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Wurst

Available Packages:

Quaternion

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quat IDENTITYQ

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quat ZEROQ

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function quat.assertEquals(quat expected)

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function quat.conj() returns quat

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Represents the same rotation in opposite direction.

function quat.cross(quat q) returns quat

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Represents the composition of two rotations.

function quat.dot(quat q) returns real

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function eulerToQuat(real yaw, real pitch, real roll) returns quat

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function quat.exp(real alpha) returns quat

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Quaternion to power of alpha.

function quat.getGimbalPole() returns int

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Gimbal lock detection. Returns 1 for north, -1 for south, 0 if no gimbal lock.

function quat.getX() returns vec3

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Extracts X-axis from a quaternion that represents rotation.

function quat.getY() returns vec3

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Extracts Y-axis as a vector from a quaternion that represents rotation.

function quat.getZ() returns vec3

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Extracts Z-axis as a vector from a quaternion that represents rotation.

function quat.length() returns real

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function quat.lerp(quat q, real p) returns quat

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Linear interpolation. q - targeted quaternion. p - progress from 0 to 1.

function quat.lerpLong(quat q, real p) returns quat

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Linear interpolation. Always chooses the LONGEST way between rotations. q - targeted quaternion. p - progress from 0 to 1.

function quat.lerpShort(quat q, real p) returns quat

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Linear interpolation. Always chooses the SHORTEST way between rotations. q - targeted quaternion. p - progress from 0 to 1.

function quat.nlerp(quat q, real p) returns quat

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Normalized linear interpolation. q - targeted quaternion. p - progress from 0 to 1.

function quat.nlerpLong(quat q, real p) returns quat

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Normalized linear interpolation. Always chooses the LONGEST way between rotations. q - targeted quaternion. p - progress from 0 to 1.

function quat.nlerpShort(quat q, real p) returns quat

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Normalized linear interpolation. Always chooses the SHORTEST way between rotations. q - targeted quaternion. p - progress from 0 to 1.

function quat.norm() returns quat

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Returns zero quaternion if lenght is zero.

function quat.op_minus(quat q) returns quat

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function quat.op_minus(real scalar) returns quat

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function quat.op_mult(real scalar) returns quat

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function real.op_mult(quat q) returns quat

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function quat.op_plus(quat q) returns quat

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function quat.op_plus(real scalar) returns quat

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function real.op_plus(quat q) returns quat

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function quat(real x, real y, real z, real w) returns quat

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function vec3.rotate(quat q) returns vec3

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Rotates a vector by a quaternion.

function quat.slerp(quat q, real p) returns quat

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Spherical linear interpolation. Interpolates between two rotations. q - targeted quaternion. p - progress from 0 to 1. Slerp is the least efficient approach in performance so try to avoid using it, unless you need constant angular velocity. Nlerp is better solution in most cases.

function quat.slerpLong(quat q, real p) returns quat

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Spherical linear interpolation. Interpolates between two rotations. Always chooses the LONGEST way between rotations. q - targeted quaternion. p - progress from 0 to 1. Slerp is the least efficient approach in performance so try to avoid using it, unless you need constant angular velocity. Nlerp is better solution in most cases.

function quat.slerpShort(quat q, real p) returns quat

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Spherical linear interpolation. Interpolates between two rotations. Always chooses the SHORTEST way between rotations. q - targeted quaternion. p - progress from 0 to 1. Slerp is the least efficient approach in performance so try to avoid using it, unless you need constant angular velocity. Nlerp is better solution in most cases.

function quat.toEuler() returns vec3

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Extracts Euler-angles (Tait-Bryan) in radians from a quaternion. Order of the result is Z-Y-X (Yaw-Pitch-Roll).

function quat.toMatrix() returns mat3

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function vec3.toQuat(angle angl) returns quat

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Creates a quaternion from rotation axis and angle.

function angle.toQuat(vec3 axis) returns quat

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Creates a quaternion from rotation axis and angle.

function mat3.toQuat() returns quat

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Extracts quaternion from a rotation matrix.

function quat.toString() returns string

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