7345 lines
76 KiB
HTML
7345 lines
76 KiB
HTML
<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta charset="utf-8">
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<title>JSDoc: Module: quat2</title>
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<script src="scripts/prettify/prettify.js"> </script>
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<script src="scripts/prettify/lang-css.js"> </script>
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<!--[if lt IE 9]>
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<script src="//html5shiv.googlecode.com/svn/trunk/html5.js"></script>
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<![endif]-->
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<link type="text/css" rel="stylesheet" href="styles/prettify-tomorrow.css">
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<link type="text/css" rel="stylesheet" href="styles/jsdoc-default.css">
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</head>
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<body>
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<div id="main">
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<h1 class="page-title">Module: quat2</h1>
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<section>
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<header>
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</header>
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<article>
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<div class="container-overview">
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<div class="description">Dual Quaternion<br>
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Format: [real, dual]<br>
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Quaternion format: XYZW<br>
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Make sure to have normalized dual quaternions, otherwise the functions may not work as intended.<br></div>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
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<dd class="tag-source"><ul class="dummy"><li>
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<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line5">line 5</a>
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</li></ul></dd>
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</dl>
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</div>
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<h3 class="subsection-title">Members</h3>
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<h4 class="name" id=".getReal"><span class="type-signature">(static, constant) </span>getReal<span class="type-signature"></span></h4>
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<div class="description">
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Gets the real part of a dual quat
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</div>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
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<dd class="tag-source"><ul class="dummy"><li>
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<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line268">line 268</a>
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</li></ul></dd>
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</dl>
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<h3 class="subsection-title">Methods</h3>
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<h4 class="name" id=".add"><span class="type-signature">(static) </span>add<span class="signature">(out, a, b)</span><span class="type-signature"> → {quat2}</span></h4>
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<div class="description">
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Adds two dual quat's
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</div>
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<h5>Parameters:</h5>
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<table class="params">
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<thead>
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<tr>
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<th>Name</th>
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<th>Type</th>
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<th class="last">Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td class="name"><code>out</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the receiving dual quaternion</td>
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</tr>
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<tr>
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<td class="name"><code>a</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the first operand</td>
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</tr>
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<tr>
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<td class="name"><code>b</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the second operand</td>
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</tr>
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</tbody>
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</table>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
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<dd class="tag-source"><ul class="dummy"><li>
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<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line580">line 580</a>
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</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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<div class="param-desc">
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out
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</div>
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<dl>
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<dt>
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Type
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<dd>
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<span class="param-type">quat2</span>
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</dd>
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</dl>
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<h4 class="name" id=".clone"><span class="type-signature">(static) </span>clone<span class="signature">(a)</span><span class="type-signature"> → {quat2}</span></h4>
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<div class="description">
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Creates a new quat initialized with values from an existing quaternion
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</div>
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<h5>Parameters:</h5>
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<table class="params">
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<thead>
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<tr>
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<th>Name</th>
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<th>Type</th>
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<th class="last">Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td class="name"><code>a</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">dual quaternion to clone</td>
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</tr>
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</tbody>
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</table>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
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<dd class="tag-source"><ul class="dummy"><li>
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<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line41">line 41</a>
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</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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<div class="param-desc">
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new dual quaternion
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</div>
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<dl>
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<dt>
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Type
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<dd>
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<span class="param-type">quat2</span>
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</dd>
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</dl>
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<h4 class="name" id=".conjugate"><span class="type-signature">(static) </span>conjugate<span class="signature">(out, a)</span><span class="type-signature"> → {quat2}</span></h4>
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<div class="description">
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Calculates the conjugate of a dual quat
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If the dual quaternion is normalized, this function is faster than quat2.inverse and produces the same result.
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</div>
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<h5>Parameters:</h5>
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<table class="params">
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<thead>
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<tr>
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<th>Name</th>
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<th>Type</th>
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<th class="last">Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td class="name"><code>out</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the receiving quaternion</td>
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</tr>
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<tr>
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<td class="name"><code>a</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">quat to calculate conjugate of</td>
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</tr>
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</tbody>
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</table>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
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<dd class="tag-source"><ul class="dummy"><li>
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<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line719">line 719</a>
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</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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<div class="param-desc">
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out
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</div>
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<dl>
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<dt>
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Type
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</dt>
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<dd>
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<span class="param-type">quat2</span>
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</dd>
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</dl>
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<h4 class="name" id=".copy"><span class="type-signature">(static) </span>copy<span class="signature">(out, a)</span><span class="type-signature"> → {quat2}</span></h4>
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<div class="description">
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Copy the values from one dual quat to another
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</div>
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<h5>Parameters:</h5>
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<table class="params">
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<thead>
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<tr>
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<th>Name</th>
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<th>Type</th>
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<th class="last">Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td class="name"><code>out</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the receiving dual quaternion</td>
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</tr>
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<tr>
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<td class="name"><code>a</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the source dual quaternion</td>
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</tr>
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</tbody>
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</table>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
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<dd class="tag-source"><ul class="dummy"><li>
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<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line204">line 204</a>
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</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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<div class="param-desc">
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out
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</div>
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<dl>
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<dt>
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Type
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</dt>
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<dd>
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<span class="param-type">quat2</span>
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</dd>
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</dl>
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|
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<h4 class="name" id=".create"><span class="type-signature">(static) </span>create<span class="signature">()</span><span class="type-signature"> → {quat2}</span></h4>
|
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|
|
<div class="description">
|
|
Creates a new identity dual quat
|
|
</div>
|
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<dl class="details">
|
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<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line19">line 19</a>
|
|
</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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|
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<div class="param-desc">
|
|
a new dual quaternion [real -> rotation, dual -> translation]
|
|
</div>
|
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<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
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|
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<span class="param-type">quat2</span>
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</dd>
|
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</dl>
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|
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<h4 class="name" id=".dot"><span class="type-signature">(static) </span>dot<span class="signature">(a, b)</span><span class="type-signature"> → {Number}</span></h4>
|
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|
|
<div class="description">
|
|
Calculates the dot product of two dual quat's (The dot product of the real parts)
|
|
</div>
|
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|
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<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
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|
|
|
<th>Type</th>
|
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|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
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|
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|
|
<td class="description last">the first operand</td>
|
|
</tr>
|
|
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|
|
<tr>
|
|
|
|
<td class="name"><code>b</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
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|
|
|
</td>
|
|
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|
|
|
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|
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|
|
<td class="description last">the second operand</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
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|
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|
|
|
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|
|
|
|
|
<dl class="details">
|
|
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|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line663">line 663</a>
|
|
</li></ul></dd>
|
|
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|
|
</dl>
|
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|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
dot product of a and b
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
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|
|
|
<h4 class="name" id=".equals"><span class="type-signature">(static) </span>equals<span class="signature">(a, b)</span><span class="type-signature"> → {Boolean}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Returns whether or not the dual quaternions have approximately the same elements in the same position.
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the first dual quat.</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>b</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the second dual quat.</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line829">line 829</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
true if the dual quats are equal, false otherwise.
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">Boolean</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".exactEquals"><span class="type-signature">(static) </span>exactEquals<span class="signature">(a, b)</span><span class="type-signature"> → {Boolean}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Returns whether or not the dual quaternions have exactly the same elements in the same position (when compared with ===)
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the first dual quaternion.</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>b</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the second dual quaternion.</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line817">line 817</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
true if the dual quaternions are equal, false otherwise.
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">Boolean</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".fromMat4"><span class="type-signature">(static) </span>fromMat4<span class="signature">(out, a)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Creates a new dual quat from a matrix (4x4)
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the dual quaternion</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">mat4</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the matrix</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line186">line 186</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
dual quat receiving operation result
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".fromRotation"><span class="type-signature">(static) </span>fromRotation<span class="signature">(dual, q)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Creates a dual quat from a quaternion
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>dual</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">quaternion receiving operation result</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>q</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the quaternion</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line166">line 166</a>
|
|
</li></ul></dd>
|
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|
|
</dl>
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<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
dual quaternion receiving operation result
|
|
</div>
|
|
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|
|
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|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
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|
|
<h4 class="name" id=".fromRotationTranslation"><span class="type-signature">(static) </span>fromRotationTranslation<span class="signature">(dual, q, t)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Creates a dual quat from a quaternion and a translation
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>dual</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">quaternion receiving operation result</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>q</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">quaternion</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>t</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">vec3</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">tranlation vector</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line119">line 119</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
dual quaternion receiving operation result
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".fromRotationTranslationValues"><span class="type-signature">(static) </span>fromRotationTranslationValues<span class="signature">(x1, y1, z1, w1, x2, y2, z2)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Creates a new dual quat from the given values (quat and translation)
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>x1</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">X component</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>y1</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">Y component</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>z1</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">Z component</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>w1</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">W component</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>x2</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">X component (translation)</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>y2</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">Y component (translation)</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>z2</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">Z component (translation)</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line94">line 94</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
new dual quaternion
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".fromTranslation"><span class="type-signature">(static) </span>fromTranslation<span class="signature">(dual, t)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Creates a dual quat from a translation
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>dual</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">quaternion receiving operation result</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>t</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">vec3</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">translation vector</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line146">line 146</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
dual quaternion receiving operation result
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".fromValues"><span class="type-signature">(static) </span>fromValues<span class="signature">(x1, y1, z1, w1, x2, y2, z2, w2)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Creates a new dual quat initialized with the given values
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>x1</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">X component</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>y1</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">Y component</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>z1</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">Z component</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>w1</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">W component</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>x2</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">X component</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>y2</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
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|
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</td>
|
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|
|
<td class="description last">Y component</td>
|
|
</tr>
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|
|
<tr>
|
|
|
|
<td class="name"><code>z2</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
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|
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|
|
</td>
|
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|
|
<td class="description last">Z component</td>
|
|
</tr>
|
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|
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<tr>
|
|
|
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<td class="name"><code>w2</code></td>
|
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|
|
<td class="type">
|
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|
|
<span class="param-type">Number</span>
|
|
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|
|
|
|
</td>
|
|
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|
|
|
|
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|
|
|
<td class="description last">W component</td>
|
|
</tr>
|
|
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|
|
</tbody>
|
|
</table>
|
|
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<dl class="details">
|
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<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line68">line 68</a>
|
|
</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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<div class="param-desc">
|
|
new dual quaternion
|
|
</div>
|
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<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
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</dd>
|
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</dl>
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|
|
<h4 class="name" id=".getDual"><span class="type-signature">(static) </span>getDual<span class="signature">(out, a)</span><span class="type-signature"> → {quat}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Gets the dual part of a dual quat
|
|
</div>
|
|
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|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
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|
|
|
<th>Type</th>
|
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|
|
|
|
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|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">dual part</td>
|
|
</tr>
|
|
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|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">Dual Quaternion</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
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|
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|
|
|
|
|
<dl class="details">
|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line276">line 276</a>
|
|
</li></ul></dd>
|
|
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|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
dual part
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
<h4 class="name" id=".getTranslation"><span class="type-signature">(static) </span>getTranslation<span class="signature">(out, a)</span><span class="type-signature"> → {vec3}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Gets the translation of a normalized dual quat
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">vec3</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">translation</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">Dual Quaternion to be decomposed</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line316">line 316</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
translation
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">vec3</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".identity"><span class="type-signature">(static) </span>identity<span class="signature">(out)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Set a dual quat to the identity dual quaternion
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the receiving quaternion</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line222">line 222</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".invert"><span class="type-signature">(static) </span>invert<span class="signature">(out, a)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Calculates the inverse of a dual quat. If they are normalized, conjugate is cheaper
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the receiving dual quaternion</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">dual quat to calculate inverse of</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line698">line 698</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".len"><span class="type-signature">(static) </span>len<span class="signature">()</span><span class="type-signature"></span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Alias for quat2.length
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line744">line 744</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".length"><span class="type-signature">(static) </span>length<span class="signature">(a)</span><span class="type-signature"> → {Number}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Calculates the length of a dual quat
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
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|
|
|
|
|
<td class="description last">dual quat to calculate length of</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
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<dl class="details">
|
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<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line738">line 738</a>
|
|
</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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|
|
<div class="param-desc">
|
|
length of a
|
|
</div>
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<dl>
|
|
<dt>
|
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Type
|
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</dt>
|
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<dd>
|
|
|
|
<span class="param-type">Number</span>
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</dd>
|
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</dl>
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<h4 class="name" id=".lerp"><span class="type-signature">(static) </span>lerp<span class="signature">(out, a, b, t)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
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|
|
|
|
|
<div class="description">
|
|
Performs a linear interpolation between two dual quats's
|
|
NOTE: The resulting dual quaternions won't always be normalized (The error is most noticeable when t = 0.5)
|
|
</div>
|
|
|
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|
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|
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|
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|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
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|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
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|
|
<td class="description last">the receiving dual quat</td>
|
|
</tr>
|
|
|
|
|
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|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
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|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
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|
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|
|
|
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|
|
<td class="description last">the first operand</td>
|
|
</tr>
|
|
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|
|
<tr>
|
|
|
|
<td class="name"><code>b</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
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|
|
<td class="description last">the second operand</td>
|
|
</tr>
|
|
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|
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|
|
<tr>
|
|
|
|
<td class="name"><code>t</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">interpolation amount, in the range [0-1], between the two inputs</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
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|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
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|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line675">line 675</a>
|
|
</li></ul></dd>
|
|
|
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|
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|
|
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|
|
</dl>
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
<h4 class="name" id=".mul"><span class="type-signature">(static) </span>mul<span class="signature">()</span><span class="type-signature"></span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Alias for quat2.multiply
|
|
</div>
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
<dl class="details">
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line632">line 632</a>
|
|
</li></ul></dd>
|
|
|
|
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|
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|
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|
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|
|
|
|
|
</dl>
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
<h4 class="name" id=".multiply"><span class="type-signature">(static) </span>multiply<span class="signature">(out, a, b)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Multiplies two dual quat's
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the receiving dual quaternion</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the first operand</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>b</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the second operand</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line600">line 600</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".normalize"><span class="type-signature">(static) </span>normalize<span class="signature">(out, a)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Normalize a dual quat
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the receiving dual quaternion</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">dual quaternion to normalize</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line769">line 769</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".rotateAroundAxis"><span class="type-signature">(static) </span>rotateAroundAxis<span class="signature">(out, a, axis, rad)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Rotates a dual quat around a given axis. Does the normalisation automatically
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the receiving dual quaternion</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the dual quaternion to rotate</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>axis</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">vec3</span>
|
|
|
|
|
|
|
|
</td>
|
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|
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|
|
|
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|
|
<td class="description last">the axis to rotate around</td>
|
|
</tr>
|
|
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|
|
|
<tr>
|
|
|
|
<td class="name"><code>rad</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">how far the rotation should be</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
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|
<dl class="details">
|
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|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line536">line 536</a>
|
|
</li></ul></dd>
|
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</dl>
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<h5>Returns:</h5>
|
|
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|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
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<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
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|
|
</dd>
|
|
</dl>
|
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<h4 class="name" id=".rotateByQuatAppend"><span class="type-signature">(static) </span>rotateByQuatAppend<span class="signature">(out, a, q)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Rotates a dual quat by a given quaternion (a * q)
|
|
</div>
|
|
|
|
|
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|
|
|
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|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the receiving dual quaternion</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the dual quaternion to rotate</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>q</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">quaternion to rotate by</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line469">line 469</a>
|
|
</li></ul></dd>
|
|
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|
|
</dl>
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".rotateByQuatPrepend"><span class="type-signature">(static) </span>rotateByQuatPrepend<span class="signature">(out, q, a)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Rotates a dual quat by a given quaternion (q * a)
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the receiving dual quaternion</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>q</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">quaternion to rotate by</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the dual quaternion to rotate</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line502">line 502</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".rotateX"><span class="type-signature">(static) </span>rotateX<span class="signature">(out, a, rad)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Rotates a dual quat around the X axis
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the receiving dual quaternion</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the dual quaternion to rotate</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>rad</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">how far should the rotation be</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line370">line 370</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h4 class="name" id=".rotateY"><span class="type-signature">(static) </span>rotateY<span class="signature">(out, a, rad)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Rotates a dual quat around the Y axis
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the receiving dual quaternion</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>a</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the dual quaternion to rotate</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>rad</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">how far should the rotation be</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dl class="details">
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line403">line 403</a>
|
|
</li></ul></dd>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</dl>
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
|
|
|
|
|
|
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<h4 class="name" id=".rotateZ"><span class="type-signature">(static) </span>rotateZ<span class="signature">(out, a, rad)</span><span class="type-signature"> → {quat2}</span></h4>
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<div class="description">
|
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Rotates a dual quat around the Z axis
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</div>
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<h5>Parameters:</h5>
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<table class="params">
|
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<thead>
|
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<tr>
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<th>Name</th>
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<th>Type</th>
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<th class="last">Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td class="name"><code>out</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the receiving dual quaternion</td>
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</tr>
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<tr>
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<td class="name"><code>a</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the dual quaternion to rotate</td>
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</tr>
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<tr>
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<td class="name"><code>rad</code></td>
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<td class="type">
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<span class="param-type">number</span>
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</td>
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<td class="description last">how far should the rotation be</td>
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</tr>
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</tbody>
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</table>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line436">line 436</a>
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</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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<div class="param-desc">
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out
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</div>
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<dl>
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<dt>
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Type
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</dt>
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<dd>
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<span class="param-type">quat2</span>
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</dd>
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</dl>
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<h4 class="name" id=".scale"><span class="type-signature">(static) </span>scale<span class="signature">(out, a, b)</span><span class="type-signature"> → {quat2}</span></h4>
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<div class="description">
|
|
Scales a dual quat by a scalar number
|
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</div>
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<h5>Parameters:</h5>
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|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
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|
|
<th>Name</th>
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|
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<th>Type</th>
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<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
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<tbody>
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<tr>
|
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|
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<td class="name"><code>out</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the receiving dual quat</td>
|
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</tr>
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<tr>
|
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|
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<td class="name"><code>a</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the dual quat to scale</td>
|
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</tr>
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<tr>
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<td class="name"><code>b</code></td>
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<td class="type">
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<span class="param-type">Number</span>
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</td>
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<td class="description last">amount to scale the dual quat by</td>
|
|
</tr>
|
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|
|
</tbody>
|
|
</table>
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|
|
<dl class="details">
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|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line643">line 643</a>
|
|
</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
|
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|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
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|
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|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
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|
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</dd>
|
|
</dl>
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|
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<h4 class="name" id=".set"><span class="type-signature">(static) </span>set<span class="signature">(out, x1, y1, z1, w1, x2, y2, z2, w2)</span><span class="type-signature"> → {quat2}</span></h4>
|
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|
|
<div class="description">
|
|
Set the components of a dual quat to the given values
|
|
</div>
|
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|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the receiving quaternion</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>x1</code></td>
|
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|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
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|
|
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|
|
</td>
|
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|
|
<td class="description last">X component</td>
|
|
</tr>
|
|
|
|
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|
|
<tr>
|
|
|
|
<td class="name"><code>y1</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
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|
|
<td class="description last">Y component</td>
|
|
</tr>
|
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|
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|
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<tr>
|
|
|
|
<td class="name"><code>z1</code></td>
|
|
|
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|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
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|
|
</td>
|
|
|
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|
|
<td class="description last">Z component</td>
|
|
</tr>
|
|
|
|
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|
|
<tr>
|
|
|
|
<td class="name"><code>w1</code></td>
|
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|
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|
|
<td class="type">
|
|
|
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|
|
<span class="param-type">Number</span>
|
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|
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|
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</td>
|
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|
|
<td class="description last">W component</td>
|
|
</tr>
|
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|
|
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|
|
<tr>
|
|
|
|
<td class="name"><code>x2</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">X component</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>y2</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
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|
|
|
|
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|
|
|
<td class="description last">Y component</td>
|
|
</tr>
|
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|
|
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|
|
<tr>
|
|
|
|
<td class="name"><code>z2</code></td>
|
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|
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|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
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|
|
</td>
|
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|
|
|
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|
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|
|
<td class="description last">Z component</td>
|
|
</tr>
|
|
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>w2</code></td>
|
|
|
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|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">Number</span>
|
|
|
|
|
|
|
|
</td>
|
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|
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|
|
<td class="description last">W component</td>
|
|
</tr>
|
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|
|
|
|
</tbody>
|
|
</table>
|
|
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|
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|
|
<dl class="details">
|
|
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|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line249">line 249</a>
|
|
</li></ul></dd>
|
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</dl>
|
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|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
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|
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<h4 class="name" id=".setDual"><span class="type-signature">(static) </span>setDual<span class="signature">(out, q)</span><span class="type-signature"> → {quat2}</span></h4>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div class="description">
|
|
Set the dual component of a dual quat to the given quaternion
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<h5>Parameters:</h5>
|
|
|
|
|
|
<table class="params">
|
|
<thead>
|
|
<tr>
|
|
|
|
<th>Name</th>
|
|
|
|
|
|
<th>Type</th>
|
|
|
|
|
|
|
|
|
|
|
|
<th class="last">Description</th>
|
|
</tr>
|
|
</thead>
|
|
|
|
<tbody>
|
|
|
|
|
|
<tr>
|
|
|
|
<td class="name"><code>out</code></td>
|
|
|
|
|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
|
|
</td>
|
|
|
|
|
|
|
|
|
|
|
|
<td class="description last">the receiving quaternion</td>
|
|
</tr>
|
|
|
|
|
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|
|
<tr>
|
|
|
|
<td class="name"><code>q</code></td>
|
|
|
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|
|
<td class="type">
|
|
|
|
|
|
<span class="param-type">quat</span>
|
|
|
|
|
|
|
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</td>
|
|
|
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|
|
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|
|
<td class="description last">a quaternion representing the dual part</td>
|
|
</tr>
|
|
|
|
|
|
</tbody>
|
|
</table>
|
|
|
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|
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|
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|
|
|
<dl class="details">
|
|
|
|
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|
|
|
|
|
|
|
<dt class="tag-source">Source:</dt>
|
|
<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line302">line 302</a>
|
|
</li></ul></dd>
|
|
|
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|
|
</dl>
|
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|
|
<h5>Returns:</h5>
|
|
|
|
|
|
<div class="param-desc">
|
|
out
|
|
</div>
|
|
|
|
|
|
|
|
<dl>
|
|
<dt>
|
|
Type
|
|
</dt>
|
|
<dd>
|
|
|
|
<span class="param-type">quat2</span>
|
|
|
|
|
|
</dd>
|
|
</dl>
|
|
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<h4 class="name" id=".setReal"><span class="type-signature">(static) </span>setReal<span class="signature">(out, q)</span><span class="type-signature"> → {quat2}</span></h4>
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<div class="description">
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Set the real component of a dual quat to the given quaternion
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</div>
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<h5>Parameters:</h5>
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<table class="params">
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<thead>
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<tr>
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<th>Name</th>
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<th>Type</th>
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<th class="last">Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td class="name"><code>out</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the receiving quaternion</td>
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</tr>
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<tr>
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<td class="name"><code>q</code></td>
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<td class="type">
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<span class="param-type">quat</span>
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</td>
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<td class="description last">a quaternion representing the real part</td>
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</tr>
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</tbody>
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</table>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
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<dd class="tag-source"><ul class="dummy"><li>
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<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line292">line 292</a>
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</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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<div class="param-desc">
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out
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</div>
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<dl>
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<dt>
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Type
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</dt>
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<dd>
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<span class="param-type">quat2</span>
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</dd>
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</dl>
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<h4 class="name" id=".sqrLen"><span class="type-signature">(static) </span>sqrLen<span class="signature">()</span><span class="type-signature"></span></h4>
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<div class="description">
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Alias for quat2.squaredLength
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</div>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
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<dd class="tag-source"><ul class="dummy"><li>
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<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line759">line 759</a>
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</li></ul></dd>
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</dl>
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<h4 class="name" id=".squaredLength"><span class="type-signature">(static) </span>squaredLength<span class="signature">(a)</span><span class="type-signature"> → {Number}</span></h4>
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<div class="description">
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Calculates the squared length of a dual quat
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</div>
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<h5>Parameters:</h5>
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<table class="params">
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<thead>
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<tr>
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<th>Name</th>
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<th>Type</th>
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<th class="last">Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td class="name"><code>a</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">dual quat to calculate squared length of</td>
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</tr>
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</tbody>
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</table>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
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<dd class="tag-source"><ul class="dummy"><li>
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<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line753">line 753</a>
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</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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<div class="param-desc">
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squared length of a
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</div>
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<dl>
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<dt>
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Type
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</dt>
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<dd>
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<span class="param-type">Number</span>
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</dd>
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</dl>
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<h4 class="name" id=".str"><span class="type-signature">(static) </span>str<span class="signature">(a)</span><span class="type-signature"> → {String}</span></h4>
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<div class="description">
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Returns a string representation of a dual quatenion
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</div>
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<h5>Parameters:</h5>
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<table class="params">
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<thead>
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<tr>
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<th>Name</th>
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<th>Type</th>
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<th class="last">Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td class="name"><code>a</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">dual quaternion to represent as a string</td>
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</tr>
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</tbody>
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</table>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
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<dd class="tag-source"><ul class="dummy"><li>
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<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line805">line 805</a>
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</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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<div class="param-desc">
|
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string representation of the dual quat
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</div>
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<dl>
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<dt>
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Type
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</dt>
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<dd>
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<span class="param-type">String</span>
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</dd>
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</dl>
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<h4 class="name" id=".translate"><span class="type-signature">(static) </span>translate<span class="signature">(out, a, v)</span><span class="type-signature"> → {quat2}</span></h4>
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<div class="description">
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Translates a dual quat by the given vector
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</div>
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<h5>Parameters:</h5>
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<table class="params">
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<thead>
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<tr>
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<th>Name</th>
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<th>Type</th>
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<th class="last">Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td class="name"><code>out</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the receiving dual quaternion</td>
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</tr>
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<tr>
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<td class="name"><code>a</code></td>
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<td class="type">
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<span class="param-type">quat2</span>
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</td>
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<td class="description last">the dual quaternion to translate</td>
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</tr>
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<tr>
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<td class="name"><code>v</code></td>
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<td class="type">
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<span class="param-type">vec3</span>
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</td>
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<td class="description last">vector to translate by</td>
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</tr>
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</tbody>
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</table>
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<dl class="details">
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<dt class="tag-source">Source:</dt>
|
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<dd class="tag-source"><ul class="dummy"><li>
|
|
<a href="quat2.js.html">quat2.js</a>, <a href="quat2.js.html#line339">line 339</a>
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</li></ul></dd>
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</dl>
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<h5>Returns:</h5>
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<div class="param-desc">
|
|
out
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</div>
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<dl>
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<dt>
|
|
Type
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</dt>
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<dd>
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<span class="param-type">quat2</span>
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</dd>
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</dl>
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</article>
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</section>
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</div>
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<nav>
|
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<h2><a href="index.html">Home</a></h2><h3>Modules</h3><ul><li><a href="module-glMatrix.html">glMatrix</a></li><li><a href="module-mat2.html">mat2</a></li><li><a href="module-mat2d.html">mat2d</a></li><li><a href="module-mat3.html">mat3</a></li><li><a href="module-mat4.html">mat4</a></li><li><a href="module-quat.html">quat</a></li><li><a href="module-quat2.html">quat2</a></li><li><a href="module-vec2.html">vec2</a></li><li><a href="module-vec3.html">vec3</a></li><li><a href="module-vec4.html">vec4</a></li></ul>
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</nav>
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<br class="clear">
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<footer>
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Documentation generated by <a href="https://github.com/jsdoc3/jsdoc">JSDoc 3.5.5</a> on Fri Jul 13 2018 11:51:34 GMT+0200 (W. Europe Daylight Time)
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