KQuaternion

kds-plugin-document / Exports / KQuaternion

Interface: KQuaternion

四元数（quaternion）是用来表示旋转变换的一种形式，它可以避免欧拉角的万向节死锁问题。

An interface representing quaternion. Quaternion is used for rotating models without encountering the dreaded gimbal lock issue, amongst other advantages.

Table of contents

Properties

• w
• x
• y
• z

Methods

• clone
• conjugate
• copyFrom
• dot
• fromArray
• getAngle
• getAxis
• isEqual
• length
• lengthSq
• multiply
• multiplyQuaternions
• normalize
• premultiply
• reverse
• set
• setFromAxisAngle
• setFromEuler
• setFromRotationMatrix
• setFromUnitVectors
• slerp
• swingTwistDecomposition
• toArray

Properties

w

• Readonly w: number

四元数的w实部。

The quaternion's w value.

Defined in

api.d.ts:10192

---

x

• Readonly x: number

四元数的x虚部。

The quaternion's x value.

Defined in

api.d.ts:10174

---

y

• Readonly y: number

四元数的y虚部。

The quaternion's y value.

Defined in

api.d.ts:10180

---

z

• Readonly z: number

四元数的z虚部。

The quaternion's z value.

Defined in

api.d.ts:10186

Methods

clone

▸ clone(): KQuaternion

克隆自己，返回一个新的四元数对象。

Get the cloned object of this quaternion.

Returns

KQuaternion

返回一个新的克隆对象。

Return a new clone quaternion object.

Defined in

api.d.ts:10224

---

conjugate

▸ conjugate(): void

把自己变成自己的共轭形式。 共轭形式是指绕旋转轴转动相反角度。

Returns the rotational conjugate of this quaternion. The conjugate of a quaternion represents the same rotation in the opposite direction about the rotational axis.

Returns

void

Defined in

api.d.ts:10316

---

copyFrom

▸ copyFrom(quaternion): void

从另外一个四元数对象复制数据，覆盖自己的数据成员。

Copy values from another quaternion.

Parameters

Name	Type	Description
quaternion	KQuaternion	输入另一个四元数。 The another quaternion.

Returns

void

Defined in

api.d.ts:10234

---

dot

▸ dot(v): number

求取和另外一个四元数的点积。

Calculates the dot product of quaternions v and this one

Parameters

Name	Type	Description
v	KQuaternion	输入另一个四元数。 The another quaternions.

Returns

number

返回两个四元数的点积。

Return two quaternionss dot value.

Defined in

api.d.ts:10330

---

fromArray

▸ fromArray(array): void

从数组中读取数据，赋值给自己的数据成员。

Copy values (x, y, z and w) from an array with 4 elements.

Parameters

Name	Type	Description
array	number[]	输入数组，含x, y, z, w信息。 The input array in [x, y, z, w].

Returns

void

Defined in

api.d.ts:10457

---

getAngle

▸ getAngle(): number

获取以弧度为单位的旋转角度。

Returns

number

返回旋转角度。

Angle of rotation about the axis, in radius.

Defined in

api.d.ts:10277

---

getAxis

▸ getAxis(): KVector3d

获取旋转轴。如果旋转角度是零的话，返回一个各分量为零的旋转轴。

Returns

KVector3d

返回旋转轴。

The axis of rotation (normalized); return a zero vector if angle of rotation is zero.

Defined in

api.d.ts:10268

---

isEqual

▸ isEqual(quaternion): boolean

判断是不是和联外一个四元数相等。

Whether two quaternions are equal.

Parameters

Name	Type	Description
quaternion	KQuaternion	输入另一个四元数。 The another quaternion.

Returns

boolean

返回两个四元数是否相等。

Return true if two quaternions are equal.

Defined in

api.d.ts:10447

---

length

▸ length(): number

求取这个四元数当成一个四维向量，求取它的欧几里得长度。

Computes the Euclidean length (straight-line length) of this quaternion, considered as a 4 dimensional vector.

Returns

number

返回欧几里得长度。

Return length.

Defined in

api.d.ts:10354

---

lengthSq

▸ lengthSq(): number

求取各元素的平方和。

Computes the Euclidean length (straight-line length) of this quaternion, considered as a 4 dimensional vector. This can be useful if you are comparing the lengths of two quaternions, as this is a slightly more efficient calculation than length().

Returns

number

返回各元素的平方和。

Return square length.

Defined in

api.d.ts:10343

---

multiply

▸ multiply(q): void

右乘一个四元数。

Multiplies this quaternion by q.

Parameters

Name	Type	Description
q	KQuaternion	输入另一个四元数。 The another quaternion.

Returns

void

Defined in

api.d.ts:10372

---

multiplyQuaternions

▸ multiplyQuaternions(a, b): void

把两个四元数的乘机结果赋值给自己。

Sets this quaternion to a x b.

Parameters

Name	Type	Description
a	KQuaternion	输入一个四元数。 The input quaternion.
b	KQuaternion	输入另一个四元数。 The another quaternion.

Returns

void

Defined in

api.d.ts:10396

---

normalize

▸ normalize(): void

归一化这个四元数。 归一化后它仍旧表示相同的旋转变换，只是长度变为1。

Normalizes this quaternion - that is, calculated the quaternion that performs the same rotation as this one, but has length equal to 1.

Returns

void

Defined in

api.d.ts:10362

---

premultiply

▸ premultiply(q): void

左乘一个四元数。

Pre-multiplies this quaternion by q.

Parameters

Name	Type	Description
q	KQuaternion	输入另一个四元数。 The another quaternion.

Returns

void

Defined in

api.d.ts:10382

---

reverse

▸ reverse(): void

把自己变成自己的逆变换。

Reverse this quaternion.

Returns

void

Defined in

api.d.ts:10307

---

set

▸ set(x, y, z, w): void

设置四元数的虚部和实部。

Set quaternion's x, y, z and w

Parameters

Name	Type	Description
x	number	四元数的x虚部。 The quaternion's x value.
y	number	四元数的y虚部。 The quaternion's y value.
z	number	四元数的z虚部。 The quaternion's z value.
w	number	四元数的w实部。 The quaternion's w value.

Returns

void

Defined in

api.d.ts:10214

---

setFromAxisAngle

▸ setFromAxisAngle(axis, angle): void

从绕某个给定轴旋转给定角度的表示形式转换成四元数的表示形式，并设置到自己的数据成员。

Sets this quaternion from rotation specified by axis and angle. NOTE: the axis will be normalized.

Parameters

Name	Type	Description
axis	KVector3d	输入给定轴。 The input specified axis.
angle	number	输入旋转角度。 The input rotate angle in radians.

Returns

void

Defined in

api.d.ts:10259

---

setFromEuler

▸ setFromEuler(euler): void

把一个欧拉角转化成四元数形式，并设置到自己的数据成员。

Set values by an input euler object.

Parameters

Name	Type	Description
euler	KEuler	输入欧拉角。 The input euler.

Returns

void

Defined in

api.d.ts:10244

---

setFromRotationMatrix

▸ setFromRotationMatrix(m): void

从一个变换矩阵提取旋转变换，转换成四元数形式，并设置到自己的数据成员。

Sets this quaternion from rotation component of the input matrix.

Parameters

Name	Type	Description
m	KMatrix4	输入变换矩阵。 The input matrix.

Returns

void

Defined in

api.d.ts:10287

---

setFromUnitVectors

▸ setFromUnitVectors(vFrom, vTo): void

从一个向量到另外一个向量的旋转变化形式，转化成四元数表示形式，并设置到自己的数据成员。

Sets this quaternion to the rotation required to rotate direction vector vFrom to direction vector vTo.

Parameters

Name	Type	Description
vFrom	KVector3d	输入被旋转的向量。 The input vector to be rotated.
vTo	KVector3d	输入旋转后的向量。 The input vector after rotation.

Returns

void

Defined in

api.d.ts:10301

---

slerp

▸ slerp(qb, t): void

和另外一个四元数做球面线性插值。

Handles the spherical linear interpolation between quaternions. t represents the amount of rotation between this quaternion (where t is 0) and qb (where t is 1). This quaternion is set to the result.

Parameters

Name	Type	Description
qb	KQuaternion	输入另一个四元数。 The another quaternion.
t	number	输入插值比例。 The interpolate ratio.

Returns

void

Defined in

api.d.ts:10413

---

swingTwistDecomposition

▸ swingTwistDecomposition(direction, twist, swing): void

Decompose the rotation on to 2 parts http://www.euclideanspace.com/maths/geometry/rotations/for/decomposition/index.htm twist = rotation around the direction vector swing = rotation around axis that is perpendicular to direction vector rotate = swing * twist

Parameters

Name	Type	Description
direction	KVector3d	输入方向向量。 The input direction vector.
twist	KQuaternion	输出绕方向向量旋转的四元数。 Update rotate quaternion around the direction vector.
swing	KQuaternion	输出绕垂直于方向向量的向量旋转的四元数。 Update rotate quaternion around axis that is perpendicular to direction vector.

Returns

void

Defined in

api.d.ts:10433

---

toArray

▸ toArray(): number[]

四元数转成数据表达形式。

Convert to a array containing x, y, z, w.

Returns

number[]

返回数组[x, y, z, w]。

Return array in [x, y, z , w].

Defined in

api.d.ts:10467