Quaternion

Quaternion

constructor(pitch: Float, yaw: Float, roll: Float)
Constructor for creating a quaternion from pitch, yaw, and roll angles.
constructor(w: Float = 1.0f, x: Float = 0.0f, y: Float = 0.0f, z: Float = 0.0f)

Companion

object Companion

w

var w: Float

x

var x: Float

y

var y: Float

z

var z: Float

conjugate

fun conjugate(): Quaternion
Calculates the conjugate of the quaternion.

dot

fun dot(other: Quaternion): Float
Calculates the dot product of two quaternions.

inverse

fun inverse(): Quaternion
Calculates the inverse of the quaternion.

nlerp

fun nlerp(dest: Quaternion, ratio: Float): Quaternion
Performs normalized linear interpolation between the current quaternion and the destination quaternion.

norm

fun norm(): Float
Calculates the squared magnitude (length) of the quaternion.

normalize

fun normalize(): Quaternion
Normalizes the quaternion to have a magnitude of 1.

removePitchAndRoll

fun removePitchAndRoll(): Quaternion
Removes the pitch and roll components from the quaternion, leaving only the yaw component.

slerp

fun slerp(dest: Quaternion, ratio: Float): Quaternion
Performs spherical linear interpolation between the current quaternion and the destination quaternion.

times

operator fun times(q: Quaternion): Quaternion
Multiplies this quaternion with another quaternion.
operator fun times(v: Vector3): Vector3
Multiplies this quaternion with a vector.

toEuler

fun toEuler(): Vector3
Converts the quaternion to Euler angles (pitch, yaw, roll).

toRotationMatrix44

fun toRotationMatrix44(): Matrix44
Converts the quaternion to a 4x4 rotation matrix.

toString

open override fun toString(): String

toVector4

fun toVector4(): Vector4
Converts the quaternion to a 4D vector.

unaryMinus

operator fun unaryMinus(): Quaternion
Negates the quaternion.

rnd_

val rnd_: Random

fromRotationMatrix

fun fromRotationMatrix(matrix: Array<FloatArray>): Quaternion
Creates a quaternion from a rotation matrix.

getRandomQuat

fun getRandomQuat(): Quaternion
Formula using "Choosing a Point from the Surface of a Sphere" authored by George Marsaglia Generates uniform random quaternion. Code modified from https://stackoverflow.com/questions/31600717/how-to-generate-a-random-quaternion-quickly

lookRotation

fun lookRotation(forward: Vector3, lookUp: Vector3 = Vector3.Up): Quaternion
Creates a quaternion that represents a rotation from the forward vector to the look-up vector.

lookRotationAroundY

fun lookRotationAroundY(forward: Vector3): Quaternion
Creates a quaternion that represents a rotation around the Y-axis from the forward vector to the look-up vector.