Quaternion class

A Quaternion describes a rotation in 3D space. The Quaternion is mathematically defined as Q = xi + yj + z*k + w, where (i,j,k) are imaginary basis vectors. (x,y,z) can be seen as a vector related to the axis of rotation, while the real multiplier, w, is related to the amount of rotation. @param x Multiplier of the imaginary basis vector i. @param y Multiplier of the imaginary basis vector j. @param z Multiplier of the imaginary basis vector k. @param w Multiplier of the real part. @see http://en.wikipedia.org/wiki/Quaternion

Constructors

Quaternion([double x = 0, double y = 0, double z = 0, double w = 1])

Properties

hashCode → int

The hash code for this object.

no setter, inherited

runtimeType → Type

A representation of the runtime type of the object.

no setter, inherited

w ↔ double

getter/setter pair

x ↔ double

getter/setter pair

y ↔ double

getter/setter pair

z ↔ double

getter/setter pair

Methods

clone() → Quaternion

conjugate([Quaternion? target]) → Quaternion

Get the quaternion conjugate

copy(Quaternion quat) → Quaternion

Copies value of source to this quaternion. @return this

integrate(Vec3 angularVelocity, double dt, Vec3 angularFactor, [Quaternion? target]) → Quaternion

Rotate an absolute orientation quaternion given an angular velocity and a time step.

inverse([Quaternion? target]) → Quaternion

Get the inverse quaternion rotation.

mult(Quaternion quat, [Quaternion? target]) → Quaternion

Multiply the quaternion with an other quaternion.

normalize() → Quaternion

Normalize the quaternion. Note that this changes the values of the quaternion.

normalizeFast() → Quaternion

Approximation of quaternion normalization. Works best when quat is already almost-normalized. @author unphased, https://github.com/unphased

noSuchMethod(Invocation invocation) → dynamic

Invoked when a nonexistent method or property is accessed.

inherited

set(double x, double y, double z, double w) → Quaternion

Set the value of the quaternion.

setFromAxisAngle(Vec3 vector, double angle) → Quaternion

Set the quaternion components given an axis and an angle in radians.

setFromEuler(double x, double y, double z, [Order order = Order.xyz]) → Quaternion

Set the quaternion components given Euler angle representation.

setFromVectors(Vec3 u, Vec3 v) → Quaternion

Set the quaternion value given two vectors. The resulting rotation will be the needed rotation to rotate u to v.

slerp(Quaternion toQuat, double t, [Quaternion? target]) → Quaternion

Performs a spherical linear interpolation between two quat

toArray() → List<double>

Convert to an Array @return x, y, z, w

toAxisAngle(Vec3? targetAxis) → AxisAngle

Converts the quaternion to axis, angle representation. @param targetAxis A vector object to reuse for storing the axis. @return An array, first element is the axis and the second is the angle in radians.

toEuler(Vec3 target, [Order order = Order.xyz]) → void

Convert the quaternion to euler angle representation. Order: YZX, as this page describes: https://www.euclideanspace.com/maths/standards/index.htm @param order Three-character string, defaults to "YZX"

toString() → String

Convert to a readable format @return "x,y,z,w"

override

vmult(Vec3 v, [Vec3? target]) → Vec3

Multiply the quaternion by a vector

Operators

operator ==(Object other) → bool

The equality operator.

inherited