Quaternion

Represents a rotation. Expected to be normalized.

Setting any component triggers an internal change callback (used to sync with Euler on Object3D).

Constructor

const q = new Quaternion(x, y, z, w) // defaults to (0, 0, 0, 1) (identity)

Properties

• x, y, z, w — Quaternion components
• isQuaternion — Type flag (true)

Static Methods

• Quaternion.slerpFlat(dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t) — SLERP on flat arrays
• Quaternion.multiplyQuaternionsFlat(dst, dstOffset, src0, srcOffset0, src1, srcOffset1) — Multiply on flat arrays

Methods

Setting

• set(x, y, z, w), copy(q), identity()
• setFromEuler(euler, update?) — From Euler angles
• setFromAxisAngle(axis, angle) — From axis + angle
• setFromRotationMatrix(m) — From 4x4 rotation matrix
• setFromUnitVectors(vFrom, vTo) — Rotation between two directions
• fromArray(array, offset?), fromBufferAttribute(attribute, index)

Arithmetic

• multiply(q) — Post-multiply
• premultiply(q) — Pre-multiply
• multiplyQuaternions(a, b) — Multiply two quaternions, store result

Operations

• dot(q) — Dot product
• length(), lengthSq() — Magnitude
• normalize() — Normalize to unit length
• invert() — Invert (via conjugate, assumes unit length)
• conjugate() — Negate x, y, z

Interpolation

• slerp(qb, t) — Spherical lerp toward qb
• slerpQuaternions(qa, qb, t) — Slerp between two quaternions
• rotateTowards(q, step) — Step toward target by angular amount
• angleTo(q) — Angle between quaternions in radians

Other

• random() — Uniformly random rotation
• equals(q), clone()
• toArray(array?, offset?), toJSON()