Scripting/SQuaternion

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The SQuaternion struct contains a simple 4D vector of X, Y, Z and W floats designed to represent rotations with orientation.

Fields

X

float X { get; set; }

X axis

local obj = Space.Host.ExecutingObject;

local originalRot = obj.LocalRotation;
obj.SubscribeToEvents();

local onStartMethod = function()
  Space.Log(originalRot.x);
  -- prints the X component of this object as a float

  originalRot.x = 0.25;
  -- assigns 0.25 value to the X component

  obj.LocalRotation = originalRot;
  -- sets the the new rotation
end

obj.OnStart(onStartMethod);

Y

float Y { get; set; }

Y axis

local obj = Space.Host.ExecutingObject;

local originalRot = obj.LocalRotation;
obj.SubscribeToEvents();

local onStartMethod = function()
  Space.Log(originalRot.y);
  -- prints the Y component of this object as a float

  originalRot.y = 0.25;
  -- assigns 0.25 value to the Y component

  obj.LocalRotation = originalRot;
  -- sets the the new rotation
end

obj.OnStart(onStartMethod);

Z

float Z { get; set; }

Z axis

local obj = Space.Host.ExecutingObject;

local originalRot = obj.LocalRotation;
obj.SubscribeToEvents();

local onStartMethod = function()
  Space.Log(originalRot.z);
  -- prints the Z component of this object as a float

  originalRot.z = 0.25;
  -- assigns 0.25 value to the Z component

  obj.LocalRotation = originalRot;
  -- sets the the new rotation
end

obj.OnStart(onStartMethod);

W

float W { get; set; }

W axis

local obj = Space.Host.ExecutingObject;

local originalRot = obj.LocalRotation;
obj.SubscribeToEvents();

local onStartMethod = function()
  Space.Log(originalRot.w);
  -- prints the W component of this object as a float

  originalRot.w = 0.25;
  -- assigns 0.25 value to the W component

  obj.LocalRotation = originalRot;
  -- sets the the new rotation
end

obj.OnStart(onStartMethod);

Constructors

__new

SQuaternion __new (float x, float y, float z, float w)

Initialises quaternion from four floats

local newQuat = Quaternion.New(0.0, 0.707, 0.0, 0.707);

-- creates a new quaternion with value [0.0, 0.707, 0.0, 0.707]

-- which is [0.0, 90.0, 0.0] Euler angles

__new

SQuaternion __new (float x, float y, float z)

Creates a quaternion from 3 Euler floats (i.e. 3x 0-360' angles)

local newQuat = Quaternion.Euler(0.0, 90.0, 0.0);

-- creates a new quaternion with value [0.0, 0.707, 0.0, 0.707]

-- which is [0.0, 90.0, 0.0] Euler angles

__new

SQuaternion __new (SVector axis, float angle)

Creates a quaternion from a Angle / Axis pair

local newVector = Vector.New(0.0, 90.0, 0.0);

local newQuat = Quaternion.AngleAxis(newVector, 90.0);

-- creates a new quaternion with value [0.0, 0.707, 0.0, 0.707]

__new

SQuaternion __new (SVector forward)

Creates a quaternion a forward vector; presuming up is (0,1,0)

local newQuat = Quaternion.LookRotation(Vector.Forward);

__new

SQuaternion __new (SVector forward, SVector up)

Creates a quaternion a forward and up vector pair

local newQuat = Quaternion.LookRotation(Vector.Forward, Vector.Up);

Members

Note: Add/Scale/Divide are also implemented as operators (e.g. A + B, A += B)

EulerAngles

SVector EulerAngles { get; }

Returns the Euler rotation for this Quaternion

local newQuat = Quaternion.New(0.0, 0.707, 0.0, 0.707);

local euler = newQuat.EulerAngles;
Space.Log(euler);

-- prints [0, 90, 0]

OVERLOAD

SVector OVERLOAD *(SQuaternion, SVector)

Rotates a vector by a quaternion

local newQuat = Quaternion.New(0.0, 1.0, 0.0, 0.0);

local newVector = Vector.Forward;
rotatedVector = newQuat * newVector;

Space.Log(rotatedVector);

-- prints [0, 0, -1]

OVERLOAD

SQuaternion OVERLOAD *(SQuaternion, SQuaternion)

Rotates a quaternion by a quaternion

local newQuat = Quaternion.New(0.0, 0.707, 0.0, 0.707);

local newVector = Vector.New(0.0, 0.0, 0.0);
rotatedVector = newQuat * newQuat;

-- rotatedVector is a quaternion with value [0.0, 1.0, 0.0, 0.0]

-- which is [0.0, 180.0, 0.0] Euler angles

Angle

float Angle (SQuaternion other);

Returns the angle between two quaternions

local newQuat = Quaternion.New(0.0, 0.707, 0.0, 0.707);

local otherQuat = Quaternion.New(0.0, 1.0, 0.0, 0.0);
angle = newQuat.Angle(otherQuat);

Space.Log(angle);

-- prints 90.0173034667969

Lerp

SQuaternion Lerp (SQuaternion other, float t);

Linearly interpolates between this and other quaternion, by factor t and returns the result

-- Lua Translation of Unity C# Documentation

-- Attach this script to a cube or any object.

local cube = Space.Host.ExecutingObject;
cube.SubscribeToEvents();

local fromQuat = cube.LocalRotation;
local toQuat = Quaternion.New(0.0, 0.707, 0.0, 0.707);
local speed = 0.1;

-- The cube will rotate 90 degrees from current rotation by speed amount.
local moveCube = function()
  cube.LocalRotation = fromQuat.Lerp(toQuat, Space.Time * speed);
end

cube.OnUpdate(moveCube);

Slerp

SQuaternion Slerp (SQuaternion other, float t);

Spherically interpolates between this and other quaternion, by factor t and returns the result

-- Lua Translation of Unity C# Documentation

-- Attach this script to a cube or any object.

local cube = Space.Host.ExecutingObject;
cube.SubscribeToEvents();

local fromQuat = cube.LocalRotation;
local toQuat = Quaternion.New(0.0, 1.0, 0.0, 0.0);
local speed = 0.1;

-- The cube will rotate 180 degrees from current rotation by speed amount.
local moveCube = function()
  cube.LocalRotation = fromQuat.Slerp(toQuat, Space.Time * speed);
end

cube.OnUpdate(moveCube);

RotateTowards

SQuaternion RotateTowards (SQuaternion other, float t);

Rotates this towards other, by no more than t degrees

-- Lua Translation of Unity C# Documentation

-- Attach this script to a cube or any object.

local cube = Space.Host.ExecutingObject;
cube.SubscribeToEvents();

local fromQuat = cube.LocalRotation;
local target = Quaternion.New(0.0, 0.707, 0.0, 0.707);
local speed = 10.0;

-- The cube will rotate 90 degrees from current rotation by step amount.
local moveCube = function()
  local step = speed * Space.Time;
  cube.LocalRotation = fromQuat.RotateTowards(target, step);
end

cube.OnUpdate(moveCube);

Dot

float Dot (SQuaternion other);

Returns the dot product of this and another quaternion

local quat = Quaternion.New(0.0, 0.707, 0.0, 0.707);

local quatOther = Quaternion.New(0.0, 0.0, 0.0, 1.0);
Space.Log(quat.Dot(quatOther));

-- prints 0.707000017166138

Inverse

SQuaternion Inverse { get; }

Returns the inverse of this quaternion

local quat = Quaternion.New(0.0, 0.707, 0.0, 0.707);

local inverseQuat = quat.Inverse;

-- inverseQuat is a quaternion with value [0.0, -0.707, 0.0, 0.707]

Static Members

Identity

SQuaternion Identity { get; }

Equivalent of new SQuaternion(0,0,0,1)

local identity = Quaternion.Identity;
-- identity is a quaternion with value [0, 0, 0, 1]