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提交 5030e6e1 编写于 作者: M Mr.doob
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Docs: Quaternion.

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docs/api/core/Matrix4.html
浏览文件 @ 5030e6e1
......@@ -303,7 +303,7 @@ Clones this matrix.
</div>
<h2>Static Methods</h2>
<h2>Static methods</h2>
<h3>.makeInvert3x3( [page:Matrix4 m] ) [page:Matrix3]</h3>
<div>
......
docs/api/core/Quaternion.html
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......@@ -3,27 +3,103 @@
<div class="desc">Implementation of a quaternion</div>
<h2>Example</h2>
<code>var q = new THREE.Quaternion();
q.setFromAxisAngle( new THREE.Vector3( 0, 1, 0 ), Math.PI / 2 );
var v = new THREE.Vector3( 1, 0, 0 );
q.multiplyVector3( v );
</code>
<h2>Constructor</h2>
<h3>[name]( [page:Number x], [page:Number y], [page:Number z], [page:Number w] )</h3>
<h3>[name]( [page:Float x], [page:Float y], [page:Float z], [page:Float w] )</h3>
<div>
x - x coordinate<br />
y - y coordinate<br />
z - z coordinate<br />
w - w coordinate
</div>
<h2>Properties</h2>
<h3>.[page:Number x]</h3>
<h3>.[page:Float x]</h3>
<h3>.[page:Number y]</h3>
<h3>.[page:Float y]</h3>
<h3>.[page:Number z]</h3>
<h3>.[page:Float z]</h3>
<h3>.[page:Number w]</h3>
<h3>.[page:Float w]</h3>
<h2>Methods</h2>
<h3>.copy( q ) [page:Quaternion]</h3>
<h3>.set( [page:Float x], [page:Float y], [page:Float z], [page:Float w] ) [page:Quaternion]</h3>
<div>
Sets values of this quaternion.
</div>
<h3>.copy( [page:Quaternion q] ) [page:Quaternion]</h3>
<div>
Copies values of *q* to this quaternion.
</div>
<h3>.setFromEuler( [page:Vector3 vector] ) [page:Quaternion]</h3>
<div>
Sets this quaternion from rotation specified by Euler angles.
</div>
<h3>.setFromAxisAngle( [page:Vector3 axis], [page:Float angle] ) [page:Quaternion]</h3>
<div>
Sets this quaternion from rotation specified by axis and angle.<br />
Adapted from [link:http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm].<br />
*Axis* have to be normalized, *angle* is in radians.
</div>
<h3>.setFromRotationMatrix( [page:Matrix4 m] ) [page:Quaternion]</h3>
<div>
Sets this quaternion from rotation component of *m*.
Adapted from [link:http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm].
</div>
<h3>.calculateW() [page:Quaternion]</h3>
<div>
Calculates *w* component of this quaternion.
</div>
<h3>.inverse() [page:Quaternion]</h3>
<div>
Inverts this quaternion.
</div>
<h3>.length() [page:Float]</h3>
<div>
Computes length of this quaternion.
</div>
<h3>.normalize() [page:Quaternion]</h3>
<div>
Normalizes this quaternion.
</div>
<h3>.multiply( [page:Quaternion a], [page:Quaternion b] ) [page:Quaternion]</h3>
<div>
Copies value of *q* to this quaternion.
Sets this quaternion to *a x b*<br />
Adapted from [link:http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm].
</div>
<h3>.multiplySelf( [page:Quaternion b] ) [page:Quaternion]</h3>
<div>
Multiplies this quaternion by *b*.
</div>
<h3>.multiplyVector3( [page:Vector3 vector], [page:Vector3 dest] ) [page:Quaternion]</h3>
<div>
Rotates *vector* by this quaternion into *dest*.<br />
If *dest* is not specified, result goes to *vec*.
</div>
<h3>.clone() [page:Quaternion]</h3>
......@@ -32,6 +108,14 @@ Clones this quaternion.
</div>
<h2>Static methods</h2>
<h3>.slerp( [page:Quaternion qa], [page:Quaternion qb], [page:Quaternion qm], [page:Float t] ) [page:Quaternion]</h3>
<div>
Adapted from [link:http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/].
</div>
<h2>Source</h2>
[link:https://github.com/mrdoob/three.js/blob/master/src/[path].js src/[path].js]
\ No newline at end of file
docs/api/core/Quaternion.rst 已删除 100644 → 0
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Quaternion - Implementation of a quaternion
-------------------------------------------
.. ...............................................................................
.. rubric:: Constructor
.. ...............................................................................
.. class:: Quaternion( x, y, z, w )
Implementation of a quaternion
:param float x: x-coordinate
:param float y: y-coordinate
:param float z: z-coordinate
:param float w: w-coordinate
.. ...............................................................................
.. rubric:: Attributes
.. ...............................................................................
.. attribute:: Quaternion.x
float - default ``0``
.. attribute:: Quaternion.y
float - default ``0``
.. attribute:: Quaternion.z
float - default ``0``
.. attribute:: Quaternion.w
float - default ``1``
.. ...............................................................................
.. rubric:: Methods
.. ...............................................................................
.. function:: Quaternion.clone( )
Clones this quaternion
:returns: New instance identical to this quaternion
:rtype: :class:`Quaternion`
.. function:: Quaternion.set( x, y, z, w )
Sets value of this vector
:param float x: x-coordinate
:param float y: y-coordinate
:param float z: z-coordinate
:param float w: w-coordinate
:returns: This quaternion
:rtype: :class:`Quaternion`
.. function:: Quaternion.copy( q )
Copies value of ``q`` to this quaternion
:param Quaternion v: source quaternion
:returns: This quaternion
:rtype: :class:`Quaternion`
.. function:: Quaternion.setFromEuler ( vec3 )
Sets this quaternion from rotation specified by Euler angles
Angles are in degrees
:param Vector3 vec3: Euler angles vector
:returns: This quaternion
:rtype: :class:`Quaternion`
.. function:: Quaternion.setFromAxisAngle ( axis, angle )
Sets this quaternion from rotation specified by axis and angle
Adapted from: http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm
Axis have to be normalized, angle is in radians
:param Vector3 axis: axis vector
:param float angle: angle
:returns: This quaternion
:rtype: :class:`Quaternion`
.. function:: Quaternion.setFromRotationMatrix ( m )
Sets this quaternion from rotation specified by matrix
Adapted from: http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
:param Matrix4 m: rotation matrix
:returns: This quaternion
:rtype: :class:`Quaternion`
.. function:: Quaternion.calculateW( )
Calculates ``w`` component of this quaternion
:returns: This quaternion
:rtype: :class:`Quaternion`
.. function:: Quaternion.inverse( )
Inverts this quaternion
:returns: This quaternion
:rtype: :class:`Quaternion`
.. function:: Quaternion.length( )
Computes length of this quaternion
:returns: length
:rtype: float
.. function:: Quaternion.normalize( )
Normalizes this quaternion
:returns: This vector
:rtype: :class:`Quaternion`
.. function:: Quaternion.multiplySelf( quat2 )
Multiplies this quaternion by ``quat2``
:param Quaternion quat2: quaternion
:returns: This quaternion
:rtype: :class:`Quaternion`
.. function:: Quaternion.multiply( q1, q2 )
Sets this quaternion to ``q1 * q2``
Adapted from: http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
:param Quaternion q1: quaternion 1
:param Quaternion q2: quaternion 2
:returns: This quaternion
:rtype: :class:`Quaternion`
.. function:: Quaternion.multiplyVector3( vec, dest )
Rotates ``vec`` by this quaternion into ``dest``
If ``dest`` is not specified, result goes to ``vec``
:param Vector3 vec: source vector
:param Vector3 dest: destination vector
:returns: Rotated vector
:rtype: :class:`Vector3`
.. ...............................................................................
.. rubric:: Example
.. ...............................................................................
::
var q = new THREE.Quaternion();
q.setFromAxisAngle( new THREE.Vector3( 0, 1, 0 ), Math.PI / 2 );
var v = new THREE.Vector3( 1, 0, 0 );
q.multiplyVector3( v );
src/core/Quaternion.js
浏览文件 @ 5030e6e1
......@@ -38,18 +38,12 @@ THREE.Quaternion.prototype = {
},
clone: function () {
return new THREE.Quaternion( this.x, this.y, this.z, this.w );
},
setFromEuler: function ( vec3 ) {
setFromEuler: function ( vector ) {
var c = Math.PI / 360, // 0.5 * Math.PI / 360, // 0.5 is an optimization
x = vec3.x * c,
y = vec3.y * c,
z = vec3.z * c,
x = vector.x * c,
y = vector.y * c,
z = vector.z * c,
c1 = Math.cos( y ),
s1 = Math.sin( y ),
......@@ -161,41 +155,41 @@ THREE.Quaternion.prototype = {
},
multiplySelf: function ( quat2 ) {
multiply: function ( a, b ) {
var qax = this.x, qay = this.y, qaz = this.z, qaw = this.w,
qbx = quat2.x, qby = quat2.y, qbz = quat2.z, qbw = quat2.w;
// from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
this.x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
this.y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
this.z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
this.w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
this.x = a.x * b.w + a.y * b.z - a.z * b.y + a.w * b.x;
this.y = -a.x * b.z + a.y * b.w + a.z * b.x + a.w * b.y;
this.z = a.x * b.y - a.y * b.x + a.z * b.w + a.w * b.z;
this.w = -a.x * b.x - a.y * b.y - a.z * b.z + a.w * b.w;
return this;
},
multiply: function ( q1, q2 ) {
multiplySelf: function ( b ) {
// from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
var qax = this.x, qay = this.y, qaz = this.z, qaw = this.w,
qbx = b.x, qby = b.y, qbz = b.z, qbw = b.w;
this.x = q1.x * q2.w + q1.y * q2.z - q1.z * q2.y + q1.w * q2.x;
this.y = -q1.x * q2.z + q1.y * q2.w + q1.z * q2.x + q1.w * q2.y;
this.z = q1.x * q2.y - q1.y * q2.x + q1.z * q2.w + q1.w * q2.z;
this.w = -q1.x * q2.x - q1.y * q2.y - q1.z * q2.z + q1.w * q2.w;
this.x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
this.y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
this.z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
this.w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
return this;
},
multiplyVector3: function ( vec, dest ) {
multiplyVector3: function ( vector, dest ) {
if ( !dest ) { dest = vec; }
if ( !dest ) { dest = vector; }
var x = vec.x, y = vec.y, z = vec.z,
var x = vector.x, y = vector.y, z = vector.z,
qx = this.x, qy = this.y, qz = this.z, qw = this.w;
// calculate quat * vec
// calculate quat * vector
var ix = qw * x + qy * z - qz * y,
iy = qw * y + qz * x - qx * z,
......@@ -210,6 +204,12 @@ THREE.Quaternion.prototype = {
return dest;
},
clone: function () {
return new THREE.Quaternion( this.x, this.y, this.z, this.w );
}
}
......
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