This class provides methods for creating quaternions from various sources, such as pitch, yaw, and roll angles, rotation matrices, and random values. Provides operator overloading for unary minus and multiplication with other quaternions and vectors. Example Usage:

Creating a quaternion from pitch, yaw, and roll: ---

val quaternion = Quaternion(pitch = 30f, yaw = 45f, roll = 60f) println(quaternion) // Outputs the quaternion representation

Multiplying two quaternions: ---

val q1 = Quaternion(1f, 0f, 0f, 0f) val q2 = Quaternion(0f, 1f, 0f, 0f) val result = q1 * q2 println(result) // Outputs the resulting quaternion

Converting a quaternion to Euler angles: ---

val eulerAngles = quaternion.toEuler() println(eulerAngles) // Outputs the Euler angles (pitch, yaw, roll)

Normalizing a quaternion: ---

val normalizedQuaternion = quaternion.normalize() println(normalizedQuaternion) // Outputs the normalized quaternion

Signature

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

Constructors

Quaternion ( pitch , yaw , roll )	Constructor for creating a quaternion from pitch, yaw, and roll angles. Signature constructor(pitch: Float, yaw: Float, roll: Float) Parameters `pitch: Float` The pitch angle in degrees. `yaw: Float` The yaw angle in degrees. `roll: Float` The roll angle in degrees. Returns `Quaternion`
Quaternion ( w , x , y , z )	Signature constructor(w: Float = 1.0f, x: Float = 0.0f, y: Float = 0.0f, z: Float = 0.0f) Parameters `w: Float` w component of the quaternion. `x: Float` x component of the quaternion. `y: Float` y component of the quaternion. `z: Float` z component of the quaternion. Returns `Quaternion`

Properties

w : Float [Get][Set]	w component of the quaternion. Signature open var w: Float
x : Float [Get][Set]	x component of the quaternion. Signature open var x: Float
y : Float [Get][Set]	y component of the quaternion. Signature open var y: Float
z : Float [Get][Set]	z component of the quaternion. Signature open var z: Float

Methods

component1 ()	Signature operator fun component1(): Float Returns `Float`
component2 ()	Signature operator fun component2(): Float Returns `Float`
component3 ()	Signature operator fun component3(): Float Returns `Float`
component4 ()	Signature operator fun component4(): Float Returns `Float`
conjugate ()	Calculates the conjugate of the quaternion. Signature fun conjugate(): Quaternion Returns `Quaternion` The conjugate of the quaternion.
copy ()	Returns a copy of this Quaternion. Signature fun copy(): Quaternion Returns `Quaternion` A copy of this Quaternion.
dot ( other )	Calculates the dot product of two quaternions. Signature fun dot(other: Quaternion): Float Parameters `other: Quaternion` The other quaternion to calculate the dot product with. Returns `Float` The dot product of the two quaternions.
equals ( other )	Signature open operator override fun equals(other: Any?): Boolean Parameters `other: Any?` Returns `Boolean`
hashCode ()	Signature open override fun hashCode(): Int Returns `Int`
inverse ()	Calculates the inverse of the quaternion. Signature fun inverse(): Quaternion Returns `Quaternion` The inverse of the quaternion.
isWithinAngle ( other , angleRadians )	Checks if the angular distance between this quaternion and another quaternion is within a specified tolerance in radians. This method uses the industry-standard approach for comparing quaternion orientations: computing the angular distance between the two rotations using the dot product. It correctly handles the q vs -q equivalence (both represent the same rotation). Note: This assumes both quaternions are normalized. For best results, normalize quaternions before comparison. Signature fun isWithinAngle(other: Quaternion, angleRadians: Float): Boolean Parameters `other: Quaternion` The other quaternion to compare with. `angleRadians: Float` The maximum allowed angular difference in radians. Returns `Boolean` True if the angular distance between the two quaternions is less than or equal to angleRadians.
isWithinAngleDegrees ( other , angleDegrees )	Checks if the angular distance between this quaternion and another quaternion is within a specified tolerance in degrees. This method uses the industry-standard approach for comparing quaternion orientations: computing the angular distance between the two rotations using the dot product. It correctly handles the q vs -q equivalence (both represent the same rotation). Note: This assumes both quaternions are normalized. For best results, normalize quaternions before comparison. Signature fun isWithinAngleDegrees(other: Quaternion, angleDegrees: Float): Boolean Parameters `other: Quaternion` The other quaternion to compare with. `angleDegrees: Float` The maximum allowed angular difference in degrees. Returns `Boolean` True if the angular distance between the two quaternions is less than or equal to angleDegrees.
nlerp ( dest , ratio )	Performs normalized linear interpolation between the current quaternion and the destination quaternion. Signature fun nlerp(dest: Quaternion, ratio: Float): Quaternion Parameters `dest: Quaternion` The destination quaternion to interpolate towards. `ratio: Float` The interpolation ratio, where 0 means no interpolation (i.e., the current quaternion) and 1 means full interpolation (i.e., the destination quaternion). Returns `Quaternion` A new quaternion that is the result of interpolating between the current quaternion and the destination quaternion by the given ratio.
norm ()	Calculates the squared magnitude (length) of the quaternion. Signature fun norm(): Float Returns `Float` The squared magnitude of the quaternion.
normalize ()	Normalizes the quaternion to have a magnitude of 1. Signature fun normalize(): Quaternion Returns `Quaternion` The normalized quaternion.
removePitchAndRoll ()	Removes the pitch and roll components from the quaternion, leaving only the yaw component. Signature fun removePitchAndRoll(): Quaternion Returns `Quaternion` A new quaternion with the pitch and roll components removed.
slerp ( dest , ratio )	Performs spherical linear interpolation between the current quaternion and the destination quaternion. Signature fun slerp(dest: Quaternion, ratio: Float): Quaternion Parameters `dest: Quaternion` The destination quaternion to interpolate towards. `ratio: Float` The interpolation ratio, where 0 means no interpolation (i.e., the current quaternion) and 1 means full interpolation (i.e., the destination quaternion). Returns `Quaternion` A new quaternion that is the result of interpolating between the current quaternion and the destination quaternion by the given ratio.
times ( q )	Multiplies this quaternion with another quaternion. Signature inline operator fun times(q: Quaternion): Quaternion Parameters `q: Quaternion` The other quaternion to multiply with. Returns `Quaternion` The resulting quaternion.
times ( v )	Multiplies this quaternion with a vector. Signature inline operator fun times(v: Vector3): Vector3 Parameters `v: Vector3` The vector to multiply with. Returns `Vector3` The resulting vector.
toEuler ()	Converts the quaternion to Euler angles (pitch, yaw, roll). Signature fun toEuler(): Vector3 Returns `Vector3` A 3D vector representing the Euler angles.
toRotationMatrix44 ()	Converts the quaternion to a 4x4 rotation matrix. Signature fun toRotationMatrix44(): Matrix44 Returns `Matrix44` A 4x4 rotation matrix representing the quaternion.
toString ()	Signature open override fun toString(): String Returns `String`
toVector4 ()	Converts the quaternion to a 4D vector. Signature fun toVector4(): Vector4 Returns `Vector4` A 4D vector representing the quaternion.
unaryMinus ()	Negates the quaternion. Signature inline operator fun unaryMinus(): Quaternion Returns `Quaternion`

Companion Object

Methods

fromAxisAngle ( axis , angleDegrees )	Creates a quaternion representing a rotation around an axis by a specified angle. Signature fun fromAxisAngle(axis: Vector3, angleDegrees: Float): Quaternion Parameters `axis: Vector3` The axis of rotation (will be normalized internally). `angleDegrees: Float` The angle of rotation in degrees. Returns `Quaternion` A quaternion representing the rotation.
fromAxisAngleRadians ( axis , angleRadians )	Creates a quaternion representing a rotation around an axis by a specified angle in radians. Signature fun fromAxisAngleRadians(axis: Vector3, angleRadians: Float): Quaternion Parameters `axis: Vector3` The axis of rotation (will be normalized internally). `angleRadians: Float` The angle of rotation in radians. Returns `Quaternion` A quaternion representing the rotation.
fromDirection ( dirX , dirY , dirZ , upX , upY , upZ )	Creates a quaternion that rotates the +Z axis to point in the given direction. Uses a lookAt-style approach consistent with GLM's quatLookAtLH. The resulting quaternion, when applied to a vector pointing in the +Z direction, will rotate it to align with the specified direction. Signature fun fromDirection(dirX: Float, dirY: Float, dirZ: Float, upX: Float = 0.0f, upY: Float = 1.0f, upZ: Float = 0.0f): Quaternion Parameters `dirX: Float` The x component of the target direction. `dirY: Float` The y component of the target direction. `dirZ: Float` The z component of the target direction. `upX: Float` The x component of the up vector (default: 0). `upY: Float` The y component of the up vector (default: 1). `upZ: Float` The z component of the up vector (default: 0). Returns `Quaternion` A quaternion that rotates +Z to the given direction.
fromDirection ( direction , up )	Creates a quaternion that rotates the +Z axis to point in the given direction. Signature fun fromDirection(direction: Vector3, up: Vector3 = Vector3.Up): Quaternion Parameters `direction: Vector3` The target direction vector. `up: Vector3` The up vector (default: Vector3.Up). Returns `Quaternion` A quaternion that rotates +Z to the given direction.
fromEuler ( pitch , yaw , roll )	Creates a quaternion from Euler angles (pitch, yaw, roll). Signature fun fromEuler(pitch: Float, yaw: Float, roll: Float): Quaternion Parameters `pitch: Float` The pitch angle in degrees (rotation around X-axis). `yaw: Float` The yaw angle in degrees (rotation around Y-axis). `roll: Float` The roll angle in degrees (rotation around Z-axis). Returns `Quaternion` A quaternion representing the combined rotation.
fromEuler ( euler )	Creates a quaternion from a Vector3 containing Euler angles (pitch, yaw, roll). Signature fun fromEuler(euler: Vector3): Quaternion Parameters `euler: Vector3` A Vector3 where x=pitch, y=yaw, z=roll (all in degrees). Returns `Quaternion` A quaternion representing the combined rotation.
fromRotationMatrix ( matrix )	Creates a quaternion from a rotation matrix. Signature fun fromRotationMatrix(matrix: Array<FloatArray>): Quaternion Parameters `matrix: Array` The rotation matrix to create the quaternion from. Returns `Quaternion` The resulting quaternion.
fromTwoVectors ( from , to )	Creates a quaternion that rotates one vector to another. Signature fun fromTwoVectors(from: Vector3, to: Vector3): Quaternion Parameters `from: Vector3` The starting direction vector (will be normalized internally). `to: Vector3` The target direction vector (will be normalized internally). Returns `Quaternion` A quaternion representing the rotation from 'from' to 'to'.
getRandomQuat ()	Formula using "Choosing a Point from the Surface of a Sphere" authored by George Marsaglia Generates uniform random quaternion. Signature fun getRandomQuat(): Quaternion Returns `Quaternion` A random quaternion.
lookRotation ( forward , lookUp )	Creates a quaternion that represents a rotation from the forward vector to the look-up vector. Signature fun lookRotation(forward: Vector3, lookUp: Vector3 = Vector3.Up): Quaternion Parameters `forward: Vector3` The forward vector. `lookUp: Vector3` The look-up vector. Defaults to Vector3.Up. Returns `Quaternion` A quaternion representing the rotation from the forward vector to the look-up vector.
lookRotationAroundY ( forward )	Creates a quaternion that represents a rotation around the Y-axis from the forward vector to the look-up vector. Signature fun lookRotationAroundY(forward: Vector3): Quaternion Parameters `forward: Vector3` The forward vector. Returns `Quaternion` A quaternion representing the rotation around the Y-axis from the forward vector to the look-up vector.