#[repr(transparent)]pub struct Quat(_);
Expand description
A quaternion representing an orientation.
This quaternion is intended to be of unit length but may denormalize due to floating point “error creep” which can occur when successive quaternion operations are applied.
This type is 16 byte aligned.
Implementations
sourceimpl Quat
impl Quat
sourcepub fn from_xyzw(x: f32, y: f32, z: f32, w: f32) -> Quat
pub fn from_xyzw(x: f32, y: f32, z: f32, w: f32) -> Quat
Creates a new rotation quaternion.
This should generally not be called manually unless you know what you are doing.
Use one of the other constructors instead such as identity
or from_axis_angle
.
from_xyzw
is mostly used by unit tests and serde
deserialization.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
sourcepub fn from_array(a: [f32; 4]) -> Quat
pub fn from_array(a: [f32; 4]) -> Quat
Creates a rotation quaternion from an array.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
sourcepub fn from_vec4(v: Vec4) -> Quat
pub fn from_vec4(v: Vec4) -> Quat
Creates a new rotation quaternion from a 4D vector.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
sourcepub fn from_slice(slice: &[f32]) -> Quat
pub fn from_slice(slice: &[f32]) -> Quat
Creates a rotation quaternion from a slice.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
Panics
Panics if slice
length is less than 4.
sourcepub fn write_to_slice(self, slice: &mut [f32])
pub fn write_to_slice(self, slice: &mut [f32])
sourcepub fn from_axis_angle(axis: Vec3, angle: f32) -> Quat
pub fn from_axis_angle(axis: Vec3, angle: f32) -> Quat
Create a quaternion for a normalized rotation axis
and angle
(in radians).
The axis must be normalized (unit-length).
Panics
Will panic if axis
is not normalized when glam_assert
is enabled.
sourcepub fn from_scaled_axis(v: Vec3) -> Quat
pub fn from_scaled_axis(v: Vec3) -> Quat
Create a quaternion that rotates v.length()
radians around v.normalize()
.
from_scaled_axis(Vec3::ZERO)
results in the identity quaternion.
sourcepub fn from_rotation_x(angle: f32) -> Quat
pub fn from_rotation_x(angle: f32) -> Quat
Creates a quaternion from the angle
(in radians) around the x axis.
sourcepub fn from_rotation_y(angle: f32) -> Quat
pub fn from_rotation_y(angle: f32) -> Quat
Creates a quaternion from the angle
(in radians) around the y axis.
sourcepub fn from_rotation_z(angle: f32) -> Quat
pub fn from_rotation_z(angle: f32) -> Quat
Creates a quaternion from the angle
(in radians) around the z axis.
sourcepub fn from_euler(euler: EulerRot, a: f32, b: f32, c: f32) -> Quat
pub fn from_euler(euler: EulerRot, a: f32, b: f32, c: f32) -> Quat
Creates a quaternion from the given euler rotation sequence and the angles (in radians).
sourcepub fn from_mat4(mat: &Mat4) -> Quat
pub fn from_mat4(mat: &Mat4) -> Quat
Creates a quaternion from a 3x3 rotation matrix inside a homogeneous 4x4 matrix.
sourcepub fn from_rotation_arc(from: Vec3, to: Vec3) -> Quat
pub fn from_rotation_arc(from: Vec3, to: Vec3) -> Quat
Gets the minimal rotation for transforming from
to to
. The rotation is in the
plane spanned by the two vectors. Will rotate at most 180 degrees.
The input vectors must be normalized (unit-length).
from_rotation_arc(from, to) * from ≈ to
.
For near-singular cases (from≈to and from≈-to) the current implementation
is only accurate to about 0.001 (for f32
).
Panics
Will panic if from
or to
are not normalized when glam_assert
is enabled.
sourcepub fn from_rotation_arc_colinear(from: Vec3, to: Vec3) -> Quat
pub fn from_rotation_arc_colinear(from: Vec3, to: Vec3) -> Quat
Gets the minimal rotation for transforming from
to either to
or -to
. This means
that the resulting quaternion will rotate from
so that it is colinear with to
.
The rotation is in the plane spanned by the two vectors. Will rotate at most 90 degrees.
The input vectors must be normalized (unit-length).
to.dot(from_rotation_arc_colinear(from, to) * from).abs() ≈ 1
.
Panics
Will panic if from
or to
are not normalized when glam_assert
is enabled.
sourcepub fn from_rotation_arc_2d(from: Vec2, to: Vec2) -> Quat
pub fn from_rotation_arc_2d(from: Vec2, to: Vec2) -> Quat
Gets the minimal rotation for transforming from
to to
. The resulting rotation is
around the z axis. Will rotate at most 180 degrees.
The input vectors must be normalized (unit-length).
from_rotation_arc_2d(from, to) * from ≈ to
.
For near-singular cases (from≈to and from≈-to) the current implementation
is only accurate to about 0.001 (for f32
).
Panics
Will panic if from
or to
are not normalized when glam_assert
is enabled.
sourcepub fn to_axis_angle(self) -> (Vec3, f32)
pub fn to_axis_angle(self) -> (Vec3, f32)
Returns the rotation axis and angle (in radians) of self
.
sourcepub fn to_scaled_axis(self) -> Vec3
pub fn to_scaled_axis(self) -> Vec3
Returns the rotation axis scaled by the rotation in radians.
sourcepub fn to_euler(self, euler: EulerRot) -> (f32, f32, f32)
pub fn to_euler(self, euler: EulerRot) -> (f32, f32, f32)
Returns the rotation angles for the given euler rotation sequence.
sourcepub fn conjugate(self) -> Quat
pub fn conjugate(self) -> Quat
Returns the quaternion conjugate of self
. For a unit quaternion the
conjugate is also the inverse.
sourcepub fn inverse(self) -> Quat
pub fn inverse(self) -> Quat
Returns the inverse of a normalized quaternion.
Typically quaternion inverse returns the conjugate of a normalized quaternion.
Because self
is assumed to already be unit length this method does not normalize
before returning the conjugate.
Panics
Will panic if self
is not normalized when glam_assert
is enabled.
sourcepub fn dot(self, other: Quat) -> f32
pub fn dot(self, other: Quat) -> f32
Computes the dot product of self
and other
. The dot product is
equal to the the cosine of the angle between two quaternion rotations.
sourcepub fn length_squared(self) -> f32
pub fn length_squared(self) -> f32
Computes the squared length of self
.
This is generally faster than length()
as it avoids a square
root operation.
sourcepub fn length_recip(self) -> f32
pub fn length_recip(self) -> f32
Computes 1.0 / length()
.
For valid results, self
must not be of length zero.
sourcepub fn normalize(self) -> Quat
pub fn normalize(self) -> Quat
Returns self
normalized to length 1.0.
For valid results, self
must not be of length zero.
Panics
Will panic if self
is zero length when glam_assert
is enabled.
sourcepub fn is_finite(self) -> bool
pub fn is_finite(self) -> bool
Returns true
if, and only if, all elements are finite.
If any element is either NaN
, positive or negative infinity, this will return false
.
pub fn is_nan(self) -> bool
sourcepub fn is_normalized(self) -> bool
pub fn is_normalized(self) -> bool
Returns whether self
of length 1.0
or not.
Uses a precision threshold of 1e-6
.
pub fn is_near_identity(self) -> bool
sourcepub fn angle_between(self, other: Quat) -> f32
pub fn angle_between(self, other: Quat) -> f32
Returns the angle (in radians) for the minimal rotation for transforming this quaternion into another.
Both quaternions must be normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
sourcepub fn abs_diff_eq(self, other: Quat, max_abs_diff: f32) -> bool
pub fn abs_diff_eq(self, other: Quat, max_abs_diff: f32) -> bool
Returns true if the absolute difference of all elements between self
and other
is less than or equal to max_abs_diff
.
This can be used to compare if two quaternions contain similar elements. It works
best when comparing with a known value. The max_abs_diff
that should be used used
depends on the values being compared against.
For more see comparing floating point numbers.
sourcepub fn lerp(self, end: Quat, s: f32) -> Quat
pub fn lerp(self, end: Quat, s: f32) -> Quat
Performs a linear interpolation between self
and other
based on
the value s
.
When s
is 0.0
, the result will be equal to self
. When s
is 1.0
, the result will be equal to other
.
Panics
Will panic if self
or end
are not normalized when glam_assert
is enabled.
sourcepub fn slerp(self, end: Quat, s: f32) -> Quat
pub fn slerp(self, end: Quat, s: f32) -> Quat
Performs a spherical linear interpolation between self
and end
based on the value s
.
When s
is 0.0
, the result will be equal to self
. When s
is 1.0
, the result will be equal to end
.
Note that a rotation can be represented by two quaternions: q
and
-q
. The slerp path between q
and end
will be different from the
path between -q
and end
. One path will take the long way around and
one will take the short way. In order to correct for this, the dot
product between self
and end
should be positive. If the dot
product is negative, slerp between -self
and end
.
Panics
Will panic if self
or end
are not normalized when glam_assert
is enabled.
sourcepub fn mul_vec3(self, other: Vec3) -> Vec3
pub fn mul_vec3(self, other: Vec3) -> Vec3
Multiplies a quaternion and a 3D vector, returning the rotated vector.
Panics
Will panic if self
is not normalized when glam_assert
is enabled.
sourcepub fn mul_quat(self, other: Quat) -> Quat
pub fn mul_quat(self, other: Quat) -> Quat
Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.
Note that due to floating point rounding the result may not be perfectly normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
sourcepub fn mul_vec3a(self, other: Vec3A) -> Vec3A
pub fn mul_vec3a(self, other: Vec3A) -> Vec3A
Multiplies a quaternion and a 3D vector, returning the rotated vector.
pub fn as_f64(self) -> DQuat
sourcepub fn from_affine3(mat: &Affine3A) -> Quat
pub fn from_affine3(mat: &Affine3A) -> Quat
Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.
Trait Implementations
sourceimpl Add<Quat> for Quat
impl Add<Quat> for Quat
sourceimpl<'de> Deserialize<'de> for Quat
impl<'de> Deserialize<'de> for Quat
sourcepub fn deserialize<D>(
deserializer: D
) -> Result<Quat, <D as Deserializer<'de>>::Error> where
D: Deserializer<'de>,
pub fn deserialize<D>(
deserializer: D
) -> Result<Quat, <D as Deserializer<'de>>::Error> where
D: Deserializer<'de>,
Deserialize this value from the given Serde deserializer. Read more
impl FromReflect for Quat
impl FromReflect for Quat
pub fn from_reflect(reflect: &(dyn Reflect + 'static)) -> Option<Quat>
pub fn from_reflect(reflect: &(dyn Reflect + 'static)) -> Option<Quat>
Creates a clone of a reflected value, converting it to a concrete type if it was a dynamic types (e.g. DynamicStruct
)
impl GetTypeRegistration for Quat
impl GetTypeRegistration for Quat
pub fn get_type_registration() -> TypeRegistration
sourceimpl Mul<Quat> for Quat
impl Mul<Quat> for Quat
sourcepub fn mul(self, other: Quat) -> Quat
pub fn mul(self, other: Quat) -> Quat
Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.
Note that due to floating point rounding the result may not be perfectly normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
sourceimpl MulAssign<Quat> for Quat
impl MulAssign<Quat> for Quat
sourcepub fn mul_assign(&mut self, other: Quat)
pub fn mul_assign(&mut self, other: Quat)
Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.
Note that due to floating point rounding the result may not be perfectly normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
impl Reflect for Quat
impl Reflect for Quat
pub fn type_name(&self) -> &str
pub fn any(&self) -> &(dyn Any + 'static)
pub fn any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn clone_value(&self) -> Box<dyn Reflect + 'static, Global>ⓘNotable traits for Box<I, A>impl<I, A> Iterator for Box<I, A> where
I: Iterator + ?Sized,
A: Allocator, type Item = <I as Iterator>::Item;impl<F, A> Future for Box<F, A> where
F: Future + Unpin + ?Sized,
A: Allocator + 'static, type Output = <F as Future>::Output;
I: Iterator + ?Sized,
A: Allocator, type Item = <I as Iterator>::Item;impl<F, A> Future for Box<F, A> where
F: Future + Unpin + ?Sized,
A: Allocator + 'static, type Output = <F as Future>::Output;
pub fn apply(&mut self, value: &(dyn Reflect + 'static))
pub fn set(
&mut self,
value: Box<dyn Reflect + 'static, Global>
) -> Result<(), Box<dyn Reflect + 'static, Global>>
pub fn reflect_ref(&self) -> ReflectRef<'_>
pub fn reflect_mut(&mut self) -> ReflectMut<'_>
pub fn reflect_hash(&self) -> Option<u64>
pub fn reflect_hash(&self) -> Option<u64>
Returns a hash of the value (which includes the type) if hashing is supported. Otherwise
None
will be returned. Read more
pub fn reflect_partial_eq(
&self,
value: &(dyn Reflect + 'static)
) -> Option<bool>
pub fn reflect_partial_eq(
&self,
value: &(dyn Reflect + 'static)
) -> Option<bool>
Returns a “partial equal” comparison result if comparison is supported. Otherwise None
will be returned. Read more
pub fn serializable(&self) -> Option<Serializable<'_>>
pub fn serializable(&self) -> Option<Serializable<'_>>
Returns a serializable value, if serialization is supported. Otherwise None
will be
returned. Read more
sourceimpl Serialize for Quat
impl Serialize for Quat
sourcepub fn serialize<S>(
&self,
serializer: S
) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error> where
S: Serializer,
pub fn serialize<S>(
&self,
serializer: S
) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error> where
S: Serializer,
Serialize this value into the given Serde serializer. Read more
impl Copy for Quat
impl Pod for Quat
Auto Trait Implementations
impl RefUnwindSafe for Quat
impl Send for Quat
impl Sync for Quat
impl Unpin for Quat
impl UnwindSafe for Quat
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcepub fn borrow_mut(&mut self) -> &mut T
pub fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>ⓘNotable traits for Box<I, A>impl<I, A> Iterator for Box<I, A> where
I: Iterator + ?Sized,
A: Allocator, type Item = <I as Iterator>::Item;impl<F, A> Future for Box<F, A> where
F: Future + Unpin + ?Sized,
A: Allocator + 'static, type Output = <F as Future>::Output;
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>ⓘNotable traits for Box<I, A>impl<I, A> Iterator for Box<I, A> where
I: Iterator + ?Sized,
A: Allocator, type Item = <I as Iterator>::Item;impl<F, A> Future for Box<F, A> where
F: Future + Unpin + ?Sized,
A: Allocator + 'static, type Output = <F as Future>::Output;
I: Iterator + ?Sized,
A: Allocator, type Item = <I as Iterator>::Item;impl<F, A> Future for Box<F, A> where
F: Future + Unpin + ?Sized,
A: Allocator + 'static, type Output = <F as Future>::Output;
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn as_any(&self) -> &(dyn Any + 'static)
pub fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<T> FromWorld for T where
T: Default,
impl<T> FromWorld for T where
T: Default,
pub fn from_world(_world: &mut World) -> T
pub fn from_world(_world: &mut World) -> T
Creates Self
using data from the given World
impl<T> GetPath for T where
T: Reflect,
impl<T> GetPath for T where
T: Reflect,
pub fn path(
&'r self,
path: &'p str
) -> Result<&'r (dyn Reflect + 'static), ReflectPathError<'p>>
pub fn path_mut(
&'r mut self,
path: &'p str
) -> Result<&'r mut (dyn Reflect + 'static), ReflectPathError<'p>>
fn get_path<T>(&'r self, path: &'p str) -> Result<&'r T, ReflectPathError<'p>> where
T: Reflect,
fn get_path_mut<T>(
&'r mut self,
path: &'p str
) -> Result<&'r mut T, ReflectPathError<'p>> where
T: Reflect,
sourceimpl<T> Instrument for T
impl<T> Instrument for T
sourcefn instrument(self, span: Span) -> Instrumented<Self>ⓘNotable traits for Instrumented<T>impl<T> Future for Instrumented<T> where
T: Future, type Output = <T as Future>::Output;
fn instrument(self, span: Span) -> Instrumented<Self>ⓘNotable traits for Instrumented<T>impl<T> Future for Instrumented<T> where
T: Future, type Output = <T as Future>::Output;
T: Future, type Output = <T as Future>::Output;
sourcefn in_current_span(self) -> Instrumented<Self>ⓘNotable traits for Instrumented<T>impl<T> Future for Instrumented<T> where
T: Future, type Output = <T as Future>::Output;
fn in_current_span(self) -> Instrumented<Self>ⓘNotable traits for Instrumented<T>impl<T> Future for Instrumented<T> where
T: Future, type Output = <T as Future>::Output;
T: Future, type Output = <T as Future>::Output;
sourceimpl<T> Serialize for T where
T: Serialize + ?Sized,
impl<T> Serialize for T where
T: Serialize + ?Sized,
pub fn erased_serialize(
&self,
serializer: &mut dyn Serializer
) -> Result<Ok, Error>
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcepub fn to_owned(&self) -> T
pub fn to_owned(&self) -> T
Creates owned data from borrowed data, usually by cloning. Read more
sourcepub fn clone_into(&self, target: &mut T)
pub fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more
impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>ⓘNotable traits for Box<I, A>impl<I, A> Iterator for Box<I, A> where
I: Iterator + ?Sized,
A: Allocator, type Item = <I as Iterator>::Item;impl<F, A> Future for Box<F, A> where
F: Future + Unpin + ?Sized,
A: Allocator + 'static, type Output = <F as Future>::Output;
I: Iterator + ?Sized,
A: Allocator, type Item = <I as Iterator>::Item;impl<F, A> Future for Box<F, A> where
F: Future + Unpin + ?Sized,
A: Allocator + 'static, type Output = <F as Future>::Output;
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
pub fn vzip(self) -> V
sourceimpl<T> WithSubscriber for T
impl<T> WithSubscriber for T
sourcefn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>ⓘNotable traits for WithDispatch<T>impl<T> Future for WithDispatch<T> where
T: Future, type Output = <T as Future>::Output;
where
S: Into<Dispatch>,
fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>ⓘNotable traits for WithDispatch<T>impl<T> Future for WithDispatch<T> where
T: Future, type Output = <T as Future>::Output;
where
S: Into<Dispatch>,
T: Future, type Output = <T as Future>::Output;
Attaches the provided Subscriber
to this type, returning a
WithDispatch
wrapper. Read more
sourcefn with_current_subscriber(self) -> WithDispatch<Self>ⓘNotable traits for WithDispatch<T>impl<T> Future for WithDispatch<T> where
T: Future, type Output = <T as Future>::Output;
fn with_current_subscriber(self) -> WithDispatch<Self>ⓘNotable traits for WithDispatch<T>impl<T> Future for WithDispatch<T> where
T: Future, type Output = <T as Future>::Output;
T: Future, type Output = <T as Future>::Output;
Attaches the current default Subscriber
to this type, returning a
WithDispatch
wrapper. Read more