Quaternion

Kotlin |Java

class Quaternion

Represents a rotation component in three-dimensional space. Any vector can be provided and the resulting quaternion will be normalized at construction time.

Summary

Public companion functions
`Float`	`angle(start: Quaternion, end: Quaternion)` Returns the angle between `start` and `end` quaternion in degrees.
`Float`	`dot(lhs: Quaternion, rhs: Quaternion)` Returns the dot product of two quaternions.
`Quaternion`	`fromAxisAngle(axis: Vector3, degrees: Float)` Creates a new quaternion using an axis/angle to define the rotation.
`Quaternion`	`fromEulerAngles(eulerAngles: Vector3)` Returns a new quaternion using Euler angles (in degrees) to define the rotation in YXZ (yaw, pitch, roll) order.
`Quaternion`	`fromEulerAngles(pitch: Float, yaw: Float, roll: Float)` Returns a new quaternion using Euler angles (in degrees) to define the rotation in YXZ (yaw, pitch, roll) order.
`Quaternion`	`fromLookTowards(forward: Vector3, up: Vector3)` Returns a new quaternion with the specified forward and upward directions.
`Quaternion`	`fromRotation(start: Quaternion, end: Quaternion)` Returns a new quaternion representing the rotation from one quaternion to another.
`Quaternion`	`fromRotation(start: Vector3, end: Vector3)` Returns a new quaternion representing the rotation from one vector to another.
`Quaternion`	`lerp(start: Quaternion, end: Quaternion, ratio: Float)` Returns a new quaternion that is linearly interpolated between `start` and `end` using the interpolation amount `ratio`.
`Quaternion`	`slerp(start: Quaternion, end: Quaternion, ratio: Float)` Returns a new quaternion that is spherically interpolated between `start` and `end` using the interpolation amount `ratio`.

Public companion properties
`Quaternion`	`Identity`

Public constructors
`Quaternion(other: Quaternion)` Creates a new quaternion with the same values as the `other` quaternion.
`Quaternion(x: Float, y: Float, z: Float, w: Float)`

Public functions
`Quaternion`	`copy(x: Float, y: Float, z: Float, w: Float)` Returns a copy of the quaternion.
`operator Quaternion`	`div(c: Float)` Returns a new quaternion with this quaternion divided by a scalar amount.
`inline infix Float`	`dot(other: Quaternion)` Returns the dot product of this quaternion and the `other` quaternion.
`open operator Boolean`	`equals(other: Any?)` Returns true if this quaternion is equal to the `other`.
`open Int`	`hashCode()`
`inline operator Quaternion`	`minus(other: Quaternion)` Returns a new quaternion with the difference of this quaternion and the `other` quaternion.
`inline operator Quaternion`	`plus(other: Quaternion)` Returns a new quaternion with the sum of this quaternion and `other` quaternion.
`operator Quaternion`	`times(c: Float)` Returns a new quaternion with the product of this quaternion and a scalar amount.
`inline operator Quaternion`	`times(other: Quaternion)` Returns a new quaternion with the product of this quaternion and the `other` quaternion.
`inline operator Vector3`	`times(src: Vector3)` Rotates a `Vector3` by this quaternion.
`Quaternion`	`toNormalized()` Returns a new quaternion with a normalized rotation.
`open String`	`toString()`
`inline operator Quaternion`	`unaryMinus()` Flips the sign of the quaternion, but represents the same rotation.

Public properties
`Pair<Vector3, Float>`	`axisAngle` Returns this quaternion as an axis/angle (in degrees) pair.
`Vector3`	`eulerAngles` Returns this quaternion as Euler angles (in degrees) applied in YXZ (yaw, pitch, roll) order.
`Quaternion`	`inverse` Returns a new quaternion with the inverse rotation.
`Float`	`w` The normalized w component of the quaternion.
`Float`	`x` The normalized x component of the quaternion.
`Float`	`y` The normalized y component of the quaternion.
`Float`	`z` The normalized z component of the quaternion.

Public companion functions

angle

Added in 1.0.0-alpha01

fun angle(start: Quaternion, end: Quaternion): Float

Returns the angle between start and end quaternion in degrees.

dot

Added in 1.0.0-alpha01

fun dot(lhs: Quaternion, rhs: Quaternion): Float

Returns the dot product of two quaternions.

fromAxisAngle

Added in 1.0.0-alpha01

fun fromAxisAngle(axis: Vector3, degrees: Float): Quaternion

Creates a new quaternion using an axis/angle to define the rotation.

fromEulerAngles

Added in 1.0.0-alpha01

fun fromEulerAngles(eulerAngles: Vector3): Quaternion

Returns a new quaternion using Euler angles (in degrees) to define the rotation in YXZ (yaw, pitch, roll) order.

fromEulerAngles

Added in 1.0.0-alpha01

fun fromEulerAngles(pitch: Float, yaw: Float, roll: Float): Quaternion

Returns a new quaternion using Euler angles (in degrees) to define the rotation in YXZ (yaw, pitch, roll) order.

fromLookTowards

Added in 1.0.0-alpha01

fun fromLookTowards(forward: Vector3, up: Vector3): Quaternion

Returns a new quaternion with the specified forward and upward directions.

fromRotation

Added in 1.0.0-alpha01

fun fromRotation(start: Quaternion, end: Quaternion): Quaternion

Returns a new quaternion representing the rotation from one quaternion to another.

fromRotation

Added in 1.0.0-alpha01

fun fromRotation(start: Vector3, end: Vector3): Quaternion

Returns a new quaternion representing the rotation from one vector to another.

lerp

Added in 1.0.0-alpha01

fun lerp(start: Quaternion, end: Quaternion, ratio: Float): Quaternion

Returns a new quaternion that is linearly interpolated between start and end using the interpolation amount ratio.

If ratio is outside of the range [0, 1], the returned quaternion will be extrapolated.

slerp

Added in 1.0.0-alpha01

fun slerp(start: Quaternion, end: Quaternion, ratio: Float): Quaternion

Returns a new quaternion that is spherically interpolated between start and end using the interpolation amount ratio. If ratio is 0, this returns start. As ratio approaches 1, the result of this function may approach either +end or -end (whichever is closest to start).

If ratio is outside of the range [0, 1], the returned quaternion will be extrapolated.

Public companion properties

Identity

val Identity: Quaternion

Public constructors

Quaternion

Added in 1.0.0-alpha01

Quaternion(other: Quaternion)

Creates a new quaternion with the same values as the other quaternion.

Quaternion

Added in 1.0.0-alpha01

Quaternion(x: Float = 0.0f, y: Float = 0.0f, z: Float = 0.0f, w: Float = 1.0f)

Parameters
`x: Float = 0.0f`	the x value of the quaternion.
`y: Float = 0.0f`	the y value of the quaternion.
`z: Float = 0.0f`	the z value of the quaternion.
`w: Float = 1.0f`	the rotation of the unit vector, in radians.

Public functions

copy

Added in 1.0.0-alpha01

fun copy(x: Float = this.x, y: Float = this.y, z: Float = this.z, w: Float = this.w): Quaternion

Returns a copy of the quaternion.

div

Added in 1.0.0-alpha01

operator fun div(c: Float): Quaternion

Returns a new quaternion with this quaternion divided by a scalar amount.

dot

Added in 1.0.0-alpha01

inline infix fun dot(other: Quaternion): Float

Returns the dot product of this quaternion and the other quaternion.

equals

open operator fun equals(other: Any?): Boolean

Returns true if this quaternion is equal to the other.

hashCode

open fun hashCode(): Int

minus

Added in 1.0.0-alpha01

inline operator fun minus(other: Quaternion): Quaternion

Returns a new quaternion with the difference of this quaternion and the other quaternion.

plus

Added in 1.0.0-alpha01

inline operator fun plus(other: Quaternion): Quaternion

Returns a new quaternion with the sum of this quaternion and other quaternion.

times

Added in 1.0.0-alpha01

operator fun times(c: Float): Quaternion

Returns a new quaternion with the product of this quaternion and a scalar amount.

times

Added in 1.0.0-alpha01

inline operator fun times(other: Quaternion): Quaternion

Returns a new quaternion with the product of this quaternion and the other quaternion. The order of the multiplication is [this] * [other].

times

Added in 1.0.0-alpha01

inline operator fun times(src: Vector3): Vector3

Rotates a Vector3 by this quaternion.

toNormalized

Added in 1.0.0-alpha01

fun toNormalized(): Quaternion

Returns a new quaternion with a normalized rotation.

toString

open fun toString(): String

unaryMinus

Added in 1.0.0-alpha01

inline operator fun unaryMinus(): Quaternion

Flips the sign of the quaternion, but represents the same rotation.

Public properties

axisAngle

Added in 1.0.0-alpha01

val axisAngle: Pair<Vector3, Float>

Returns this quaternion as an axis/angle (in degrees) pair.

eulerAngles

Added in 1.0.0-alpha01

val eulerAngles: Vector3

Returns this quaternion as Euler angles (in degrees) applied in YXZ (yaw, pitch, roll) order.

inverse

Added in 1.0.0-alpha01

val inverse: Quaternion

Returns a new quaternion with the inverse rotation. Assumes unit length.

w

Added in 1.0.0-alpha01

val w: Float

The normalized w component of the quaternion.

x

Added in 1.0.0-alpha01

val x: Float

The normalized x component of the quaternion.

y

Added in 1.0.0-alpha01

val y: Float

The normalized y component of the quaternion.

z

Added in 1.0.0-alpha01

val z: Float

The normalized z component of the quaternion.