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Quaternion Type

-- Constants
quaternion.identity: quaternion -- quaternion(0, 0, 0, 1)


-- Arithmetic Operators
quaternion * quaternion: quaternion -- rotate quaternion by another quaternion
quaternion / quaternion: quaternion -- ...in the inverse direction
vector * quaternion: vector -- rotate vector by quaternion
vector / quaternion: vector -- rotate vector by inverse of quaternion
quaternion + quaternion: quaternion -- adds corresponding components
quaternion - quaternion: quaternion -- subtracts corresponding components
-quaternion: quaternion -- negates all components; Does not produce the inverse rotation!


-- Component Access (read-only)
quaternion.x: number
quaternion.y: number
quaternion.z: number
quaternion.s: number


-- Constructors and Conversion
function quaternion(x: number, y: number, z: number, s: number): quaternion
function quaternion.create(x: number, y: number, z: number, s: number): quaternion
function toquaternion(string: string): quaternion


-- Methods
function quaternion.normalize(q: quaternion): quaternion
function quaternion.magnitude(q: quaternion): number
function quaternion.conjugate(q: quaternion): quaternion
function quaternion.dot(a: quaternion, b: quaternion): number
function quaternion.slerp(a: quaternion, b: quaternion, t: number): quaternion
function quaternion.tofwd(q: quaternion): vector
function quaternion.toleft(q: quaternion): vector
function quaternion.toup(q: quaternion): vector


-- Related ll.* Quaternion Functions
function ll.AngleBetween(a: quaternion, b: quaternion): number
function ll.Axes2Rot(forward: vector, left: vector, up: vector): quaternion
function ll.AxisAngle2Rot(axis: vector, angle: number): quaternion
function ll.Euler2Rot(v: vector): quaternion
function ll.Rot2Angle(q: quaternion): number
function ll.Rot2Axis(q: quaternion): vector
function ll.Rot2Euler(q: quaternion): vector
function ll.RotBetween(a: vector, b: vector): quaternion

Constants

Section titled “Constants”

Arithmetic Operators

Section titled “Arithmetic Operators”

Component Access

Section titled “Component Access”

Constructors and Conversion

Section titled “Constructors and Conversion”

Methods

Section titled “Methods”
Section titled “Related ll.* Quaternion Functions”

Rotation Alias

Section titled “Rotation Alias”

Quaternions are also aliased as rotation in SLua, which includes torotation as an alias for toquaternion. This is a nomenclature holdover from LSL.