Quaternion

从给定的 3x3 旋转矩阵创建四元数

Parameters

Name	Type
m	Matrix3

Returns

Quaternion

Defined in

src/math/Quaternion.ts:182

---

set

▸ set(x, y, z, w): Quaternion

Parameters

Name	Type
x	any
y	any
z	any
w	any

Returns

Quaternion

Defined in

src/math/Quaternion.ts:187

---

length

▸ length(): any

计算四元数的直线长度

Returns

any

Defined in

src/math/Quaternion.ts:196

---

multiply

▸ multiply(a, b?): Quaternion

计算四元数的乘积

Parameters

Name	Type
a	Quaternion
b?	Quaternion

Returns

Quaternion

Defined in

src/math/Quaternion.ts:205

---

slerp

▸ slerp(q, t): Quaternion

处理四元数之间的球面线性插值

Parameters

Name	Type
q	Quaternion
t	number

Returns

Quaternion

Defined in

src/math/Quaternion.ts:221

---

invert

▸ invert(): Quaternion

翻转该四元数

Returns

Quaternion

Defined in

src/math/Quaternion.ts:230

---

conjugate

▸ conjugate(): Quaternion

计算此四元数的旋转共轭（围绕旋转轴在相反方向上的旋转）

Returns

Quaternion

Defined in

src/math/Quaternion.ts:239

---

normalize

▸ normalize(): Quaternion

（归一化）四元数。 即计算与该四元数具有相同旋转、但长度为1的四元数

Returns

Quaternion

Defined in

src/math/Quaternion.ts:248

---

dot

▸ dot(q): any

计算四元数 q 与当前四元数的点积

Parameters

Name	Type
q	Quaternion

Returns

any

Defined in

src/math/Quaternion.ts:258

---

angleTo

▸ angleTo(q): any

以弧度返回该四元数与四元数 q 之间的夹角。

Parameters

Name	Type
q	Quaternion

Returns

any

Defined in

src/math/Quaternion.ts:266

---

clone

▸ clone(): Quaternion

创建一个与该四元数具有相同x、y、z和w 属性的四元数

Returns

Quaternion

Defined in

src/math/Quaternion.ts:273

---

copy

▸ copy(q): Quaternion

复制四元数 q 的 x、y、z 和 w 属性到该四元数中。

Parameters

Name	Type
q	Quaternion

Returns

Quaternion

Defined in

src/math/Quaternion.ts:281

---

equals

▸ equals(q): any

比较两个四元数是否相同

Parameters

Name	Type
q	Quaternion

Returns

any

Defined in

src/math/Quaternion.ts:291

---

onChange

▸ onChange(fn): void

监听四元数变更

Parameters

Name	Type	Description
fn	ICallback	回调函数

Returns

void

Defined in

src/math/Quaternion.ts:299

---

triggerChange

▸ triggerChange(): void

触发所有的回调函数

Returns

void

Defined in

src/math/Quaternion.ts:308

---

toString

▸ toString(): string

转换为字符串

Returns

string

Defined in

src/math/Quaternion.ts:315

---

fromArray

▸ fromArray(array, offset?): Quaternion

从数组构建向量数据

Parameters

Name	Type	Default value	Description
array	any	undefined	原始数组
offset	number	0	数组偏移量

Returns

Quaternion

Inherited from

Vector.fromArray

Defined in

src/math/Vector.ts:15

---

toArray

▸ toArray(out?, offset?): Float32Array | Float64Array | number[]

从向量转换到数组

Parameters

Name	Type	Default value	Description
out	Float32Array | Float64Array | number[]	[]	输出数据
offset	number	0	偏移量

Returns

Float32Array | Float64Array | number[]

Inherited from

Vector.toArray

Defined in

src/math/Vector.ts:28