Libraries.Compute.Quaternion

Quaternion is a class representing a quaternion, which are useful for 3D computer graphics.

Example Code

use Libraries.Compute.Quaternion

Quaternion quaternion

quaternion:Set(1, 2, 3, 4)

number length = quaternion:Length()

output "The length of the quaternion is " + length

This action adds the passed values representing a quaternion to this quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)
    
    quaternion:Add(5, 6, 7, 8)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The sum is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action adds the passed quaternion to this quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion leftHandSide
    Quaternion rightHandSide

    leftHandSide:Set(1, 2, 3, 4)
    rightHandSide:Set(5, 6, 7, 8)
    
    leftHandSide:Add(rightHandSide)

    number x = leftHandSide:GetX()
    number y = leftHandSide:GetY()
    number z = leftHandSide:GetZ()
    number w = leftHandSide:GetW()

    output "The sum is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action compares two object hash codes and returns an integer. The result is larger if this hash code is larger than the object passed as a parameter, smaller, or equal. In this case, -1 means smaller, 0 means equal, and 1 means larger. This action was changed in Quorum 7 to return an integer, instead of a CompareResult object, because the previous implementation was causing efficiency issues.

Example Code

Object o
        Object t
        integer result = o:Compare(t) //1 (larger), 0 (equal), or -1 (smaller)

This action conjugates the quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    quaternion:Conjugate()

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()
    
    output "The quaternion is: [" + x + ", " + y + ", " + z + ", " + w + "]"

This action creates and returns a copy of the quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    quaternion:Set(1, 2, 3, 4)

    Quaternion copy
    
    copy = quaternion:Copy()

    number x = copy:GetX()
    number y = copy:GetY()
    number z = copy:GetZ()
    number w = copy:GetW()
    
    output "The quaternion is: [" + x + ", " + y + ", " + z + ", " + w + "]"

This action finds the dot product between this quaternion and the quaternion with the passed x, y, z, and w values.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number dotProduct = quaternion:DotProduct(5, 6, 7, 8)

    output "The dot product is " + dotProduct

This action finds the dot product between this quaternion and the passed quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    Quaternion other

    quaternion:Set(1, 2, 3, 4)
    other:Set(5, 6, 7, 8)

    number dotProduct = quaternion:DotProduct(other)

    output "The dot product is " + dotProduct

This action finds the dot product between the two quaternions with the passed x, y, z, and w values.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    number dotProduct = quaternion:DotProduct(1, 2, 3, 4, 5, 6, 7, 8)

    output "The dot product is " + dotProduct

This action determines if two objects are equal based on their hash code values.

Example Code

use Libraries.Language.Object
        use Libraries.Language.Types.Text
        Object o
        Text t
        boolean result = o:Equals(t)

This action raises the quaternion to the passed number.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    quaternion:Exponent(3)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action gets the angle in degrees of the rotation of the quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number degrees = quaternion:GetAngle()

    output "The angle in degrees is " + degrees

This action gets the angle in degrees of the rotation around the specified axis. The axis must be normalized.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Vector3

    Quaternion quaternion

    Vector3 axis
    axis:Set(5, 4, 3)
    axis:Normalize()

    quaternion:Set(1, 2, 3, 4)

    number rotation = quaternion:GetAngleAround(axis)

    output "The rotation around is " + rotation

This action gets the angle in degrees of the rotation around the specified axis. The axis must be normalized.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number rotation = quaternion:GetAngleAround(1, 0, 0)

    output "The rotation around is " + rotation

This action gets the angle in radians of the rotation around the specified axis. The axis must be normalized.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number rotation = quaternion:GetAngleAroundRadians(1, 0, 0)

    output "The rotation around is " + rotation

This action gets the angle in radians of the rotation around the specified axis. The axis must be normalized.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Vector3

    Quaternion quaternion

    Vector3 axis
    axis:Set(5, 4, 3)
    axis:Normalize()

    quaternion:Set(1, 2, 3, 4)

    number rotation = quaternion:GetAngleAroundRadians(axis)

    output "The rotation around is " + rotation

This action gets the angle in radians of the rotation of the quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number radians = quaternion:GetAngleRadians()

    output "The angle in radians is " + radians

This action gets the axis angle representation of the rotation in degrees of the quaternion. The passed axis will be given the axis of the rotation and the action will return the rotation angle in degrees. The passed vector is altered by this action. The existing values of the vector are ignored.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Vector3

    Quaternion quaternion
    Vector3 axis

    quaternion:Set(1, 2, 3, 4)

    number degrees = quaternion:GetAxisAngle(axis)

    number x = axis:GetX()
    number y = axis:GetY()
    number z = axis:GetZ()

    output "The rotation axis is [" + x + ", " + y + ", " + z + "]"
    output "The rotation angle is " + degrees + " degrees"

This action gets the axis angle representation of the rotation in radians of the quaternion. The passed axis will be given the axis of the rotation and the action will return the rotation angle in radians. The passed vector is altered by this action. The existing values of the vector are ignored.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Vector3

    Quaternion quaternion
    Vector3 axis

    quaternion:Set(1, 2, 3, 4)

    number radians = quaternion:GetAxisAngleRadians(axis)

    number x = axis:GetX()
    number y = axis:GetY()
    number z = axis:GetZ()

    output "The rotation axis is [" + x + ", " + y + ", " + z + "]"
    output "The rotation angle is " + radians + " radians"

This action gets the pole of the gimbal lock if there is one.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number pole = quaternion:GetGimbalPole()

    if pole = 1
        output "The gimbal pole is the north pole."
    elseif pole = -1
        output "The gimbal pole is the south pole."
    else
        output "There is no gimbal pole."
    end

This action gets the hash code for an object.

Example Code

Object o
        integer hash = o:GetHashCode()

This action gets the pitch euler angle in degrees, which is the rotation around the x-axis. The quaternion must be normalized before calling this action.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    quaternion:Normalize()

    number pitch = quaternion:GetPitch()

    output "The pitch in degrees is " + pitch

This action gets the pitch euler angle in radians, which is the rotation around the x-axis. The quaternion must be normalized before calling this action.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    quaternion:Normalize()

    number pitch = quaternion:GetPitchRadians()

    output "The pitch in radians is " + pitch

This action gets the roll euler angle in degrees, which is the rotation around the z-axis. The quaternion must be normalized before calling this action.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    quaternion:Normalize()

    number roll = quaternion:GetRoll()

    output "The roll in degrees is " + roll

This action gets the roll euler angle in radians, which is the rotation around the z-axis. The quaternion must be normalized before calling this action.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    quaternion:Normalize()

    number roll = quaternion:GetRollRadians()

    output "The roll in radians is " + roll

This action gets the swing rotation and the twist rotation for the specified axis. The twist rotation is the rotation around the specified axis. The swing rotation is the rotation of the specified axis itself, which is the rotation around an axis perpendicular to that axis. The passed axis should be normalized.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Vector3

    Quaternion quaternion
    Quaternion swing
    Quaternion twist

    Vector3 axis
    axis:Set(4, 7, 3)
    axis:Normalize()

    quaternion:Set(1, 2, 3, 4)

    quaternion:GetSwingTwist(axis, swing, twist)

    number swingX = swing:GetX()
    number swingY = swing:GetY()
    number swingZ = swing:GetZ()
    number swingW = swing:GetW()

    number twistX = twist:GetX()
    number twistY = twist:GetY()
    number twistZ = twist:GetZ()
    number twistW = twist:GetW()

    output "The swing is [" + swingX + ", " + swingY + ", " + swingZ + ", " + swingW + "]"
    output "The twist is [" + twistX + ", " + twistY + ", " + twistZ + ", " + twistW + "]"

This action gets the swing rotation and the twist rotation for the specified axis. The twist rotation is the rotation around the specified axis. The swing rotation is the rotation of the specified axis itself, which is the rotation around an axis perpendicular to that axis. The passed axis should be normalized.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    Quaternion swing
    Quaternion twist

    quaternion:Set(1, 2, 3, 4)

    quaternion:GetSwingTwist(0, 0, 1, swing, twist)

    number swingX = swing:GetX()
    number swingY = swing:GetY()
    number swingZ = swing:GetZ()
    number swingW = swing:GetW()

    number twistX = twist:GetX()
    number twistY = twist:GetY()
    number twistZ = twist:GetZ()
    number twistW = twist:GetW()

    output "The swing is [" + swingX + ", " + swingY + ", " + swingZ + ", " + swingW + "]"
    output "The twist is [" + twistX + ", " + twistY + ", " + twistZ + ", " + twistW + "]"

This action gets the w value of the quaternion

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number w = quaternion:GetW()

    output "The w value of the quaternion is " + w

This action gets the x value of the quaternion

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number x = quaternion:GetX()

    output "The x value of the quaternion is " + x

This action gets the y value of the quaternion

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number y = quaternion:GetY()

    output "The y value of the quaternion is " + y

This action gets the yaw euler angle in degrees, which is the rotation around the y-axis. The quaternion must be normalized before calling this action.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    quaternion:Normalize()

    number yaw = quaternion:GetYaw()

    output "The yaw in degrees is " + yaw

This action gets the yaw euler angle in radians, which is the rotation around the y-axis. The quaternion must be normalized before calling this action.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    quaternion:Normalize()

    number yaw = quaternion:GetYawRadians()

    output "The yaw in radians is " + yaw

This action gets the z value of the quaternion

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number z = quaternion:GetZ()

    output "The z value of the quaternion is " + z

This action determines whether the quaternion is the identity quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    if quaternion:IsIdentity()
        output "The quaternion is the identity quaternion"
    else
        output "The quaternion is not the identity quaternion"
    end

This action determines whether the quaternion is the identity quaternion to within the passed tolerance.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    if quaternion:IsIdentity(0.001)
        output "The quaternion is the identity quaternion"
    else
        output "The quaternion is not the identity quaternion"
    end

This action returns the length of the quaternion with the passed x, y, z, and w values.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    number length = quaternion:Length(1, 2, 3, 4)
    
    output "The length of the quaternion is " + length

This action returns the length of the quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number length = quaternion:Length()
    
    output "The length of the quaternion is " + length

This action returns the square of the length of the quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    quaternion:Set(1, 2, 3, 4)
    
    number lengthSquared = quaternion:LengthSquared()

    output "The length squared is " + lengthSquared

This action returns the square of the length of the quaternion with the passed x, y, z, and w values.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    
    number lengthSquared = quaternion:LengthSquared(1, 2, 3, 4)

    output "The length squared is " + lengthSquared

only accepts normalized v0 and

changes the current quaterni

This action multiplies the quaternion by the passed scalar value

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    
    quaternion:Set(1, 2, 3, 4)

    quaternion:Multiply(2)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action multiplies the quaternion by the passed values representing a quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)
    
    quaternion:Multiply(5, 6, 7, 8)
    
    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The product is: [" + x + ", " + y + ", " + z + ", " + w + "]"

This action multiplies the quaternion by the passed quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion multiplicand
    Quaternion multiplier

    multiplicand:Set(1, 2, 3, 4)
    multiplier:Set(5, 6, 7, 8)
    
    multiplicand:Multiply(multiplier)

    number x = multiplicand:GetX()
    number y = multiplicand:GetY()
    number z = multiplicand:GetZ()
    number w = multiplicand:GetW()
    
    output "The product is: [" + x + ", " + y + ", " + z + ", " + w + "]"

This action normalizes the quaternion so that its length is between 0 and 1.

Example Code

use Libraries.Compute.Quaternion
    
    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    quaternion:Normalize()

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()
    
    output "The new quaternion is: [" + x + ", " + y + ", " + z + ", " + w + "]"

use an arbituary vect

This action sets the quaternion's values to the passed values.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:Set(1, 2, 3, 4)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()
    
    output "The quaternion is: [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion from the given axis and the angle around the axis.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Vector3

    Quaternion quaternion

    Vector3 axis
    axis:Set(1, 0, 0)

    quaternion:Set(axis, 45)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()
    
    output "The quaternion is: [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion using the x, y, z, and w values from the passed quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    Quaternion setQuaternion

    setQuaternion:Set(1, 2, 3, 4)

    quaternion:Set(setQuaternion)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()
    
    output "The quaternion is: [" + x + ", " + y + ", " + z + ", " + w + "]"

only accepts normalized v0 and

This action sets the quaternion to the given euler angles in degrees

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion

    quaternion:SetEulerAngles(45, 30, 60)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()
    
    output "The quaternion is: [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion to the given euler angles in radians

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Math

    Math math

    Quaternion quaternion

    quaternion:SetEulerAnglesRadians(math:pi / 4, math:pi / 6, math:pi / 3)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()
    
    output "The quaternion is: [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion from the given x, y, and z axes which all have to be orthogonal.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    
    quaternion:SetFromAxes(true, 4, 0, 5, 0, 4, 5, 0, 0, 4)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion from the given x, y, and z axes which all have to be orthogonal.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    
    quaternion:SetFromAxes(0.625, 0, 0.781, 0, 0.625, 0.781, 0, 0, 1)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion from the given axis and angle around that axis.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    
    quaternion:SetFromAxis(1, 0, 0, 45)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion from the given axis and angle around that axis.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Vector3

    Quaternion quaternion

    Vector3 axis
    axis:Set(1, 0, 0)
    
    quaternion:SetFromAxis(axis, 45)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion from the given axis and angle around that axis.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Math
    
    Math math

    Quaternion quaternion
    
    quaternion:SetFromAxisRadians(1, 0, 0, math:pi / 4)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion from the given axis and angle around that axis.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Vector3
    use Libraries.Compute.Math

    Math math

    Quaternion quaternion

    Vector3 axis
    axis:Set(1, 0, 0)
    
    quaternion:SetFromAxisRadians(axis, math:pi / 4)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion to be the rotation between the two passed vectors

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Vector3

    Quaternion quaternion

    Vector3 first
    Vector3 second

    first:Set(2, 3, 4)
    second:Set(4, 3, 6)
    
    quaternion:SetFromCross(first, second)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion to be the rotation between the two passed vectors

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    
    quaternion:SetFromCross(2, 3, 4, 4, 3, 6)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion using the passed matrix.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Matrix3
    
    Quaternion quaternion

    Matrix3 matrix
    matrix:Set(4, 0, 5, 0, 4, 5, 0, 0, 4)

    quaternion:SetFromMatrix(matrix)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion using the passed matrix.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Matrix4
    
    Quaternion quaternion

    Matrix4 matrix
    matrix:Set(4, 0, 5, 0, 0, 4, 5, 0, 0, 0, 4, 0, 0, 0, 0, 4)

    quaternion:SetFromMatrix(matrix)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion using the passed matrix.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Matrix3
    
    Quaternion quaternion

    Matrix3 matrix
    matrix:Set(4, 0, 5, 0, 4, 5, 0, 0, 4)

    quaternion:SetFromMatrix(true, matrix)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion using the passed matrix.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Matrix4
    
    Quaternion quaternion

    Matrix4 matrix
    matrix:Set(4, 0, 5, 0, 0, 4, 5, 0, 0, 0, 4, 0, 0, 0, 0, 4)

    quaternion:SetFromMatrix(true, matrix)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action sets the quaternion to the identity quaternion.

Example Code

use Libraries.Compute.Quaternion

    Quaternion quaternion
    
    quaternion:SetToIdentity()

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The identity quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action performs a spherical linear interpolation on multiple quaternions and stores the result in the calling quaternion.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Containers.Array

    Array<Quaternion> quaternions
    Array<number> weights

    Quaternion quaternion1
    quaternion1:Set(1, 2, 3, 4)

    Quaternion quaternion2
    quaternion2:Set(5, 6, 7, 8)

    Quaternion quaternion3
    quaternion3:Set(9, 10, 11, 12)

    Quaternion quaternion4
    quaternion4:Set(13, 14, 15, 16)

    quaternions:Add(quaternion2)
    quaternions:Add(quaternion3)
    quaternions:Add(quaternion4)

    weights:Add(0.5)
    weights:Add(0.5)
    weights:Add(0.5)

    quaternion1:SphericalLinearInterpolation(quaternions, weights)

    number x = quaternion1:GetX()
    number y = quaternion1:GetY()
    number z = quaternion1:GetZ()
    number w = quaternion1:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action performs a spherical linear interpolation between this quaternion and the passed quaternion by the passed alpha value.

Example Code

use Libraries.Compute.Quaternion
    
    Quaternion quaternion
    Quaternion endQuaternion

    quaternion:Set(1, 2, 3, 4)
    endQuaternion:Set(5, 4, 6, 2)

    quaternion:SphericalLinearInterpolation(endQuaternion, 0.5)

    number x = quaternion:GetX()
    number y = quaternion:GetY()
    number z = quaternion:GetZ()
    number w = quaternion:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action performs a spherical linear interpolation on multiple quaternions and stores the result in the calling quaternion.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Containers.Array

    Array<Quaternion> quaternions

    Quaternion quaternion1
    quaternion1:Set(1, 2, 3, 4)

    Quaternion quaternion2
    quaternion2:Set(5, 6, 7, 8)

    Quaternion quaternion3
    quaternion3:Set(9, 10, 11, 12)

    Quaternion quaternion4
    quaternion4:Set(13, 14, 15, 16)

    quaternions:Add(quaternion2)
    quaternions:Add(quaternion3)
    quaternions:Add(quaternion4)

    quaternion1:SphericalLinearInterpolation(quaternions)

    number x = quaternion1:GetX()
    number y = quaternion1:GetY()
    number z = quaternion1:GetZ()
    number w = quaternion1:GetW()

    output "The quaternion is [" + x + ", " + y + ", " + z + ", " + w + "]"

This action builds a 4x4 matrix (a Matrix4 object) with the rotation matrix represented by this quaternion.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Matrix4

    Quaternion quaternion
    Matrix4 matrix

    quaternion:Set(1, 2, 3, 4)

    matrix = quaternion:ToMatrix()

    number row0column0 = matrix:row0column0
    number row0column1 = matrix:row0column1
    number row0column2 = matrix:row0column2
    number row0column3 = matrix:row0column3
    number row1column0 = matrix:row1column0
    number row1column1 = matrix:row1column1
    number row1column2 = matrix:row1column2
    number row1column3 = matrix:row1column3
    number row2column0 = matrix:row2column0
    number row2column1 = matrix:row2column1
    number row2column2 = matrix:row2column2
    number row2column3 = matrix:row2column3
    number row3column0 = matrix:row3column0
    number row3column1 = matrix:row3column1
    number row3column2 = matrix:row3column2
    number row3column3 = matrix:row3column3

    output "The matrix is:"
    output "|" + row0column0 + ", " + row0column1 + ", " + row0column2 + ", " + row0column3 + "|"
    output "|" + row1column0 + ", " + row1column1 + ", " + row1column2 + ", " + row1column3 + "|"
    output "|" + row2column0 + ", " + row2column1 + ", " + row2column2 + ", " + row2column3 + "|"
    output "|" + row3column0 + ", " + row3column1 + ", " + row3column2 + ", " + row3column3 + "|"

This action transforms the passed vector using the quaternion.

Example Code

use Libraries.Compute.Quaternion
    use Libraries.Compute.Vector3

    Quaternion quaternion
    Vector3 vector

    quaternion:Set(1, 2, 3, 4)
    vector:Set(3, 4, 7)

    quaternion:Transform(vector)

    number x = vector:GetX()
    number y = vector:GetY()
    number z = vector:GetZ()

    output "The transformed vector is [" + x + ", " + y + ", " + z + "]"