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Quaternion¶
A unit quaternion used for representing 3D rotations.
Description¶
Quaternions are similar to Basis, which implements the matrix representation of rotations. Unlike Basis, which stores rotation, scale, and shearing, quaternions only store rotation.
Quaternions can be parametrized using both an axis-angle pair or Euler angles. Due to their compactness and the way they are stored in memory, certain operations (obtaining axis-angle and performing SLERP, in particular) are more efficient and robust against floating-point errors.
Note: Quaternions need to be normalized before being used for rotation.
Informacja
There are notable differences when using this API with C#. See C# API differences to GDScript for more information.
Tutorials¶
Properties¶
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Constructors¶
Quaternion ( ) |
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Quaternion ( Quaternion from ) |
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Quaternion ( Vector3 arc_from, Vector3 arc_to ) |
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Quaternion ( Vector3 axis, float angle ) |
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Quaternion ( Basis from ) |
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Quaternion ( float x, float y, float z, float w ) |
Methods¶
angle_to ( Quaternion to ) const |
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dot ( Quaternion with ) const |
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exp ( ) const |
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from_euler ( Vector3 euler ) static |
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get_angle ( ) const |
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get_axis ( ) const |
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inverse ( ) const |
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is_equal_approx ( Quaternion to ) const |
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is_finite ( ) const |
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is_normalized ( ) const |
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length ( ) const |
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length_squared ( ) const |
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log ( ) const |
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normalized ( ) const |
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slerp ( Quaternion to, float weight ) const |
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slerpni ( Quaternion to, float weight ) const |
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spherical_cubic_interpolate ( Quaternion b, Quaternion pre_a, Quaternion post_b, float weight ) const |
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spherical_cubic_interpolate_in_time ( Quaternion b, Quaternion pre_a, Quaternion post_b, float weight, float b_t, float pre_a_t, float post_b_t ) const |
Operators¶
operator != ( Quaternion right ) |
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operator * ( Quaternion right ) |
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operator * ( Vector3 right ) |
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operator * ( float right ) |
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operator * ( int right ) |
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operator + ( Quaternion right ) |
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operator - ( Quaternion right ) |
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operator / ( float right ) |
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operator / ( int right ) |
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operator == ( Quaternion right ) |
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operator [] ( int index ) |
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operator unary+ ( ) |
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operator unary- ( ) |
Constants¶
IDENTITY = Quaternion(0, 0, 0, 1)
The identity quaternion, representing no rotation. Equivalent to an identity Basis matrix. If a vector is transformed by an identity quaternion, it will not change.
Property Descriptions¶
float w = 1.0
W component of the quaternion (real part).
Quaternion components should usually not be manipulated directly.
float x = 0.0
X component of the quaternion (imaginary i axis part).
Quaternion components should usually not be manipulated directly.
float y = 0.0
Y component of the quaternion (imaginary j axis part).
Quaternion components should usually not be manipulated directly.
float z = 0.0
Z component of the quaternion (imaginary k axis part).
Quaternion components should usually not be manipulated directly.
Constructor Descriptions¶
Quaternion Quaternion ( )
Constructs a default-initialized quaternion with all components set to 0.
Quaternion Quaternion ( Quaternion from )
Constructs a Quaternion as a copy of the given Quaternion.
Quaternion Quaternion ( Vector3 arc_from, Vector3 arc_to )
Constructs a quaternion representing the shortest arc between two points on the surface of a sphere with a radius of 1.0.
Quaternion Quaternion ( Vector3 axis, float angle )
Constructs a quaternion that will rotate around the given axis by the specified angle. The axis must be a normalized vector.
Quaternion Quaternion ( Basis from )
Constructs a quaternion from the given Basis.
Quaternion Quaternion ( float x, float y, float z, float w )
Constructs a quaternion defined by the given values.
Method Descriptions¶
float angle_to ( Quaternion to ) const
Returns the angle between this quaternion and to. This is the magnitude of the angle you would need to rotate by to get from one to the other.
Note: The magnitude of the floating-point error for this method is abnormally high, so methods such as is_zero_approx will not work reliably.
float dot ( Quaternion with ) const
Returns the dot product of two quaternions.
Quaternion exp ( ) const
There is currently no description for this method. Please help us by contributing one!
Quaternion from_euler ( Vector3 euler ) static
Constructs a Quaternion from Euler angles in YXZ rotation order.
float get_angle ( ) const
There is currently no description for this method. Please help us by contributing one!
Vector3 get_axis ( ) const
There is currently no description for this method. Please help us by contributing one!
Vector3 get_euler ( int order=2 ) const
Returns the quaternion's rotation in the form of Euler angles. The Euler order depends on the order parameter, for example using the YXZ convention: since this method decomposes, first Z, then X, and Y last. See the EulerOrder enum