Struct Quaternion 

pub struct Quaternion {
    pub x: f32,
    pub y: f32,
    pub z: f32,
    pub w: f32,
}

Unit quaternion used for 3D rotation interpolation.

The components are stored as (x, y, z, w). Interpolate uses shortest-path spherical linear interpolation.

Fields

x: f32

X component of the vector part.

y: f32

Y component of the vector part.

z: f32

Z component of the vector part.

w: f32

Scalar part.

Implementations

impl Quaternion

pub const IDENTITY: Quaternion

Identity rotation.

pub fn new(x: f32, y: f32, z: f32, w: f32) -> Quaternion

Create a quaternion from components.

pub fn from_axis_angle(axis: [f32; 3], angle: Angle) -> Quaternion

Create a quaternion from an axis and angle in degrees.

pub fn dot(self, other: Quaternion) -> f32

Dot product between two quaternions.

pub fn length(self) -> f32

Magnitude of the quaternion.

pub fn normalized(self) -> Quaternion

Return a normalized quaternion, or identity when length is invalid.

pub fn negated(self) -> Quaternion

Return the negated representation of the same rotation.

pub fn slerp(self, other: Quaternion, t: f32) -> Quaternion

Spherical linear interpolation using the shortest rotation path.

pub fn to_mat3(self) -> [f32; 9]

Convert this rotation into a column-major 3x3 matrix.

Trait Implementations

impl Clone for Quaternion

fn clone(&self) -> Quaternion

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Quaternion

impl Debug for Quaternion

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

Formats the value using the given formatter.

impl Interpolate for Quaternion

fn lerp(&self, other: &Quaternion, t: f32) -> Quaternion

Linearly interpolate from self to other by factor t.

impl PartialEq for Quaternion

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for Quaternion