Skip to main content

Quaternion

Rotation stored as [x, y, z, w]. Angles for conversions use degrees. Functions modify the first argument in-place unless noted.

Functions Reference

Creation & Setters

Function	Returns	Description
`quat_create(x?, y?, z?, w?)`	`Array`	Creates a quaternion (default identity `[0,0,0,1]`).
`quat_set(q, x, y, z, w)`	-	Sets components.
`quat_identity(q)`	-	Resets to identity.
`quat_clone(q)`	`Array`	Returns a copy.
`quat_copy(q, src)`	-	Copies values from `src`.

Conversions

Function	Returns	Description
`quat_set_from_euler(q, x, y, z, order?)`	-	Sets from Euler angles (degrees, default `"XYZ"`).
`quat_set_from_axis_angle(q, axis, angle)`	-	Sets from axis-angle (degrees).
`quat_set_from_rotation_matrix(q, m)`	-	Sets from rotation part of 4×4 matrix.
`quat_set_from_unit_vectors(q, vFrom, vTo)`	-	Sets rotation from `vFrom` to `vTo` (normalized).

Operations

Function	Returns	Description
`quat_invert(q)`	-	Inverts quaternion (conjugate for unit quaternions).
`quat_conjugate(q)`	-	Conjugates in place.
`quat_normalize(q)`	-	Normalizes to unit length.
`quat_multiply(q, q2)`	-	Sets `q = q * q2`.
`quat_premultiply(q, q2)`	-	Sets `q = q2 * q`.
`quat_slerp(q, qb, t)`	-	Spherical linear interpolation.
`quat_rotate_towards(q, qb, step)`	-	Rotates towards `qb` by angular `step` (radians).
`quat_dot(q, q2)`	`number`	Dot product.
`quat_length(q)`	`number`	Length (magnitude).
`quat_length_sq(q)`	`number`	Squared length.
`quat_angle_to(q, q2)`	`number`	Angle to `q2` in radians.

Utilities

Function	Returns	Description
`quat_equals(a, b)`	`boolean`	True if components are equal.
`quat_from_array(q, array, offset?)`	-	Loads from array.
`quat_to_array(q, array?, offset?)`	`Array`	Writes to array.
`quat_from_buffer_attribute(q, attr, index)`	-	Loads from flat buffer at `index`.
`quat_random(q)`	-	Sets to a random unit quaternion.
`quat_multiply_quaternions(dest, a, b)`	-	Sets `dest = a * b`.
`quat_slerp_quaternions(dest, qa, qb, t)`	-	Sets `dest = slerp(qa, qb, t)`.

Functions Reference