Struct QuatFix 

#[repr(C)]
pub struct QuatFix {
    pub x: Fix128,
    pub y: Fix128,
    pub z: Fix128,
    pub w: Fix128,
}

Quaternion using Fix128 components (for rotations)

Stored as (x, y, z, w) where w is the scalar part

Fields

x: Fix128

X component (imaginary i)

y: Fix128

Y component (imaginary j)

z: Fix128

Z component (imaginary k)

w: Fix128

W component (scalar/real part)

Implementations

impl QuatFix

pub const IDENTITY: Self

Identity quaternion (no rotation)

pub const fn new(x: Fix128, y: Fix128, z: Fix128, w: Fix128) -> Self

Create new quaternion

pub fn from_axis_angle(axis: Vec3Fix, angle: Fix128) -> Self

Create from axis-angle representation

pub fn mul(self, rhs: Self) -> Self

Quaternion multiplication (composition of rotations)

pub fn conjugate(self) -> Self

Conjugate (inverse for unit quaternions)

pub fn length_squared(self) -> Fix128

Squared magnitude

pub fn length(self) -> Fix128

Magnitude

pub fn normalize(self) -> Self

Normalize to unit quaternion (reciprocal: 1 division + 4 multiplications)

pub fn rotate_vec(self, v: Vec3Fix) -> Vec3Fix

Rotate a vector by this quaternion

Trait Implementations

impl Clone for QuatFix

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for QuatFix

impl Debug for QuatFix

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for QuatFix

fn default() -> Self

Returns the “default value” for a type.

impl Display for QuatFix

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Eq for QuatFix

impl From<QuatFix> for [Fix128; 4]

fn from(q: QuatFix) -> Self

Converts to this type from the input type.

impl From<[Fix128; 4]> for QuatFix

fn from(arr: [Fix128; 4]) -> Self

Converts to this type from the input type.

impl PartialEq for QuatFix

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for QuatFix