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<!DOCTYPE html> <html lang="en"> <head> <meta charset="utf-8"> <title>JSDoc: Module: quat2</title> <script src="scripts/prettify/prettify.js"> </script> <script src="scripts/prettify/lang-css.js"> </script>  <link type="text/css" rel="stylesheet" href="styles/prettify-tomorrow.css"> <link type="text/css" rel="stylesheet" href="styles/jsdoc-default.css"> </head> <body> <div id="main"> <h1 class="page-title">Module: quat2</h1> <section> <header> </header> <article> <div class="container-overview"> <div class="description">Dual Quaternion<br> Format: [real, dual]<br> Quaternion format: XYZW<br> Make sure to have normalized dual quaternions, otherwise the functions may not work as intended.<br></div> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line5">line 5</a> </li></ul></dd> </dl> </div> <h3 class="subsection-title">Members</h3> <h4 class="name" id=".getReal"><span class="type-signature">(static, constant) </span>getReal<span class="type-signature"></span></h4> <div class="description"> Gets the real part of a dual quat </div> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line266">line 266</a> </li></ul></dd> </dl> <h3 class="subsection-title">Methods</h3> <h4 class="name" id=".add"><span class="type-signature">(static) </span>add<span class="signature">(out, a, b)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Adds two dual quat's </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the receiving dual quaternion</td> </tr> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the first operand</td> </tr> <tr> <td class="name"><code>b</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the second operand</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line578">line 578</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> out </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".clone"><span class="type-signature">(static) </span>clone<span class="signature">(a)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Creates a new quat initialized with values from an existing quaternion </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">dual quaternion to clone</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line39">line 39</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> new dual quaternion </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".conjugate"><span class="type-signature">(static) </span>conjugate<span class="signature">(out, a)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Calculates the conjugate of a dual quat If the dual quaternion is normalized, this function is faster than quat2.inverse and produces the same result. </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the receiving quaternion</td> </tr> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">quat to calculate conjugate of</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line717">line 717</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> out </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".copy"><span class="type-signature">(static) </span>copy<span class="signature">(out, a)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Copy the values from one dual quat to another </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the receiving dual quaternion</td> </tr> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the source dual quaternion</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line202">line 202</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> out </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".create"><span class="type-signature">(static) </span>create<span class="signature">()</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Creates a new identity dual quat </div> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line19">line 19</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> a new dual quaternion [real -> rotation, dual -> translation] </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".dot"><span class="type-signature">(static) </span>dot<span class="signature">(a, b)</span><span class="type-signature"> → {Number}</span></h4> <div class="description"> Calculates the dot product of two dual quat's (The dot product of the real parts) </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the first operand</td> </tr> <tr> <td class="name"><code>b</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the second operand</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line661">line 661</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> dot product of a and b </div> <dl> <dt> Type </dt> <dd> <span class="param-type">Number</span> </dd> </dl> <h4 class="name" id=".equals"><span class="type-signature">(static) </span>equals<span class="signature">(a, b)</span><span class="type-signature"> → {Boolean}</span></h4> <div class="description"> Returns whether or not the dual quaternions have approximately the same elements in the same position. </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the first dual quat.</td> </tr> <tr> <td class="name"><code>b</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the second dual quat.</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line813">line 813</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> true if the dual quats are equal, false otherwise. </div> <dl> <dt> Type </dt> <dd> <span class="param-type">Boolean</span> </dd> </dl> <h4 class="name" id=".exactEquals"><span class="type-signature">(static) </span>exactEquals<span class="signature">(a, b)</span><span class="type-signature"> → {Boolean}</span></h4> <div class="description"> Returns whether or not the dual quaternions have exactly the same elements in the same position (when compared with ===) </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the first dual quaternion.</td> </tr> <tr> <td class="name"><code>b</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the second dual quaternion.</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line801">line 801</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> true if the dual quaternions are equal, false otherwise. </div> <dl> <dt> Type </dt> <dd> <span class="param-type">Boolean</span> </dd> </dl> <h4 class="name" id=".fromMat4"><span class="type-signature">(static) </span>fromMat4<span class="signature">(out, a)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Creates a new dual quat from a matrix (4x4) </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the dual quaternion</td> </tr> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">mat4</span> </td> <td class="description last">the matrix</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line184">line 184</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> dual quat receiving operation result </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".fromRotation"><span class="type-signature">(static) </span>fromRotation<span class="signature">(dual, q)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Creates a dual quat from a quaternion </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>dual</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">quaternion receiving operation result</td> </tr> <tr> <td class="name"><code>q</code></td> <td class="type"> <span class="param-type">quat</span> </td> <td class="description last">the quaternion</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line164">line 164</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> dual quaternion receiving operation result </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".fromRotationTranslation"><span class="type-signature">(static) </span>fromRotationTranslation<span class="signature">(dual, q, t)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Creates a dual quat from a quaternion and a translation </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>dual</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">quaternion receiving operation result</td> </tr> <tr> <td class="name"><code>q</code></td> <td class="type"> <span class="param-type">quat</span> </td> <td class="description last">quaternion</td> </tr> <tr> <td class="name"><code>t</code></td> <td class="type"> <span class="param-type">vec3</span> </td> <td class="description last">tranlation vector</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line117">line 117</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> dual quaternion receiving operation result </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".fromRotationTranslationValues"><span class="type-signature">(static) </span>fromRotationTranslationValues<span class="signature">(x1, y1, z1, w1, x2, y2, z2)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Creates a new dual quat from the given values (quat and translation) </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>x1</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">X component</td> </tr> <tr> <td class="name"><code>y1</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">Y component</td> </tr> <tr> <td class="name"><code>z1</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">Z component</td> </tr> <tr> <td class="name"><code>w1</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">W component</td> </tr> <tr> <td class="name"><code>x2</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">X component (translation)</td> </tr> <tr> <td class="name"><code>y2</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">Y component (translation)</td> </tr> <tr> <td class="name"><code>z2</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">Z component (translation)</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line92">line 92</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> new dual quaternion </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".fromTranslation"><span class="type-signature">(static) </span>fromTranslation<span class="signature">(dual, t)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Creates a dual quat from a translation </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>dual</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">quaternion receiving operation result</td> </tr> <tr> <td class="name"><code>t</code></td> <td class="type"> <span class="param-type">vec3</span> </td> <td class="description last">translation vector</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line144">line 144</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> dual quaternion receiving operation result </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".fromValues"><span class="type-signature">(static) </span>fromValues<span class="signature">(x1, y1, z1, w1, x2, y2, z2, w2)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Creates a new dual quat initialized with the given values </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>x1</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">X component</td> </tr> <tr> <td class="name"><code>y1</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">Y component</td> </tr> <tr> <td class="name"><code>z1</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">Z component</td> </tr> <tr> <td class="name"><code>w1</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">W component</td> </tr> <tr> <td class="name"><code>x2</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">X component</td> </tr> <tr> <td class="name"><code>y2</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">Y component</td> </tr> <tr> <td class="name"><code>z2</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">Z component</td> </tr> <tr> <td class="name"><code>w2</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">W component</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line66">line 66</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> new dual quaternion </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".getDual"><span class="type-signature">(static) </span>getDual<span class="signature">(out, a)</span><span class="type-signature"> → {quat}</span></h4> <div class="description"> Gets the dual part of a dual quat </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">quat</span> </td> <td class="description last">dual part</td> </tr> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">Dual Quaternion</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line274">line 274</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> dual part </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat</span> </dd> </dl> <h4 class="name" id=".getTranslation"><span class="type-signature">(static) </span>getTranslation<span class="signature">(out, a)</span><span class="type-signature"> → {vec3}</span></h4> <div class="description"> Gets the translation of a normalized dual quat </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">vec3</span> </td> <td class="description last">translation</td> </tr> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">Dual Quaternion to be decomposed</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line314">line 314</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> translation </div> <dl> <dt> Type </dt> <dd> <span class="param-type">vec3</span> </dd> </dl> <h4 class="name" id=".identity"><span class="type-signature">(static) </span>identity<span class="signature">(out)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Set a dual quat to the identity dual quaternion </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the receiving quaternion</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line220">line 220</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> out </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".invert"><span class="type-signature">(static) </span>invert<span class="signature">(out, a)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Calculates the inverse of a dual quat. If they are normalized, conjugate is cheaper </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the receiving dual quaternion</td> </tr> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">dual quat to calculate inverse of</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line696">line 696</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> out </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".len"><span class="type-signature">(static) </span>len<span class="signature">()</span><span class="type-signature"></span></h4> <div class="description"> Alias for quat2.length </div> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line742">line 742</a> </li></ul></dd> </dl> <h4 class="name" id=".length"><span class="type-signature">(static) </span>length<span class="signature">(a)</span><span class="type-signature"> → {Number}</span></h4> <div class="description"> Calculates the length of a dual quat </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">dual quat to calculate length of</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line736">line 736</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> length of a </div> <dl> <dt> Type </dt> <dd> <span class="param-type">Number</span> </dd> </dl> <h4 class="name" id=".lerp"><span class="type-signature">(static) </span>lerp<span class="signature">(out, a, b, t)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Performs a linear interpolation between two dual quats's NOTE: The resulting dual quaternions won't always be normalized (The error is most noticeable when t = 0.5) </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the receiving dual quat</td> </tr> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the first operand</td> </tr> <tr> <td class="name"><code>b</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the second operand</td> </tr> <tr> <td class="name"><code>t</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">interpolation amount, in the range [0-1], between the two inputs</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line673">line 673</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> out </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".mul"><span class="type-signature">(static) </span>mul<span class="signature">()</span><span class="type-signature"></span></h4> <div class="description"> Alias for quat2.multiply </div> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line630">line 630</a> </li></ul></dd> </dl> <h4 class="name" id=".multiply"><span class="type-signature">(static) </span>multiply<span class="signature">(out, a, b)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Multiplies two dual quat's </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the receiving dual quaternion</td> </tr> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the first operand</td> </tr> <tr> <td class="name"><code>b</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the second operand</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line598">line 598</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> out </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".normalize"><span class="type-signature">(static) </span>normalize<span class="signature">(out, a)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Normalize a dual quat </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the receiving dual quaternion</td> </tr> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">dual quaternion to normalize</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line767">line 767</a> </li></ul></dd> </dl> <h5>Returns:</h5> <div class="param-desc"> out </div> <dl> <dt> Type </dt> <dd> <span class="param-type">quat2</span> </dd> </dl> <h4 class="name" id=".rotateAroundAxis"><span class="type-signature">(static) </span>rotateAroundAxis<span class="signature">(out, a, axis, rad)</span><span class="type-signature"> → {quat2}</span></h4> <div class="description"> Rotates a dual quat around a given axis. Does the normalisation automatically </div> <h5>Parameters:</h5> <table class="params"> <thead> <tr> <th>Name</th> <th>Type</th> <th class="last">Description</th> </tr> </thead> <tbody> <tr> <td class="name"><code>out</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the receiving dual quaternion</td> </tr> <tr> <td class="name"><code>a</code></td> <td class="type"> <span class="param-type">quat2</span> </td> <td class="description last">the dual quaternion to rotate</td> </tr> <tr> <td class="name"><code>axis</code></td> <td class="type"> <span class="param-type">vec3</span> </td> <td class="description last">the axis to rotate around</td> </tr> <tr> <td class="name"><code>rad</code></td> <td class="type"> <span class="param-type">Number</span> </td> <td class="description last">how far the rotation should be</td> </tr> </tbody> </table> <dl class="details"> <dt class="tag-source">Source:</dt> <dd class="tag-source"><ul class="dummy"><li> <a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line534"