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<!DOCTYPE html>
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<title>Quaternion - Cesium Documentation</title>
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<div id="main">
<h1 class="page-title">
<a href="index.html"><img src="Images/CesiumLogo.png" class="cesiumLogo"></a>
Quaternion
<div class="titleCenterer"></div>
</h1>
<section>
<header>
</header>
<article>
<div class="container-overview">
<div class="nameContainer">
<h4 class="name" id="Quaternion">
<a href="#Quaternion" class="doc-link"></a>
new Cesium.Quaternion<span class="signature">(<span class="optional">x</span>, <span class="optional">y</span>, <span class="optional">z</span>, <span class="optional">w</span>)</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L21">Core/Quaternion.js 21</a>
</div>
</h4>
</div>
<div class="description">
A set of 4-dimensional coordinates used to represent rotation in 3-dimensional space.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th>Default</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>x</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">0.0</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The X component.</td>
</tr>
<tr>
<td class="name"><code>y</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">0.0</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The Y component.</td>
</tr>
<tr>
<td class="name"><code>z</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">0.0</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The Z component.</td>
</tr>
<tr>
<td class="name"><code>w</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">0.0</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The W component.</td>
</tr>
</tbody>
</table>
<dl class="details">
<h5>See:</h5>
<ul class="see-list">
<li><a href="PackableForInterpolation.html">PackableForInterpolation</a></li>
</ul>
</dl>
</div>
<h3 class="subsection-title">Members</h3>
<div class="nameContainer">
<h4 class="name" id=".IDENTITY">
<a href="#.IDENTITY" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> <span class="type-signature attribute-constant">constant</span> Cesium.Quaternion.IDENTITY<span class="type-signature"> : <a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L1097">Core/Quaternion.js 1097</a>
</div>
</h4>
</div>
<div class="description">
An immutable Quaternion instance initialized to (0.0, 0.0, 0.0, 1.0).
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".packedInterpolationLength">
<a href="#.packedInterpolationLength" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.packedInterpolationLength<span class="type-signature"> : Number</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L281">Core/Quaternion.js 281</a>
</div>
</h4>
</div>
<div class="description">
The number of elements used to store the object into an array in its interpolatable form.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".packedLength">
<a href="#.packedLength" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.packedLength<span class="type-signature"> : Number</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L225">Core/Quaternion.js 225</a>
</div>
</h4>
</div>
<div class="description">
The number of elements used to pack the object into an array.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".ZERO">
<a href="#.ZERO" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> <span class="type-signature attribute-constant">constant</span> Cesium.Quaternion.ZERO<span class="type-signature"> : <a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L1089">Core/Quaternion.js 1089</a>
</div>
</h4>
</div>
<div class="description">
An immutable Quaternion instance initialized to (0.0, 0.0, 0.0, 0.0).
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id="w">
<a href="#w" class="doc-link"></a>
w<span class="type-signature"> : Number</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L48">Core/Quaternion.js 48</a>
</div>
</h4>
</div>
<div class="description">
The W component.
</div>
<dl class="details">
<span class="details-header">Default Value:</span>
<code class="language-javascript">0.0</code>
</dl>
<div class="nameContainer">
<h4 class="name" id="x">
<a href="#x" class="doc-link"></a>
x<span class="type-signature"> : Number</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L27">Core/Quaternion.js 27</a>
</div>
</h4>
</div>
<div class="description">
The X component.
</div>
<dl class="details">
<span class="details-header">Default Value:</span>
<code class="language-javascript">0.0</code>
</dl>
<div class="nameContainer">
<h4 class="name" id="y">
<a href="#y" class="doc-link"></a>
y<span class="type-signature"> : Number</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L34">Core/Quaternion.js 34</a>
</div>
</h4>
</div>
<div class="description">
The Y component.
</div>
<dl class="details">
<span class="details-header">Default Value:</span>
<code class="language-javascript">0.0</code>
</dl>
<div class="nameContainer">
<h4 class="name" id="z">
<a href="#z" class="doc-link"></a>
z<span class="type-signature"> : Number</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L41">Core/Quaternion.js 41</a>
</div>
</h4>
</div>
<div class="description">
The Z component.
</div>
<dl class="details">
<span class="details-header">Default Value:</span>
<code class="language-javascript">0.0</code>
</dl>
<h3 class="subsection-title">Methods</h3>
<div class="nameContainer">
<h4 class="name" id=".add">
<a href="#.add" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.add<span class="signature">(left, right, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L511">Core/Quaternion.js 511</a>
</div>
</h4>
</div>
<div class="description">
Computes the componentwise sum of two quaternions.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>left</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The first quaternion.</td>
</tr>
<tr>
<td class="name"><code>right</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The second quaternion.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".clone">
<a href="#.clone" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.clone<span class="signature">(quaternion, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L391">Core/Quaternion.js 391</a>
</div>
</h4>
</div>
<div class="description">
Duplicates a Quaternion instance.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The quaternion to duplicate.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
<span class="optional">optional</span>
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter or a new Quaternion instance if one was not provided. (Returns undefined if quaternion is undefined)
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".computeAngle">
<a href="#.computeAngle" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.computeAngle<span class="signature">(quaternion)</span> &rarr; <span class="type-signature returnType">Number</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L699">Core/Quaternion.js 699</a>
</div>
</h4>
</div>
<div class="description">
Computes the angle of rotation of the provided quaternion.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The quaternion to use.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The angle of rotation.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".computeAxis">
<a href="#.computeAxis" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.computeAxis<span class="signature">(quaternion, result)</span> &rarr; <span class="type-signature returnType"><a href="Cartesian3.html">Cartesian3</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L673">Core/Quaternion.js 673</a>
</div>
</h4>
</div>
<div class="description">
Computes the axis of rotation of the provided quaternion.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The quaternion to use.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Cartesian3.html">Cartesian3</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".computeInnerQuadrangle">
<a href="#.computeInnerQuadrangle" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.computeInnerQuadrangle<span class="signature">(q0, q1, q2, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L854">Core/Quaternion.js 854</a>
</div>
</h4>
</div>
<div class="description">
Computes an inner quadrangle point.
<p>This will compute quaternions that ensure a squad curve is C<sup>1</sup>.</p>
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>q0</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The first quaternion.</td>
</tr>
<tr>
<td class="name"><code>q1</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The second quaternion.</td>
</tr>
<tr>
<td class="name"><code>q2</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The third quaternion.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
<h5>See:</h5>
<ul class="see-list">
<li>Quaternion#squad</li>
</ul>
</dl>
<div class="nameContainer">
<h4 class="name" id=".conjugate">
<a href="#.conjugate" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.conjugate<span class="signature">(quaternion, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L419">Core/Quaternion.js 419</a>
</div>
</h4>
</div>
<div class="description">
Computes the conjugate of the provided quaternion.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The quaternion to conjugate.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".convertPackedArrayForInterpolation">
<a href="#.convertPackedArrayForInterpolation" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.convertPackedArrayForInterpolation<span class="signature">(packedArray, <span class="optional">startingIndex</span>, <span class="optional">lastIndex</span>, <span class="optional">result</span>)</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L291">Core/Quaternion.js 291</a>
</div>
</h4>
</div>
<div class="description">
Converts a packed array into a form suitable for interpolation.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th>Default</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>packedArray</code></td>
<td class="type">
<span class="param-type">Array.&lt;Number></span>
</td>
<td class="default">
</td>
<td class="description last">
The packed array.</td>
</tr>
<tr>
<td class="name"><code>startingIndex</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">0</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The index of the first element to be converted.</td>
</tr>
<tr>
<td class="name"><code>lastIndex</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">packedArray.length</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The index of the last element to be converted.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type">Array.&lt;Number></span>
</td>
<td class="default">
</td>
<td class="description last">
<span class="optional">optional</span>
The object into which to store the result.</td>
</tr>
</tbody>
</table>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".divideByScalar">
<a href="#.divideByScalar" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.divideByScalar<span class="signature">(quaternion, scalar, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L652">Core/Quaternion.js 652</a>
</div>
</h4>
</div>
<div class="description">
Divides the provided quaternion componentwise by the provided scalar.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The quaternion to be divided.</td>
</tr>
<tr>
<td class="name"><code>scalar</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="description last">
The scalar to divide by.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".dot">
<a href="#.dot" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.dot<span class="signature">(left, right)</span> &rarr; <span class="type-signature returnType">Number</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L574">Core/Quaternion.js 574</a>
</div>
</h4>
</div>
<div class="description">
Computes the dot (scalar) product of two quaternions.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>left</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The first quaternion.</td>
</tr>
<tr>
<td class="name"><code>right</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The second quaternion.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The dot product.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".equals">
<a href="#.equals" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.equals<span class="signature">(<span class="optional">left</span>, <span class="optional">right</span>)</span> &rarr; <span class="type-signature returnType">Boolean</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L1047">Core/Quaternion.js 1047</a>
</div>
</h4>
</div>
<div class="description">
Compares the provided quaternions componentwise and returns
<code>true</code> if they are equal, <code>false</code> otherwise.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>left</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
<span class="optional">optional</span>
The first quaternion.</td>
</tr>
<tr>
<td class="name"><code>right</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
<span class="optional">optional</span>
The second quaternion.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
<code>true</code> if left and right are equal, <code>false</code> otherwise.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".equalsEpsilon">
<a href="#.equalsEpsilon" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.equalsEpsilon<span class="signature">(<span class="optional">left</span>, <span class="optional">right</span>, <span class="optional">epsilon</span>)</span> &rarr; <span class="type-signature returnType">Boolean</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L1069">Core/Quaternion.js 1069</a>
</div>
</h4>
</div>
<div class="description">
Compares the provided quaternions componentwise and returns
<code>true</code> if they are within the provided epsilon,
<code>false</code> otherwise.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th>Default</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>left</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="default">
</td>
<td class="description last">
<span class="optional">optional</span>
The first quaternion.</td>
</tr>
<tr>
<td class="name"><code>right</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="default">
</td>
<td class="description last">
<span class="optional">optional</span>
The second quaternion.</td>
</tr>
<tr>
<td class="name"><code>epsilon</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">0</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The epsilon to use for equality testing.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
<code>true</code> if left and right are within the provided epsilon, <code>false</code> otherwise.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".exp">
<a href="#.exp" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.exp<span class="signature">(cartesian, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L816">Core/Quaternion.js 816</a>
</div>
</h4>
</div>
<div class="description">
The exponential quaternion function.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>cartesian</code></td>
<td class="type">
<span class="param-type"><a href="Cartesian3.html">Cartesian3</a></span>
</td>
<td class="description last">
The cartesian.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".fastSlerp">
<a href="#.fastSlerp" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.fastSlerp<span class="signature">(start, end, t, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L945">Core/Quaternion.js 945</a>
</div>
</h4>
</div>
<div class="description">
Computes the spherical linear interpolation or extrapolation at t using the provided quaternions.
This implementation is faster than <code>Quaternion#slerp</code>, but is only accurate up to 10<sup>-6</sup>.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>start</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The value corresponding to t at 0.0.</td>
</tr>
<tr>
<td class="name"><code>end</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The value corresponding to t at 1.0.</td>
</tr>
<tr>
<td class="name"><code>t</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="description last">
The point along t at which to interpolate.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
<h5>See:</h5>
<ul class="see-list">
<li>Quaternion#slerp</li>
</ul>
</dl>
<div class="nameContainer">
<h4 class="name" id=".fastSquad">
<a href="#.fastSquad" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.fastSquad<span class="signature">(q0, q1, s0, s1, t, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L1024">Core/Quaternion.js 1024</a>
</div>
</h4>
</div>
<div class="description">
Computes the spherical quadrangle interpolation between quaternions.
An implementation that is faster than <code>Quaternion#squad</code>, but less accurate.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>q0</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The first quaternion.</td>
</tr>
<tr>
<td class="name"><code>q1</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The second quaternion.</td>
</tr>
<tr>
<td class="name"><code>s0</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The first inner quadrangle.</td>
</tr>
<tr>
<td class="name"><code>s1</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The second inner quadrangle.</td>
</tr>
<tr>
<td class="name"><code>t</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="description last">
The time in [0,1] used to interpolate.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter or a new instance if none was provided.
</div>
<dl class="details">
<h5>See:</h5>
<ul class="see-list">
<li>Quaternion#squad</li>
</ul>
</dl>
<div class="nameContainer">
<h4 class="name" id=".fromAxisAngle">
<a href="#.fromAxisAngle" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.fromAxisAngle<span class="signature">(axis, angle, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L61">Core/Quaternion.js 61</a>
</div>
</h4>
</div>
<div class="description">
Computes a quaternion representing a rotation around an axis.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>axis</code></td>
<td class="type">
<span class="param-type"><a href="Cartesian3.html">Cartesian3</a></span>
</td>
<td class="description last">
The axis of rotation.</td>
</tr>
<tr>
<td class="name"><code>angle</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="description last">
The angle in radians to rotate around the axis.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
<span class="optional">optional</span>
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter or a new Quaternion instance if one was not provided.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".fromHeadingPitchRoll">
<a href="#.fromHeadingPitchRoll" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.fromHeadingPitchRoll<span class="signature">(headingPitchRoll, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L187">Core/Quaternion.js 187</a>
</div>
</h4>
</div>
<div class="description">
Computes a rotation from the given heading, pitch and roll angles. Heading is the rotation about the
negative z axis. Pitch is the rotation about the negative y axis. Roll is the rotation about
the positive x axis.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>headingPitchRoll</code></td>
<td class="type">
<span class="param-type"><a href="HeadingPitchRoll.html">HeadingPitchRoll</a></span>
</td>
<td class="description last">
The rotation expressed as a heading, pitch and roll.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
<span class="optional">optional</span>
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter or a new Quaternion instance if none was provided.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".fromRotationMatrix">
<a href="#.fromRotationMatrix" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.fromRotationMatrix<span class="signature">(matrix, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L96">Core/Quaternion.js 96</a>
</div>
</h4>
</div>
<div class="description">
Computes a Quaternion from the provided Matrix3 instance.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>matrix</code></td>
<td class="type">
<span class="param-type"><a href="Matrix3.html">Matrix3</a></span>
</td>
<td class="description last">
The rotation matrix.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
<span class="optional">optional</span>
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter or a new Quaternion instance if one was not provided.
</div>
<dl class="details">
<h5>See:</h5>
<ul class="see-list">
<li><a href="Matrix3.html#.fromQuaternion">Matrix3.fromQuaternion</a></li>
</ul>
</dl>
<div class="nameContainer">
<h4 class="name" id=".inverse">
<a href="#.inverse" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.inverse<span class="signature">(quaternion, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L493">Core/Quaternion.js 493</a>
</div>
</h4>
</div>
<div class="description">
Computes the inverse of the provided quaternion.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The quaternion to normalize.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".lerp">
<a href="#.lerp" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.lerp<span class="signature">(start, end, t, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L720">Core/Quaternion.js 720</a>
</div>
</h4>
</div>
<div class="description">
Computes the linear interpolation or extrapolation at t using the provided quaternions.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>start</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The value corresponding to t at 0.0.</td>
</tr>
<tr>
<td class="name"><code>end</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The value corresponding to t at 1.0.</td>
</tr>
<tr>
<td class="name"><code>t</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="description last">
The point along t at which to interpolate.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".log">
<a href="#.log" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.log<span class="signature">(quaternion, result)</span> &rarr; <span class="type-signature returnType"><a href="Cartesian3.html">Cartesian3</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L793">Core/Quaternion.js 793</a>
</div>
</h4>
</div>
<div class="description">
The logarithmic quaternion function.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The unit quaternion.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Cartesian3.html">Cartesian3</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".magnitude">
<a href="#.magnitude" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.magnitude<span class="signature">(quaternion)</span> &rarr; <span class="type-signature returnType">Number</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L457">Core/Quaternion.js 457</a>
</div>
</h4>
</div>
<div class="description">
Computes magnitude for the provided quaternion.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The quaternion to conjugate.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The magnitude.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".magnitudeSquared">
<a href="#.magnitudeSquared" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.magnitudeSquared<span class="signature">(quaternion)</span> &rarr; <span class="type-signature returnType">Number</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L438">Core/Quaternion.js 438</a>
</div>
</h4>
</div>
<div class="description">
Computes magnitude squared for the provided quaternion.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The quaternion to conjugate.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The magnitude squared.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".multiply">
<a href="#.multiply" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.multiply<span class="signature">(left, right, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L593">Core/Quaternion.js 593</a>
</div>
</h4>
</div>
<div class="description">
Computes the product of two quaternions.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>left</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The first quaternion.</td>
</tr>
<tr>
<td class="name"><code>right</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The second quaternion.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".multiplyByScalar">
<a href="#.multiplyByScalar" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.multiplyByScalar<span class="signature">(quaternion, scalar, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L630">Core/Quaternion.js 630</a>
</div>
</h4>
</div>
<div class="description">
Multiplies the provided quaternion componentwise by the provided scalar.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The quaternion to be scaled.</td>
</tr>
<tr>
<td class="name"><code>scalar</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="description last">
The scalar to multiply with.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".negate">
<a href="#.negate" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.negate<span class="signature">(quaternion, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L554">Core/Quaternion.js 554</a>
</div>
</h4>
</div>
<div class="description">
Negates the provided quaternion.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The quaternion to be negated.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".normalize">
<a href="#.normalize" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.normalize<span class="signature">(quaternion, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L468">Core/Quaternion.js 468</a>
</div>
</h4>
</div>
<div class="description">
Computes the normalized form of the provided quaternion.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>quaternion</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The quaternion to normalize.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".pack">
<a href="#.pack" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.pack<span class="signature">(value, array, <span class="optional">startingIndex</span>)</span> &rarr; <span class="type-signature returnType">Array.&lt;Number></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L236">Core/Quaternion.js 236</a>
</div>
</h4>
</div>
<div class="description">
Stores the provided instance into the provided array.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th>Default</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>value</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="default">
</td>
<td class="description last">
The value to pack.</td>
</tr>
<tr>
<td class="name"><code>array</code></td>
<td class="type">
<span class="param-type">Array.&lt;Number></span>
</td>
<td class="default">
</td>
<td class="description last">
The array to pack into.</td>
</tr>
<tr>
<td class="name"><code>startingIndex</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">0</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The index into the array at which to start packing the elements.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The array that was packed into
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".slerp">
<a href="#.slerp" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.slerp<span class="signature">(start, end, t, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L747">Core/Quaternion.js 747</a>
</div>
</h4>
</div>
<div class="description">
Computes the spherical linear interpolation or extrapolation at t using the provided quaternions.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>start</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The value corresponding to t at 0.0.</td>
</tr>
<tr>
<td class="name"><code>end</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The value corresponding to t at 1.0.</td>
</tr>
<tr>
<td class="name"><code>t</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="description last">
The point along t at which to interpolate.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
<h5>See:</h5>
<ul class="see-list">
<li>Quaternion#fastSlerp</li>
</ul>
</dl>
<div class="nameContainer">
<h4 class="name" id=".squad">
<a href="#.squad" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.squad<span class="signature">(q0, q1, s0, s1, t, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L901">Core/Quaternion.js 901</a>
</div>
</h4>
</div>
<div class="description">
Computes the spherical quadrangle interpolation between quaternions.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>q0</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The first quaternion.</td>
</tr>
<tr>
<td class="name"><code>q1</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The second quaternion.</td>
</tr>
<tr>
<td class="name"><code>s0</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The first inner quadrangle.</td>
</tr>
<tr>
<td class="name"><code>s1</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The second inner quadrangle.</td>
</tr>
<tr>
<td class="name"><code>t</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="description last">
The time in [0,1] used to interpolate.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
<h5>Example:</h5>
<pre><code class="language-javascript">// 1. compute the squad interpolation between two quaternions on a curve
const s0 = Cesium.Quaternion.computeInnerQuadrangle(quaternions[i - 1], quaternions[i], quaternions[i + 1], new Cesium.Quaternion());
const s1 = Cesium.Quaternion.computeInnerQuadrangle(quaternions[i], quaternions[i + 1], quaternions[i + 2], new Cesium.Quaternion());
const q = Cesium.Quaternion.squad(quaternions[i], quaternions[i + 1], s0, s1, t, new Cesium.Quaternion());
// 2. compute the squad interpolation as above but where the first quaternion is a end point.
const s1 = Cesium.Quaternion.computeInnerQuadrangle(quaternions[0], quaternions[1], quaternions[2], new Cesium.Quaternion());
const q = Cesium.Quaternion.squad(quaternions[0], quaternions[1], quaternions[0], s1, t, new Cesium.Quaternion());</code></pre>
<h5>See:</h5>
<ul class="see-list">
<li>Quaternion#computeInnerQuadrangle</li>
</ul>
</dl>
<div class="nameContainer">
<h4 class="name" id=".subtract">
<a href="#.subtract" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.subtract<span class="signature">(left, right, result)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L533">Core/Quaternion.js 533</a>
</div>
</h4>
</div>
<div class="description">
Computes the componentwise difference of two quaternions.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>left</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The first quaternion.</td>
</tr>
<tr>
<td class="name"><code>right</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The second quaternion.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".unpack">
<a href="#.unpack" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.unpack<span class="signature">(array, <span class="optional">startingIndex</span>, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L260">Core/Quaternion.js 260</a>
</div>
</h4>
</div>
<div class="description">
Retrieves an instance from a packed array.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th>Default</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>array</code></td>
<td class="type">
<span class="param-type">Array.&lt;Number></span>
</td>
<td class="default">
</td>
<td class="description last">
The packed array.</td>
</tr>
<tr>
<td class="name"><code>startingIndex</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">0</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The starting index of the element to be unpacked.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="default">
</td>
<td class="description last">
<span class="optional">optional</span>
The object into which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter or a new Quaternion instance if one was not provided.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id=".unpackInterpolationResult">
<a href="#.unpackInterpolationResult" class="doc-link"></a>
<span class="type-signature attribute-static">static</span> Cesium.Quaternion.unpackInterpolationResult<span class="signature">(array, sourceArray, <span class="optional">firstIndex</span>, <span class="optional">lastIndex</span>, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L352">Core/Quaternion.js 352</a>
</div>
</h4>
</div>
<div class="description">
Retrieves an instance from a packed array converted with <code>convertPackedArrayForInterpolation</code>.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th>Default</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>array</code></td>
<td class="type">
<span class="param-type">Array.&lt;Number></span>
</td>
<td class="default">
</td>
<td class="description last">
The array previously packed for interpolation.</td>
</tr>
<tr>
<td class="name"><code>sourceArray</code></td>
<td class="type">
<span class="param-type">Array.&lt;Number></span>
</td>
<td class="default">
</td>
<td class="description last">
The original packed array.</td>
</tr>
<tr>
<td class="name"><code>firstIndex</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">0</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The firstIndex used to convert the array.</td>
</tr>
<tr>
<td class="name"><code>lastIndex</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">packedArray.length</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The lastIndex used to convert the array.</td>
</tr>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="default">
</td>
<td class="description last">
<span class="optional">optional</span>
The object into which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter or a new Quaternion instance if one was not provided.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id="clone">
<a href="#clone" class="doc-link"></a>
clone<span class="signature">(<span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L1105">Core/Quaternion.js 1105</a>
</div>
</h4>
</div>
<div class="description">
Duplicates this Quaternion instance.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>result</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
<span class="optional">optional</span>
The object onto which to store the result.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
The modified result parameter or a new Quaternion instance if one was not provided.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id="equals">
<a href="#equals" class="doc-link"></a>
equals<span class="signature">(<span class="optional">right</span>)</span> &rarr; <span class="type-signature returnType">Boolean</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L1116">Core/Quaternion.js 1116</a>
</div>
</h4>
</div>
<div class="description">
Compares this and the provided quaternion componentwise and returns
<code>true</code> if they are equal, <code>false</code> otherwise.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>right</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="description last">
<span class="optional">optional</span>
The right hand side quaternion.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
<code>true</code> if left and right are equal, <code>false</code> otherwise.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id="equalsEpsilon">
<a href="#equalsEpsilon" class="doc-link"></a>
equalsEpsilon<span class="signature">(<span class="optional">right</span>, <span class="optional">epsilon</span>)</span> &rarr; <span class="type-signature returnType">Boolean</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L1129">Core/Quaternion.js 1129</a>
</div>
</h4>
</div>
<div class="description">
Compares this and the provided quaternion componentwise and returns
<code>true</code> if they are within the provided epsilon,
<code>false</code> otherwise.
</div>
<table class="params">
<thead>
<tr>
<th>Name</th>
<th>Type</th>
<th>Default</th>
<th class="last">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="name"><code>right</code></td>
<td class="type">
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>
</td>
<td class="default">
</td>
<td class="description last">
<span class="optional">optional</span>
The right hand side quaternion.</td>
</tr>
<tr>
<td class="name"><code>epsilon</code></td>
<td class="type">
<span class="param-type">Number</span>
</td>
<td class="default">
<code class="language-javascript">0</code>
</td>
<td class="description last">
<span class="optional">optional</span>
The epsilon to use for equality testing.</td>
</tr>
</tbody>
</table>
<h5>Returns:</h5>
<div class="param-desc">
<code>true</code> if left and right are within the provided epsilon, <code>false</code> otherwise.
</div>
<dl class="details">
</dl>
<div class="nameContainer">
<h4 class="name" id="toString">
<a href="#toString" class="doc-link"></a>
toString<span class="signature">()</span> &rarr; <span class="type-signature returnType">String</span>
<div class="source-link rightLinks">
<a href="https://github.com/CesiumGS/cesium/blob/1.91/Source/Core/Quaternion.js#L1138">Core/Quaternion.js 1138</a>
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</h4>
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<div class="description">
Returns a string representing this quaternion in the format (x, y, z, w).
</div>
<h5>Returns:</h5>
<div class="param-desc">
A string representing this Quaternion.
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<dl class="details">
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