The metatable for a quaternion class, use the new function to actually create an object.

We also inherit all the functions from tardis.v4

v3 = q4:get_yaw_pitch_roll()

Get a yaw,pitch,roll degree rotation from this quaternion

If r is provided then the result is written into r and returned otherwise a new v3 is created and returned.

v3 = q4:get_yaw_pitch_roll_in_radians()

Get a yaw,pitch,roll degree rotation from this quaternion

If r is provided then the result is written into r and returned otherwise a new v3 is created and returned.

q4 = q4:identity()

Set this q4 to its 0,0,0,1 identity

q4 = q4:mix(q4b,s)
q4 = q4:mix(q4b,s,r)

Lerp from q4 to q4b by s.

If r is provided then the result is written into r and returned otherwise q4 is modified and returned.

q4 = tardis.q4.new()

Create a new q4 and optionally set it to the given values, q4 methods usually return the input q4 for easy function chaining.

q4 = q4:prerotate(degrees,v3a)
q4 = q4:prerotate(degrees,v3a,r)

Pre apply a degree rotation to this quaternion.

If r is provided then the result is written into r and returned otherwise q4 is modified and returned.

q4 = q4:prerrotate(radians,v3a)
q4 = q4:prerrotate(radians,v3a,r)

Pre apply a radian rotation to this quaternion.

If r is provided then the result is written into r and returned otherwise q4 is modified and returned.

q4 = q4:reverse()
q4 = q4:reverse(r)

Reverse the rotation of this quaternion.

If r is provided then the result is written into r and returned otherwise q4 is modified and returned.

q4 = q4:rotate(degrees,v3a)
q4 = q4:rotate(degrees,v3a,r)

Apply a degree rotation to this quaternion.

If r is provided then the result is written into r and returned otherwise q4 is modified and returned.

q4 = q4:rrotate(radians,v3a)
q4 = q4:rrotate(radians,v3a,r)

Apply a radian rotation to this quaternion.

If r is provided then the result is written into r and returned otherwise q4 is modified and returned.

q4 = tardis.q4.set(q4,{0,0,0,1})
q4 = tardis.q4.set(q4,0,0,0,1)
q4 = tardis.q4.set(q4,{"xyz",0,90,0})
q4 = tardis.q4.set(q4,"xyz",0,90,0)
q4 = tardis.q4.set(q4,"xyz",{0,90,0})

If the first item in the stream is not a string then this is just a normal array.set style.

If first parameter of the stream is a string then initialise the quaternion using a simple axis rotation notation Where the string is a list of axis. This string is lower case letters. x y or z and then the following numbers are amount of rotation to apply around that axis in degrees. You should provide as many numbers as letters.

Essentially this gives you a way of initialising quaternion rotations in an easily readable way.

q4 = q4:set_yaw_pitch_roll(v3)
q4 = q4:set_yaw_pitch_roll({90,60,30})	-- 30yaw 60pitch 90roll

Set a V3(roll,pitch,yaw) degree rotation into this quaternion

yaw   v[3] is rotation about the z axis and is applied first
pitch v[2] is rotation about the y axis and is applied second
roll  v[1] is rotation about the z axis and is applied last

q4 = q4:set_yaw_pitch_roll_in_radians(v)

Set a V3(roll,pitch,yaw) radian rotation into this quaternion

yaw   v[3] is rotation about the z axis and is applied first
pitch v[2] is rotation about the y axis and is applied second
roll  v[1] is rotation about the z axis and is applied last

q4 = q4:setrot(degrees,v3a)

Set this quaternion to a rotation around the given normal by the given degrees.

q4 = q4:setrrot(radians,v3a)

Set this quaternion to a rotation around the given normal by the given radians.