This class provides methods for creating quaternions from various sources, such as pitch, yaw, and roll angles, rotation matrices, and random values. Provides operator overloading for unary minus and multiplication with other quaternions and vectors. Example Usage:

Creating a quaternion from pitch, yaw, and roll: ---

val quaternion = Quaternion(pitch = 30f, yaw = 45f, roll = 60f) println(quaternion) // Outputs the quaternion representation

Multiplying two quaternions: ---

val q1 = Quaternion(1f, 0f, 0f, 0f) val q2 = Quaternion(0f, 1f, 0f, 0f) val result = q1 * q2 println(result) // Outputs the resulting quaternion

Converting a quaternion to Euler angles: ---

val eulerAngles = quaternion.toEuler() println(eulerAngles) // Outputs the Euler angles (pitch, yaw, roll)

Normalizing a quaternion: ---

val normalizedQuaternion = quaternion.normalize() println(normalizedQuaternion) // Outputs the normalized quaternion

Signature

open class Quaternion(var w: Float = 1.0f, var x: Float = 0.0f, var y: Float = 0.0f, var z: Float = 0.0f)

Constructors

Quaternion ( pitch , yaw , roll )	Constructor for creating a quaternion from pitch, yaw, and roll angles. Signature constructor(pitch: Float, yaw: Float, roll: Float) Parameters pitch: Float The pitch angle in degrees. yaw: Float The yaw angle in degrees. roll: Float The roll angle in degrees. Returns Quaternion
Quaternion ( w , x , y , z )	Signature constructor(w: Float = 1.0f, x: Float = 0.0f, y: Float = 0.0f, z: Float = 0.0f) Parameters w: Float w component of the quaternion. x: Float x component of the quaternion. y: Float y component of the quaternion. z: Float z component of the quaternion. Returns Quaternion

Properties

w : Float [Get][Set]	w component of the quaternion. Signature open var w: Float
x : Float [Get][Set]	x component of the quaternion. Signature open var x: Float
y : Float [Get][Set]	y component of the quaternion. Signature open var y: Float
z : Float [Get][Set]	z component of the quaternion. Signature open var z: Float

Functions

component1 ()	Signature operator fun component1(): Float Returns Float
component2 ()	Signature operator fun component2(): Float Returns Float
component3 ()	Signature operator fun component3(): Float Returns Float
component4 ()	Signature operator fun component4(): Float Returns Float
conjugate ()	Calculates the conjugate of the quaternion. Signature fun conjugate(): Quaternion Returns Quaternion The conjugate of the quaternion.
copy ()	Returns a copy of this Quaternion. Signature fun copy(): Quaternion Returns Quaternion A copy of this Quaternion.
dot ( other )	Calculates the dot product of two quaternions. Signature fun dot(other: Quaternion): Float Parameters other: Quaternion The other quaternion to calculate the dot product with. Returns Float The dot product of the two quaternions.
equals ( other )	Signature open operator override fun equals(other: Any?): Boolean Parameters other: Any? Returns Boolean
hashCode ()	Signature open override fun hashCode(): Int Returns Int
inverse ()	Calculates the inverse of the quaternion. Signature fun inverse(): Quaternion Returns Quaternion The inverse of the quaternion.
isWithinAngle ( other , angleRadians )	Checks if the angular distance between this quaternion and another quaternion is within a specified tolerance in radians. This method uses the industry-standard approach for comparing quaternion orientations: computing the angular distance between the two rotations using the dot product. It correctly handles the q vs -q equivalence (both represent the same rotation). Note: This assumes both quaternions are normalized. For best results, normalize quaternions before comparison. Signature fun isWithinAngle(other: Quaternion, angleRadians: Float): Boolean Parameters other: Quaternion The other quaternion to compare with. angleRadians: Float The maximum allowed angular difference in radians. Returns Boolean True if the angular distance between the two quaternions is less than or equal to angleRadians.
isWithinAngleDegrees ( other , angleDegrees )	Checks if the angular distance between this quaternion and another quaternion is within a specified tolerance in degrees. This method uses the industry-standard approach for comparing quaternion orientations: computing the angular distance between the two rotations using the dot product. It correctly handles the q vs -q equivalence (both represent the same rotation). Note: This assumes both quaternions are normalized. For best results, normalize quaternions before comparison. Signature fun isWithinAngleDegrees(other: Quaternion, angleDegrees: Float): Boolean Parameters other: Quaternion The other quaternion to compare with. angleDegrees: Float The maximum allowed angular difference in degrees. Returns Boolean True if the angular distance between the two quaternions is less than or equal to angleDegrees.
nlerp ( dest , ratio )	Performs normalized linear interpolation between the current quaternion and the destination quaternion. Signature fun nlerp(dest: Quaternion, ratio: Float): Quaternion Parameters dest: Quaternion The destination quaternion to interpolate towards. ratio: Float The interpolation ratio, where 0 means no interpolation (i.e., the current quaternion) and 1 means full interpolation (i.e., the destination quaternion). Returns Quaternion A new quaternion that is the result of interpolating between the current quaternion and the destination quaternion by the given ratio.
norm ()	Calculates the squared magnitude (length) of the quaternion. Signature fun norm(): Float Returns Float The squared magnitude of the quaternion.
normalize ()	Normalizes the quaternion to have a magnitude of 1. Signature fun normalize(): Quaternion Returns Quaternion The normalized quaternion.
removePitchAndRoll ()	Removes the pitch and roll components from the quaternion, leaving only the yaw component. Signature fun removePitchAndRoll(): Quaternion Returns Quaternion A new quaternion with the pitch and roll components removed.
slerp ( dest , ratio )	Performs spherical linear interpolation between the current quaternion and the destination quaternion. Signature fun slerp(dest: Quaternion, ratio: Float): Quaternion Parameters dest: Quaternion The destination quaternion to interpolate towards. ratio: Float The interpolation ratio, where 0 means no interpolation (i.e., the current quaternion) and 1 means full interpolation (i.e., the destination quaternion). Returns Quaternion A new quaternion that is the result of interpolating between the current quaternion and the destination quaternion by the given ratio.
times ( q )	Multiplies this quaternion with another quaternion. Signature inline operator fun times(q: Quaternion): Quaternion Parameters q: Quaternion The other quaternion to multiply with. Returns Quaternion The resulting quaternion.
times ( v )	Multiplies this quaternion with a vector. Signature inline operator fun times(v: Vector3): Vector3 Parameters v: Vector3 The vector to multiply with. Returns Vector3 The resulting vector.
toEuler ()	Converts the quaternion to Euler angles (pitch, yaw, roll). Signature fun toEuler(): Vector3 Returns Vector3 A 3D vector representing the Euler angles.
toRotationMatrix44 ()	Converts the quaternion to a 4x4 rotation matrix. Signature fun toRotationMatrix44(): Matrix44 Returns Matrix44 A 4x4 rotation matrix representing the quaternion.
toString ()	Signature open override fun toString(): String Returns String
toVector4 ()	Converts the quaternion to a 4D vector. Signature fun toVector4(): Vector4 Returns Vector4 A 4D vector representing the quaternion.
unaryMinus ()	Negates the quaternion. Signature inline operator fun unaryMinus(): Quaternion Returns Quaternion

Companion Object

Companion Object Functions

fromAxisAngle ( axis , angleDegrees )	Creates a quaternion representing a rotation around an axis by a specified angle. Signature fun fromAxisAngle(axis: Vector3, angleDegrees: Float): Quaternion Parameters axis: Vector3 The axis of rotation (will be normalized internally). angleDegrees: Float The angle of rotation in degrees. Returns Quaternion A quaternion representing the rotation.
fromAxisAngleRadians ( axis , angleRadians )	Creates a quaternion representing a rotation around an axis by a specified angle in radians. Signature fun fromAxisAngleRadians(axis: Vector3, angleRadians: Float): Quaternion Parameters axis: Vector3 The axis of rotation (will be normalized internally). angleRadians: Float The angle of rotation in radians. Returns Quaternion A quaternion representing the rotation.
fromDirection ( dirX , dirY , dirZ , upX , upY , upZ )	Creates a quaternion that rotates the +Z axis to point in the given direction. Uses a lookAt-style approach consistent with GLM's quatLookAtLH. The resulting quaternion, when applied to a vector pointing in the +Z direction, will rotate it to align with the specified direction. Signature fun fromDirection(dirX: Float, dirY: Float, dirZ: Float, upX: Float = 0.0f, upY: Float = 1.0f, upZ: Float = 0.0f): Quaternion Parameters dirX: Float The x component of the target direction. dirY: Float The y component of the target direction. dirZ: Float The z component of the target direction. upX: Float The x component of the up vector (default: 0). upY: Float The y component of the up vector (default: 1). upZ: Float The z component of the up vector (default: 0). Returns Quaternion A quaternion that rotates +Z to the given direction.
fromDirection ( direction , up )	Creates a quaternion that rotates the +Z axis to point in the given direction. Signature fun fromDirection(direction: Vector3, up: Vector3 = Vector3.Up): Quaternion Parameters direction: Vector3 The target direction vector. up: Vector3 The up vector (default: Vector3.Up). Returns Quaternion A quaternion that rotates +Z to the given direction.
fromEuler ( pitch , yaw , roll )	Creates a quaternion from Euler angles (pitch, yaw, roll). Signature fun fromEuler(pitch: Float, yaw: Float, roll: Float): Quaternion Parameters pitch: Float The pitch angle in degrees (rotation around X-axis). yaw: Float The yaw angle in degrees (rotation around Y-axis). roll: Float The roll angle in degrees (rotation around Z-axis). Returns Quaternion A quaternion representing the combined rotation.
fromEuler ( euler )	Creates a quaternion from a Vector3 containing Euler angles (pitch, yaw, roll). Signature fun fromEuler(euler: Vector3): Quaternion Parameters euler: Vector3 A Vector3 where x=pitch, y=yaw, z=roll (all in degrees). Returns Quaternion A quaternion representing the combined rotation.
fromRotationMatrix ( matrix )	Creates a quaternion from a rotation matrix. Signature fun fromRotationMatrix(matrix: Array<FloatArray>): Quaternion Parameters matrix: Array The rotation matrix to create the quaternion from. Returns Quaternion The resulting quaternion.
fromTwoVectors ( from , to )	Creates a quaternion that rotates one vector to another. Signature fun fromTwoVectors(from: Vector3, to: Vector3): Quaternion Parameters from: Vector3 The starting direction vector (will be normalized internally). to: Vector3 The target direction vector (will be normalized internally). Returns Quaternion A quaternion representing the rotation from 'from' to 'to'.
getRandomQuat ()	Formula using "Choosing a Point from the Surface of a Sphere" authored by George Marsaglia Generates uniform random quaternion. Signature fun getRandomQuat(): Quaternion Returns Quaternion A random quaternion.
lookRotation ( forward , lookUp )	Creates a quaternion that represents a rotation from the forward vector to the look-up vector. Signature fun lookRotation(forward: Vector3, lookUp: Vector3 = Vector3.Up): Quaternion Parameters forward: Vector3 The forward vector. lookUp: Vector3 The look-up vector. Defaults to Vector3.Up. Returns Quaternion A quaternion representing the rotation from the forward vector to the look-up vector.
lookRotationAroundY ( forward )	Creates a quaternion that represents a rotation around the Y-axis from the forward vector to the look-up vector. Signature fun lookRotationAroundY(forward: Vector3): Quaternion Parameters forward: Vector3 The forward vector. Returns Quaternion A quaternion representing the rotation around the Y-axis from the forward vector to the look-up vector.