---
title: "矩阵 Matrix / Quat"
description: "矩阵旋转与四元数运算"
---
---
title: 矩阵 Matrix / Quat
description: 矩阵旋转与四元数运算
---
`sa` · 扩展 `CLEO+` · 需 CLEO + CLEO+
矩阵、四元数。参数里的 `matrix`/`quat` 多为结构体地址。写法见 [Lua](/docs/cleo/syntax) / [Redux](/docs/cleo/syntax-redux)。
## 矩阵旋转
绕轴旋转矩阵。
```text
0D01 ROTATE_MATRIX_ON_AXIS
in: matrix, x, y, z, angle, rwCombine
```
```lua
rotateMatrixOnAxis(mat, 0.0, 0.0, 1.0, 45.0, combine)
```
```js
native("ROTATE_MATRIX_ON_AXIS", matrix, x, y, z, angle, rwCombine)
```
## 矩阵轴角
取矩阵 X 轴角。
```text
0D02 GET_MATRIX_X_ANGLE
in: matrix
out: angle
```
```lua
local ax = getMatrixXAngle(mat)
```
```js
const angle = native("GET_MATRIX_X_ANGLE", matrix)
```
取矩阵 Y 轴角。
```text
0D03 GET_MATRIX_Y_ANGLE
in: matrix
out: angle
```
```lua
local ay = getMatrixYAngle(mat)
```
```js
const angle = native("GET_MATRIX_Y_ANGLE", matrix)
```
取矩阵 Z 轴角。
```text
0D04 GET_MATRIX_Z_ANGLE
in: matrix
out: angle
```
```lua
local az = getMatrixZAngle(mat)
```
```js
const angle = native("GET_MATRIX_Z_ANGLE", matrix)
```
## 局部 → 世界
矩阵局部偏移 → 世界坐标。
```text
0D0A GET_OFFSET_FROM_MATRIX_IN_WORLD_COORDS
in: matrix, x, y, z
out: x, y, z
```
```lua
local wx, wy, wz = getOffsetFromMatrixInWorldCoords(mat, 0.0, 1.0, 0.0)
```
```js
const { x, y, z } = native("GET_OFFSET_FROM_MATRIX_IN_WORLD_COORDS", matrix, x, y, z)
```
## 矩阵 ↔ 四元数
用四元数设矩阵旋转。
```text
0D16 SET_MATRIX_ROTATION_FROM_QUAT
in: matrix, quat
```
```lua
setMatrixRotationFromQuat(mat, quat)
```
```js
native("SET_MATRIX_ROTATION_FROM_QUAT", matrix, quat)
```
从矩阵取四元数。
```text
0D17 SET_QUAT_FROM_MATRIX
in: quat, matrix
```
```lua
setQuatFromMatrix(quat, mat)
```
```js
native("SET_QUAT_FROM_MATRIX", quat, matrix)
```
## 四元数运算
四元数绕轴旋转。
```text
0D18 ROTATE_QUAT_ON_AXIS
in: quat, x, y, z, angle, rwCombine
```
```lua
rotateQuatOnAxis(quat, 0.0, 1.0, 0.0, 10.0, combine)
```
```js
native("ROTATE_QUAT_ON_AXIS", quat, x, y, z, angle, rwCombine)
```
归一化四元数。
```text
0D19 GET_NORMALISED_QUAT
in: quat
out: quat
```
```lua
local q2 = getNormalisedQuat(quat)
```
```js
const quat = native("GET_NORMALISED_QUAT", quat)
```
四元数相乘。
```text
0D1A MULTIPLY_QUATS
in: quat1, quat2
out: quatResult
```
```lua
local r = multiplyQuats(q1, q2)
```
```js
const quatResult = native("MULTIPLY_QUATS", quat1, quat2)
```
四元数球面插值。
```text
0D1E QUAT_SLERP
in: from, to, lambda
out: result
```
```lua
local r = quatSlerp(qFrom, qTo, 0.5)
```
```js
const result = native("QUAT_SLERP", from, to, lambda)
```
## 四元数读写
用分量初始化四元数。
```text
0D24 INITIALISE_QUAT
in: quat, x, y, z, real
```
```lua
initialiseQuat(quat, 0.0, 0.0, 0.0, 1.0)
```
```js
native("INITIALISE_QUAT", quat, x, y, z, real)
```
读四元数 xyz + real。
```text
0D29 GET_QUAT_ELEMENTS
in: quat
out: x, y, z, real
```
```lua
local x, y, z, w = getQuatElements(quat)
```
```js
const { x, y, z, real } = native("GET_QUAT_ELEMENTS", quat)
```
## 方向 / 朝向
方向向量写入四元数。
```text
0EB3 CONVERT_DIRECTION_TO_QUAT
in: quat, x, y, z
```
```lua
convertDirectionToQuat(quat, dx, dy, dz)
```
```js
native("CONVERT_DIRECTION_TO_QUAT", quat, x, y, z)
```
按原点 + 方向设矩阵朝向。
```text
0F0D SET_MATRIX_LOOK_DIRECTION
in: matrix, originX, originY, originZ, dirX, dirY, dirZ
```
```lua
setMatrixLookDirection(mat, ox, oy, oz, dx, dy, dz)
```
```js
native("SET_MATRIX_LOOK_DIRECTION", matrix, originX, originY, originZ, dirX, dirY, dirZ)
```