Quat

Quaternion.

Description

A unit quaternion used for representing 3D rotations. Quaternions need to be normalized to be used for rotation.

It is similar to Basis, which implements matrix representation of rotations, and can be parametrized using both an axis-angle pair or Euler angles. Basis stores rotation, scale, and shearing, while Quat only stores rotation.

Due to its compactness and the way it is stored in memory, certain operations (obtaining axis-angle and performing SLERP, in particular) are more efficient and robust against floating-point errors.

Properties

float w 1.0
float x 0.0
float y 0.0
float z 0.0

Methods

Quat Quat ( Basis from )
Quat Quat ( Vector3 euler )
Quat Quat ( Vector3 axis, float angle )
Quat Quat ( float x, float y, float z, float w )
Quat cubic_slerp ( Quat b, Quat pre_a, Quat post_b, float t )
float dot ( Quat b )
Vector3 get_euler ( )
Quat inverse ( )
bool is_equal_approx ( Quat quat )
bool is_normalized ( )
float length ( )
float length_squared ( )
Quat normalized ( )
void set_axis_angle ( Vector3 axis, float angle )
void set_euler ( Vector3 euler )
Quat slerp ( Quat b, float t )
Quat slerpni ( Quat b, float t )
Vector3 xform ( Vector3 v )

Constants

  • IDENTITY = Quat( 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

Default 1.0

W component of the quaternion (real part).

Quaternion components should usually not be manipulated directly.


Default 0.0

X component of the quaternion (imaginary i axis part).

Quaternion components should usually not be manipulated directly.


Default 0.0

Y component of the quaternion (imaginary j axis part).

Quaternion components should usually not be manipulated directly.


Default 0.0

Z component of the quaternion (imaginary k axis part).

Quaternion components should usually not be manipulated directly.

Method Descriptions

Constructs a quaternion from the given Basis.


Constructs a quaternion that will perform a rotation specified by Euler angles (in the YXZ convention: when decomposing, first Z, then X, and Y last), given in the vector format as (X angle, Y angle, Z angle).


Constructs a quaternion that will rotate around the given axis by the specified angle. The axis must be a normalized vector.


Constructs a quaternion defined by the given values.


Performs a cubic spherical interpolation between quaternions preA, this vector, b, and postB, by the given amount t.


Returns the dot product of two quaternions.


Returns Euler angles (in the YXZ convention: when decomposing, first Z, then X, and Y last) corresponding to the rotation represented by the unit quaternion. Returned vector contains the rotation angles in the format (X angle, Y angle, Z angle).


Returns the inverse of the quaternion.


Returns true if this quaterion and quat are approximately equal, by running @GDScript.is_equal_approx on each component.


  • bool is_normalized ( )

Returns whether the quaternion is normalized or not.


Returns the length of the quaternion.


  • float length_squared ( )

Returns the length of the quaternion, squared.


  • Quat normalized ( )

Returns a copy of the quaternion, normalized to unit length.


Sets the quaternion to a rotation which rotates around axis by the specified angle, in radians. The axis must be a normalized vector.


Sets the quaternion to a rotation specified by Euler angles (in the YXZ convention: when decomposing, first Z, then X, and Y last), given in the vector format as (X angle, Y angle, Z angle).


Returns the result of the spherical linear interpolation between this quaternion and to by amount weight.

Note: Both quaternions must be normalized.


Returns the result of the spherical linear interpolation between this quaternion and to by amount weight, but without checking if the rotation path is not bigger than 90 degrees.


Returns a vector transformed (multiplied) by this quaternion.