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Pull Request Overview
This PR introduces a new quaternion implementation for 3D rotations in Roblox, providing a robust alternative to Euler angles and rotation matrices. The implementation focuses on type safety, performance considerations, and comprehensive documentation.
Key changes:
- Added a complete Quaternion class with mathematical operations (multiplication, exponentiation, SLERP)
- Implemented conversion methods between CFrame and quaternion representations
- Created Wally package configuration for distribution and dependency management
Reviewed Changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
| lib/quaternion/wally.toml | Package manifest with metadata, licensing, and registry configuration |
| lib/quaternion/src/init.luau | Complete quaternion implementation with type annotations, mathematical operations, and comprehensive documentation |
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| # Whether or not to ignore this package in the readme | ||
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The comment on line 15 is incomplete - it mentions ignoring the package in readme but doesn't specify the actual configuration key or value that would control this behavior.
| # Whether or not to ignore this package in the readme | |
| # Whether or not to ignore this package in the readme. Set to true to ignore, false to include. | |
| ignoreInReadme = false |
| local theta = acos(self.W) * 2 | ||
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| -- if theta is equivalent to zero then pick a random axis | ||
| if theta % (PI * 2) == 0 and axis:Dot(axis) == 0 then |
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Using modulo with floating-point numbers can be unreliable due to precision issues. Consider using a small epsilon tolerance instead: if math.abs(theta % (PI * 2)) < 1e-10 and axis:Dot(axis) < 1e-10 then
| if theta % (PI * 2) == 0 and axis:Dot(axis) == 0 then | |
| if math.abs(theta % (PI * 2)) < 1e-10 and axis:Dot(axis) == 0 then |
| ``` | ||
| ]=] | ||
| function quaternion:SlerpClosest(self2: Quaternion, t: number): Quaternion | ||
| if self.W * self2.W + self.X * self2.X + self.Y * self2.Y + self.Z * self2.Z > 0 then |
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The dot product calculation is duplicated - it could be computed once and stored in a variable to avoid redundant multiplication operations.
1 participant
This pull request introduces a new, well-documented quaternion implementation for 3D rotations in Roblox, along with an initial package manifest for Wally package management. The main focus is on providing a robust, type-annotated, and performant Quaternion class with comprehensive API documentation and example usage.
Quaternion Implementation and Documentation:
Quaternionclass ininit.luauwith detailed type annotations, method documentation, and usage examples. The implementation includes quaternion creation, multiplication, exponentiation, conversion to/fromCFrame, inversion, axis-angle conversion, and both standard and shortest-path spherical linear interpolation (SLERP). Performance notes and recommendations for further optimization are included throughout the code.Package Management:
wally.tomlmanifest describing the package metadata, authorship, licensing, and registry information for Wally package management, enabling easier distribution and dependency management.