cannon

<!DOCTYPE html> <html lang="en"> <head> <meta charset="utf-8"> <title>Quaternion - cannon</title> <link rel="stylesheet" href="http://yui.yahooapis.com/3.9.1/build/cssgrids/cssgrids-min.css"> <link rel="stylesheet" href="../assets/vendor/prettify/prettify-min.css"> <link rel="stylesheet" href="../assets/css/main.css" id="site_styles"> <link rel="icon" href="../assets/favicon.ico"> <script src="http://yui.yahooapis.com/combo?3.9.1/build/yui/yui-min.js"></script> </head> <body class="yui3-skin-sam"> <div id="doc"> <div id="hd" class="yui3-g header"> <div class="yui3-u-3-4"> <h1><img src="../assets/css/logo.png" title="cannon" width="117" height="52"></h1> </div> <div class="yui3-u-1-4 version"> <em>API Docs for: 0.6.1</em> </div> </div> <div id="bd" class="yui3-g"> <div class="yui3-u-1-4"> <div id="docs-sidebar" class="sidebar apidocs"> <div id="api-list"> <h2 class="off-left">APIs</h2> <div id="api-tabview" class="tabview"> <ul class="tabs"> <li><a href="#api-classes">Classes</a></li> 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for="api-show-protected"> <input type="checkbox" id="api-show-protected"> Protected </label> <label for="api-show-private"> <input type="checkbox" id="api-show-private"> Private </label> <label for="api-show-deprecated"> <input type="checkbox" id="api-show-deprecated"> Deprecated </label> </div> <div class="apidocs"> <div id="docs-main"> <div class="content"> <h1>Quaternion Class</h1> <div class="box meta"> <div class="foundat"> Defined in: <a href="../files/src_math_Quaternion.js.html#l5"><code>src/math/Quaternion.js:5</code></a> </div> </div> <div class="box intro"> <p>A Quaternion describes a rotation in 3D space. The Quaternion is mathematically defined as Q = x<em>i + y</em>j + z*k + w, where (i,j,k) are imaginary basis vectors. (x,y,z) can be seen as a vector related to the axis of rotation, while the real multiplier, w, is related to the amount of rotation.</p> </div> <div class="constructor"> <h2>Constructor</h2> <div id="method_Quaternion" class="method item"> <h3 class="name"><code>Quaternion</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>x</code> </li> <li class="arg"> <code>y</code> </li> <li class="arg"> <code>z</code> </li> <li class="arg"> <code>w</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l5"><code>src/math/Quaternion.js:5</code></a> </p> </div> <div class="description"> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">x</code> <span class="type">Number</span> <div class="param-description"> <p>Multiplier of the imaginary basis vector i.</p> </div> </li> <li class="param"> <code class="param-name">y</code> <span class="type">Number</span> <div class="param-description"> <p>Multiplier of the imaginary basis vector j.</p> </div> </li> <li class="param"> <code class="param-name">z</code> <span class="type">Number</span> <div class="param-description"> <p>Multiplier of the imaginary basis vector k.</p> </div> </li> <li class="param"> <code class="param-name">w</code> <span class="type">Number</span> <div class="param-description"> <p>Multiplier of the real part.</p> </div> </li> </ul> </div> </div> </div> <div id="classdocs" class="tabview"> <ul class="api-class-tabs"> <li class="api-class-tab index"><a href="#index">Index</a></li> <li class="api-class-tab methods"><a href="#methods">Methods</a></li> <li class="api-class-tab properties"><a href="#properties">Properties</a></li> </ul> <div> <div id="index" class="api-class-tabpanel index"> <h2 class="off-left">Item Index</h2> <div class="index-section methods"> <h3>Methods</h3> <ul class="index-list methods"> <li class="index-item method"> <a href="#method_conjugate">conjugate</a> </li> <li class="index-item method"> <a href="#method_copy">copy</a> </li> <li class="index-item method"> <a href="#method_inverse">inverse</a> </li> <li class="index-item method"> <a href="#method_mult">mult</a> </li> <li class="index-item method"> <a href="#method_normalize">normalize</a> </li> <li class="index-item method"> <a href="#method_normalizeFast">normalizeFast</a> </li> <li class="index-item method"> <a href="#method_set">set</a> </li> <li class="index-item method"> <a href="#method_setFromAxisAngle">setFromAxisAngle</a> </li> <li class="index-item method"> <a href="#method_setFromEuler">setFromEuler</a> </li> <li class="index-item method"> <a href="#method_setFromVectors">setFromVectors</a> </li> <li class="index-item method"> <a href="#method_toArray">toArray</a> </li> <li class="index-item method"> <a href="#method_toAxisAngle">toAxisAngle</a> </li> <li class="index-item method"> <a href="#method_toEuler">toEuler</a> </li> <li class="index-item method"> <a href="#method_toString">toString</a> </li> <li class="index-item method"> <a href="#method_vmult">vmult</a> </li> </ul> </div> <div class="index-section properties"> <h3>Properties</h3> <ul class="index-list properties"> <li class="index-item property"> <a href="#property_w">w</a> </li> <li class="index-item property"> <a href="#property_x">x</a> </li> <li class="index-item property"> <a href="#property_y">y</a> </li> <li class="index-item property"> <a href="#property_z">z</a> </li> </ul> </div> </div> <div id="methods" class="api-class-tabpanel"> <h2 class="off-left">Methods</h2> <div id="method_conjugate" class="method item"> <h3 class="name"><code>conjugate</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>target</code> </li> </ul><span class="paren">)</span> </div> <span class="returns-inline"> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span> </span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l184"><code>src/math/Quaternion.js:184</code></a> </p> </div> <div class="description"> <p>Get the quaternion conjugate</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">target</code> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span> <div class="param-description"> </div> </li> </ul> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>: </div> </div> </div> <div id="method_copy" class="method item"> <h3 class="name"><code>copy</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>source</code> </li> </ul><span class="paren">)</span> </div> <span class="returns-inline"> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span> </span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l274"><code>src/math/Quaternion.js:274</code></a> </p> </div> <div class="description"> <p>Copies value of source to this quaternion.</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">source</code> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span> <div class="param-description"> </div> </li> </ul> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>: <p>this</p> </div> </div> </div> <div id="method_inverse" class="method item"> <h3 class="name"><code>inverse</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>target</code> </li> </ul><span class="paren">)</span> </div> <span class="returns-inline"> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span> </span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l164"><code>src/math/Quaternion.js:164</code></a> </p> </div> <div class="description"> <p>Get the inverse quaternion rotation.</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">target</code> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span> <div class="param-description"> </div> </li> </ul> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>: </div> </div> </div> <div id="method_mult" class="method item"> <h3 class="name"><code>mult</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>q</code> </li> <li class="arg"> <code>target</code> </li> </ul><span class="paren">)</span> </div> <span class="returns-inline"> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span> </span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l135"><code>src/math/Quaternion.js:135</code></a> </p> </div> <div class="description"> <p>Quaternion multiplication</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">q</code> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">target</code> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span> <div class="param-description"> <p>Optional.</p> </div> </li> </ul> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>: </div> </div> </div> <div id="method_normalize" class="method item"> <h3 class="name"><code>normalize</code></h3> <span class="paren">()</span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l201"><code>src/math/Quaternion.js:201</code></a> </p> </div> <div class="description"> <p>Normalize the quaternion. Note that this changes the values of the quaternion.</p> </div> </div> <div id="method_normalizeFast" class="method item"> <h3 class="name"><code>normalizeFast</code></h3> <span class="paren">()</span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l221"><code>src/math/Quaternion.js:221</code></a> </p> </div> <div class="description"> <p>Approximation of quaternion normalization. Works best when quat is already almost-normalized.</p> </div> </div> <div id="method_set" class="method item"> <h3 class="name"><code>set</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>x</code> </li> <li class="arg"> <code>y</code> </li> <li class="arg"> <code>z</code> </li> <li class="arg"> <code>w</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l38"><code>src/math/Quaternion.js:38</code></a> </p> </div> <div class="description"> <p>Set the value of the quaternion.</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">x</code> <span class="type">Number</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">y</code> <span class="type">Number</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">z</code> <span class="type">Number</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">w</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> </div> <div id="method_setFromAxisAngle" class="method item"> <h3 class="name"><code>setFromAxisAngle</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>axis</code> </li> <li class="arg"> <code>angle</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l71"><code>src/math/Quaternion.js:71</code></a> </p> </div> <div class="description"> <p>Set the quaternion components given an axis and an angle.</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">axis</code> <span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">angle</code> <span class="type">Number</span> <div class="param-description"> <p>in radians</p> </div> </li> </ul> </div> </div> <div id="method_setFromEuler" class="method item"> <h3 class="name"><code>setFromEuler</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>x</code> </li> <li class="arg"> <code>y</code> </li> <li class="arg"> <code>z</code> </li> <li class="arg"> <code>order</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l331"><code>src/math/Quaternion.js:331</code></a> </p> </div> <div class="description"> <p>See <a href="http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m">http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/content/SpinCalc.m</a></p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">x</code> <span class="type">Number</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">y</code> <span class="type">Number</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">z</code> <span class="type">Number</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">order</code> <span class="type">String</span> <div class="param-description"> <p>The order to apply angles: 'XYZ' or 'YXZ' or any other combination</p> </div> </li> </ul> </div> </div> <div id="method_setFromVectors" class="method item"> <h3 class="name"><code>setFromVectors</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>u</code> </li> <li class="arg"> <code>v</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l112"><code>src/math/Quaternion.js:112</code></a> </p> </div> <div class="description"> <p>Set the quaternion value given two vectors. The resulting rotation will be the needed rotation to rotate u to v.</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">u</code> <span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">v</code> <span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span> <div class="param-description"> </div> </li> </ul> </div> </div> <div id="method_toArray" class="method item"> <h3 class="name"><code>toArray</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type"></span> </span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l62"><code>src/math/Quaternion.js:62</code></a> </p> </div> <div class="description"> <p>Convert to an Array</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <p>Array</p> </div> </div> </div> <div id="method_toAxisAngle" class="method item"> <h3 class="name"><code>toAxisAngle</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>targetAxis</code> </li> </ul><span class="paren">)</span> </div> <span class="returns-inline"> <span class="type"></span> </span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l85"><code>src/math/Quaternion.js:85</code></a> </p> </div> <div class="description"> <p>Converts the quaternion to axis/angle representation.</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">targetAxis</code> <span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span> <div class="param-description"> <p>Optional. A vector object to reuse for storing the axis.</p> </div> </li> </ul> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <p>Array An array, first elemnt is the axis and the second is the angle in radians.</p> </div> </div> </div> <div id="method_toEuler" class="method item"> <h3 class="name"><code>toEuler</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>target</code> </li> <li class="arg"> <code>string</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l288"><code>src/math/Quaternion.js:288</code></a> </p> </div> <div class="description"> <p>Convert the quaternion to euler angle representation. Order: YZX, as this page describes: <a href="http://www.euclideanspace.com/maths/standards/index.htm">http://www.euclideanspace.com/maths/standards/index.htm</a></p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">target</code> <span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">string</code> <span class="type">Object</span> <div class="param-description"> <p>order Three-character string e.g. "YZX", which also is default.</p> </div> </li> </ul> </div> </div> <div id="method_toString" class="method item"> <h3 class="name"><code>toString</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type"></span> </span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l53"><code>src/math/Quaternion.js:53</code></a> </p> </div> <div class="description"> <p>Convert to a readable format</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <p>string</p> </div> </div> </div> <div id="method_vmult" class="method item"> <h3 class="name"><code>vmult</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>v</code> </li> <li class="arg"> <code>target</code> </li> </ul><span class="paren">)</span> </div> <span class="returns-inline"> <span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span> </span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l242"><code>src/math/Quaternion.js:242</code></a> </p> </div> <div class="description"> <p>Multiply the quaternion by a vector</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">v</code> <span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">target</code> <span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span> <div class="param-description"> <p>Optional</p> </div> </li> </ul> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>: </div> </div> </div> </div> <div id="properties" class="api-class-tabpanel"> <h2 class="off-left">Properties</h2> <div id="property_w" class="property item"> <h3 class="name"><code>w</code></h3> <span class="type">Number</span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l31"><code>src/math/Quaternion.js:31</code></a> </p> </div> <div class="description"> <p>The multiplier of the real quaternion basis vector.</p> </div> </div> <div id="property_x" class="property item"> <h3 class="name"><code>x</code></h3> <span class="type">Number</span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l16"><code>src/math/Quaternion.js:16</code></a> </p> </div> <div class="description"> </div> </div> <div id="property_y" class="property item"> <h3 class="name"><code>y</code></h3> <span class="type">Number</span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l21"><code>src/math/Quaternion.js:21</code></a> </p> </div> <div class="description"> </div> </div> <div id="property_z" class="property item"> <h3 class="name"><code>z</code></h3> <span class="type">Number</span> <div class="meta"> <p> Defined in <a href="../files/src_math_Quaternion.js.html#l26"><code>src/math/Quaternion.js:26</code></a> </p> </div> <div class="description"> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> <script src="../assets/vendor/prettify/prettify-min.js"></script> <script>prettyPrint();</script> <script src="../assets/js/yui-prettify.js"></script> <script src="../assets/../api.js"></script> <script src="../assets/js/api-filter.js"></script> <script src="../assets/js/api-list.js"></script> <script src="../assets/js/api-search.js"></script> <script src="../assets/js/apidocs.js"></script> </body> </html>