Struct Quat

pub struct Quat(/* private fields */);

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.

SIMD vector types are used for storage on supported platforms.

This type is 16 byte aligned.

Implementations

impl Quat

pub const IDENTITY: Quat

The identity quaternion. Corresponds to no rotation.

pub const NAN: Quat

All NANs.

pub const 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.

Examples found in repository

examples/math/custom_primitives.rs (line 55)

const TRANSFORM_3D: Transform = Transform {
    translation: Vec3::ZERO,
    // The camera is pointing at the 3D shape
    rotation: Quat::from_xyzw(-0.14521316, -0.0, -0.0, 0.98940045),
    scale: Vec3::ONE,
};

examples/3d/parallax_mapping.rs (line 165)

const CAMERA_POSITIONS: &[Transform] = &[
    Transform {
        translation: Vec3::new(1.5, 1.5, 1.5),
        rotation: Quat::from_xyzw(-0.279, 0.364, 0.115, 0.880),
        scale: Vec3::ONE,
    },
    Transform {
        translation: Vec3::new(2.4, 0.0, 0.2),
        rotation: Quat::from_xyzw(0.094, 0.676, 0.116, 0.721),
        scale: Vec3::ONE,
    },
    Transform {
        translation: Vec3::new(2.4, 2.6, -4.3),
        rotation: Quat::from_xyzw(0.170, 0.908, 0.308, 0.225),
        scale: Vec3::ONE,
    },
    Transform {
        translation: Vec3::new(-1.0, 0.8, -1.2),
        rotation: Quat::from_xyzw(-0.004, 0.909, 0.247, -0.335),
        scale: Vec3::ONE,
    },
];

pub const 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.

Examples found in repository

examples/3d/pcss.rs (lines 186-191)

fn spawn_light(commands: &mut Commands, app_status: &AppStatus) {
    // Because this light can become a directional light, point light, or spot
    // light depending on the settings, we add the union of the components
    // necessary for this light to behave as all three of those.
    commands
        .spawn((
            create_directional_light(app_status),
            Transform::from_rotation(Quat::from_array([
                0.6539259,
                -0.34646285,
                0.36505926,
                -0.5648683,
            ]))
            .with_translation(vec3(57.693, 34.334, -6.422)),
        ))
        // These two are needed for point lights.
        .insert(CubemapVisibleEntities::default())
        .insert(CubemapFrusta::default())
        // These two are needed for spot lights.
        .insert(VisibleMeshEntities::default())
        .insert(Frustum::default());
}

pub const 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.

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.

pub fn write_to_slice(self, slice: &mut [f32])

Writes the quaternion to an unaligned slice.

Panics

Panics if slice length is less than 4.

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 a unit vector.

Panics

Will panic if axis is not normalized when glam_assert is enabled.

Examples found in repository

examples/gizmos/axes.rs (line 191)

fn random_rotation(rng: &mut impl Rng) -> Quat {
    let dir = random_direction(rng);
    let angle = rng.r#gen::<f32>() * 2. * PI;

    Quat::from_axis_angle(dir, angle)
}

examples/ui/overflow_debug.rs (line 73)

    fn update(&self, t: f32, transform: &mut Transform) {
        transform.rotation =
            Quat::from_axis_angle(Vec3::Z, (ops::cos(t * TAU) * 45.0).to_radians());
    }

examples/shader/shader_material_screenspace_texture.rs (line 57)

fn rotate_camera(mut cam_transform: Single<&mut Transform, With<MainCamera>>, time: Res<Time>) {
    cam_transform.rotate_around(
        Vec3::ZERO,
        Quat::from_axis_angle(Vec3::Y, 45f32.to_radians() * time.delta_secs()),
    );
    cam_transform.look_at(Vec3::ZERO, Vec3::Y);
}

examples/3d/split_screen.rs (line 203)

fn button_system(
    interaction_query: Query<
        (&Interaction, &ComputedNodeTarget, &RotateCamera),
        (Changed<Interaction>, With<Button>),
    >,
    mut camera_query: Query<&mut Transform, With<Camera>>,
) {
    for (interaction, computed_target, RotateCamera(direction)) in &interaction_query {
        if let Interaction::Pressed = *interaction {
            // Since TargetCamera propagates to the children, we can use it to find
            // which side of the screen the button is on.
            if let Some(mut camera_transform) = computed_target
                .camera()
                .and_then(|camera| camera_query.get_mut(camera).ok())
            {
                let angle = match direction {
                    Direction::Left => -0.1,
                    Direction::Right => 0.1,
                };
                camera_transform.rotate_around(Vec3::ZERO, Quat::from_axis_angle(Vec3::Y, angle));
            }
        }
    }
}

examples/3d/ssr.rs (line 334)

fn move_camera(
    keyboard_input: Res<ButtonInput<KeyCode>>,
    mut mouse_wheel_input: EventReader<MouseWheel>,
    mut cameras: Query<&mut Transform, With<Camera>>,
) {
    let (mut distance_delta, mut theta_delta) = (0.0, 0.0);

    // Handle keyboard events.
    if keyboard_input.pressed(KeyCode::KeyW) {
        distance_delta -= CAMERA_KEYBOARD_ZOOM_SPEED;
    }
    if keyboard_input.pressed(KeyCode::KeyS) {
        distance_delta += CAMERA_KEYBOARD_ZOOM_SPEED;
    }
    if keyboard_input.pressed(KeyCode::KeyA) {
        theta_delta += CAMERA_KEYBOARD_ORBIT_SPEED;
    }
    if keyboard_input.pressed(KeyCode::KeyD) {
        theta_delta -= CAMERA_KEYBOARD_ORBIT_SPEED;
    }

    // Handle mouse events.
    for mouse_wheel_event in mouse_wheel_input.read() {
        distance_delta -= mouse_wheel_event.y * CAMERA_MOUSE_WHEEL_ZOOM_SPEED;
    }

    // Update transforms.
    for mut camera_transform in cameras.iter_mut() {
        let local_z = camera_transform.local_z().as_vec3().normalize_or_zero();
        if distance_delta != 0.0 {
            camera_transform.translation = (camera_transform.translation.length() + distance_delta)
                .clamp(CAMERA_ZOOM_RANGE.start, CAMERA_ZOOM_RANGE.end)
                * local_z;
        }
        if theta_delta != 0.0 {
            camera_transform
                .translate_around(Vec3::ZERO, Quat::from_axis_angle(Vec3::Y, theta_delta));
            camera_transform.look_at(Vec3::ZERO, Vec3::Y);
        }
    }
}

examples/3d/decal.rs (lines 75-78)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut standard_materials: ResMut<Assets<StandardMaterial>>,
    mut decal_standard_materials: ResMut<Assets<ForwardDecalMaterial<StandardMaterial>>>,
    asset_server: Res<AssetServer>,
) {
    // Spawn the forward decal
    commands.spawn((
        Name::new("Decal"),
        ForwardDecal,
        MeshMaterial3d(decal_standard_materials.add(ForwardDecalMaterial {
            base: StandardMaterial {
                base_color_texture: Some(asset_server.load("textures/uv_checker_bw.png")),
                ..default()
            },
            extension: ForwardDecalMaterialExt {
                depth_fade_factor: 1.0,
            },
        })),
        Transform::from_scale(Vec3::splat(4.0)),
    ));

    commands.spawn((
        Name::new("Camera"),
        Camera3d::default(),
        CameraController::default(),
        DepthPrepass, // Must enable the depth prepass to render forward decals
        Transform::from_xyz(2.0, 9.5, 2.5).looking_at(Vec3::ZERO, Vec3::Y),
    ));

    let white_material = standard_materials.add(Color::WHITE);

    commands.spawn((
        Name::new("Floor"),
        Mesh3d(meshes.add(Rectangle::from_length(10.0))),
        MeshMaterial3d(white_material.clone()),
        Transform::from_rotation(Quat::from_rotation_x(-std::f32::consts::FRAC_PI_2)),
    ));

    // Spawn a few cube with random rotations to showcase how the decals behave with non-flat geometry
    let num_obs = 10;
    let mut rng = ChaCha8Rng::seed_from_u64(19878367467713);
    for i in 0..num_obs {
        for j in 0..num_obs {
            let rotation_axis: [f32; 3] = rng.r#gen();
            let rotation_vec: Vec3 = rotation_axis.into();
            let rotation: u32 = rng.gen_range(0..360);
            let transform = Transform::from_xyz(
                (-num_obs + 1) as f32 / 2.0 + i as f32,
                -0.2,
                (-num_obs + 1) as f32 / 2.0 + j as f32,
            )
            .with_rotation(Quat::from_axis_angle(
                rotation_vec.normalize_or_zero(),
                (rotation as f32).to_radians(),
            ));

            commands.spawn((
                Mesh3d(meshes.add(Cuboid::from_length(0.6))),
                MeshMaterial3d(white_material.clone()),
                transform,
            ));
        }
    }

    commands.spawn((
        Name::new("Light"),
        PointLight {
            shadows_enabled: true,
            ..default()
        },
        Transform::from_xyz(4.0, 8.0, 4.0),
    ));
}

Additional examples can be found in:

• examples/animation/animated_transform.rs

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.

Examples found in repository

examples/3d/mesh_ray_cast.rs (line 85)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    // Make a box of planes facing inward so the laser gets trapped inside
    let plane_mesh = meshes.add(Plane3d::default());
    let plane_material = materials.add(Color::from(css::GRAY).with_alpha(0.01));
    let create_plane = move |translation, rotation| {
        (
            Transform::from_translation(translation)
                .with_rotation(Quat::from_scaled_axis(rotation)),
            Mesh3d(plane_mesh.clone()),
            MeshMaterial3d(plane_material.clone()),
        )
    };

    commands.spawn(create_plane(vec3(0.0, 0.5, 0.0), Vec3::X * PI));
    commands.spawn(create_plane(vec3(0.0, -0.5, 0.0), Vec3::ZERO));
    commands.spawn(create_plane(vec3(0.5, 0.0, 0.0), Vec3::Z * FRAC_PI_2));
    commands.spawn(create_plane(vec3(-0.5, 0.0, 0.0), Vec3::Z * -FRAC_PI_2));
    commands.spawn(create_plane(vec3(0.0, 0.0, 0.5), Vec3::X * -FRAC_PI_2));
    commands.spawn(create_plane(vec3(0.0, 0.0, -0.5), Vec3::X * FRAC_PI_2));

    // Light
    commands.spawn((
        DirectionalLight::default(),
        Transform::from_rotation(Quat::from_euler(EulerRot::XYZ, -0.1, 0.2, 0.0)),
    ));

    // Camera
    commands.spawn((
        Camera3d::default(),
        Camera {
            hdr: true,
            ..default()
        },
        Transform::from_xyz(1.5, 1.5, 1.5).looking_at(Vec3::ZERO, Vec3::Y),
        Tonemapping::TonyMcMapface,
        Bloom::default(),
    ));
}

pub fn from_rotation_x(angle: f32) -> Quat

Creates a quaternion from the angle (in radians) around the x axis.

Examples found in repository

examples/math/sampling_primitives.rs (line 671)

fn update_camera(mut camera: Query<(&mut Transform, &CameraRig), Changed<CameraRig>>) {
    for (mut transform, rig) in camera.iter_mut() {
        let looking_direction =
            Quat::from_rotation_y(-rig.yaw) * Quat::from_rotation_x(rig.pitch) * Vec3::Z;
        transform.translation = rig.target - rig.distance * looking_direction;
        transform.look_at(rig.target, Dir3::Y);
    }
}

examples/3d/3d_scene.rs (line 22)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    // circular base
    commands.spawn((
        Mesh3d(meshes.add(Circle::new(4.0))),
        MeshMaterial3d(materials.add(Color::WHITE)),
        Transform::from_rotation(Quat::from_rotation_x(-std::f32::consts::FRAC_PI_2)),
    ));
    // cube
    commands.spawn((
        Mesh3d(meshes.add(Cuboid::new(1.0, 1.0, 1.0))),
        MeshMaterial3d(materials.add(Color::srgb_u8(124, 144, 255))),
        Transform::from_xyz(0.0, 0.5, 0.0),
    ));
    // light
    commands.spawn((
        PointLight {
            shadows_enabled: true,
            ..default()
        },
        Transform::from_xyz(4.0, 8.0, 4.0),
    ));
    // camera
    commands.spawn((
        Camera3d::default(),
        Transform::from_xyz(-2.5, 4.5, 9.0).looking_at(Vec3::ZERO, Vec3::Y),
    ));
}

examples/diagnostics/log_diagnostics.rs (line 42)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    // circular base
    commands.spawn((
        Mesh3d(meshes.add(Circle::new(4.0))),
        MeshMaterial3d(materials.add(Color::WHITE)),
        Transform::from_rotation(Quat::from_rotation_x(-std::f32::consts::FRAC_PI_2)),
    ));
    // cube
    commands.spawn((
        Mesh3d(meshes.add(Cuboid::new(1.0, 1.0, 1.0))),
        MeshMaterial3d(materials.add(Color::srgb_u8(124, 144, 255))),
        Transform::from_xyz(0.0, 0.5, 0.0),
    ));
    // light
    commands.spawn((
        PointLight {
            shadows_enabled: true,
            ..default()
        },
        Transform::from_xyz(4.0, 8.0, 4.0),
    ));
    // camera
    commands.spawn((
        Camera3d::default(),
        Transform::from_xyz(-2.5, 4.5, 9.0).looking_at(Vec3::ZERO, Vec3::Y),
    ));
}

examples/animation/animation_graph.rs (line 247)

fn setup_scene(
    mut commands: Commands,
    asset_server: Res<AssetServer>,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    commands.spawn((
        Camera3d::default(),
        Transform::from_xyz(-10.0, 5.0, 13.0).looking_at(Vec3::new(0., 1., 0.), Vec3::Y),
    ));

    commands.spawn((
        PointLight {
            intensity: 10_000_000.0,
            shadows_enabled: true,
            ..default()
        },
        Transform::from_xyz(-4.0, 8.0, 13.0),
    ));

    commands.spawn((
        SceneRoot(
            asset_server.load(GltfAssetLabel::Scene(0).from_asset("models/animated/Fox.glb")),
        ),
        Transform::from_scale(Vec3::splat(0.07)),
    ));

    // Ground

    commands.spawn((
        Mesh3d(meshes.add(Circle::new(7.0))),
        MeshMaterial3d(materials.add(Color::srgb(0.3, 0.5, 0.3))),
        Transform::from_rotation(Quat::from_rotation_x(-std::f32::consts::FRAC_PI_2)),
    ));
}

examples/remote/server.rs (line 34)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    // circular base
    commands.spawn((
        Mesh3d(meshes.add(Circle::new(4.0))),
        MeshMaterial3d(materials.add(Color::WHITE)),
        Transform::from_rotation(Quat::from_rotation_x(-std::f32::consts::FRAC_PI_2)),
    ));

    // cube
    commands.spawn((
        Mesh3d(meshes.add(Cuboid::new(1.0, 1.0, 1.0))),
        MeshMaterial3d(materials.add(Color::srgb_u8(124, 144, 255))),
        Transform::from_xyz(0.0, 0.5, 0.0),
        Cube(1.0),
    ));

    // test resource
    commands.insert_resource(TestResource {
        foo: Vec2::new(1.0, -1.0),
        bar: false,
    });

    // light
    commands.spawn((
        PointLight {
            shadows_enabled: true,
            ..default()
        },
        Transform::from_xyz(4.0, 8.0, 4.0),
    ));

    // camera
    commands.spawn((
        Camera3d::default(),
        Transform::from_xyz(-2.5, 4.5, 9.0).looking_at(Vec3::ZERO, Vec3::Y),
    ));
}

examples/animation/animation_masks.rs (line 153)

fn setup_scene(
    mut commands: Commands,
    asset_server: Res<AssetServer>,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    // Spawn the camera.
    commands.spawn((
        Camera3d::default(),
        Transform::from_xyz(-15.0, 10.0, 20.0).looking_at(Vec3::new(0., 1., 0.), Vec3::Y),
    ));

    // Spawn the light.
    commands.spawn((
        PointLight {
            intensity: 10_000_000.0,
            shadows_enabled: true,
            ..default()
        },
        Transform::from_xyz(-4.0, 8.0, 13.0),
    ));

    // Spawn the fox.
    commands.spawn((
        SceneRoot(
            asset_server.load(GltfAssetLabel::Scene(0).from_asset("models/animated/Fox.glb")),
        ),
        Transform::from_scale(Vec3::splat(0.07)),
    ));

    // Spawn the ground.
    commands.spawn((
        Mesh3d(meshes.add(Circle::new(7.0))),
        MeshMaterial3d(materials.add(Color::srgb(0.3, 0.5, 0.3))),
        Transform::from_rotation(Quat::from_rotation_x(-std::f32::consts::FRAC_PI_2)),
    ));
}

Additional examples can be found in:

• examples/camera/custom_projection.rs
• examples/3d/skybox.rs
• examples/shader/custom_render_phase.rs
• examples/picking/simple_picking.rs
• examples/picking/debug_picking.rs
• examples/animation/custom_skinned_mesh.rs
• examples/math/custom_primitives.rs
• examples/app/headless_renderer.rs
• examples/3d/specular_tint.rs
• examples/testbed/3d.rs
• examples/stress_tests/many_cameras_lights.rs
• examples/3d/texture.rs
• examples/3d/decal.rs
• examples/ui/render_ui_to_texture.rs
• examples/3d/3d_shapes.rs
• examples/gizmos/3d_gizmos.rs
• examples/gizmos/light_gizmos.rs
• examples/3d/render_to_texture.rs
• examples/picking/mesh_picking.rs
• examples/3d/lighting.rs

pub fn from_rotation_y(angle: f32) -> Quat

Creates a quaternion from the angle (in radians) around the y axis.

Examples found in repository

examples/gizmos/light_gizmos.rs (line 140)

fn rotate_camera(mut transform: Single<&mut Transform, With<Camera>>, time: Res<Time>) {
    transform.rotate_around(Vec3::ZERO, Quat::from_rotation_y(time.delta_secs() / 2.));
}

examples/stress_tests/many_cameras_lights.rs (line 91)

fn rotate_cameras(time: Res<Time>, mut query: Query<&mut Transform, With<Camera>>) {
    for mut transform in query.iter_mut() {
        transform.rotate_around(Vec3::ZERO, Quat::from_rotation_y(time.delta_secs()));
    }
}

examples/3d/clearcoat.rs (line 251)

fn animate_spheres(mut spheres: Query<&mut Transform, With<ExampleSphere>>, time: Res<Time>) {
    let now = time.elapsed_secs();
    for mut transform in spheres.iter_mut() {
        transform.rotation = Quat::from_rotation_y(SPHERE_ROTATION_SPEED * now);
    }
}

examples/3d/specular_tint.rs (line 141)

fn rotate_camera(mut cameras: Query<&mut Transform, With<Camera3d>>) {
    for mut camera_transform in cameras.iter_mut() {
        camera_transform.translation =
            Quat::from_rotation_y(ROTATION_SPEED) * camera_transform.translation;
        camera_transform.look_at(Vec3::ZERO, Vec3::Y);
    }
}

examples/3d/fog_volumes.rs (line 79)

fn rotate_camera(mut cameras: Query<&mut Transform, With<Camera3d>>) {
    for mut camera_transform in cameras.iter_mut() {
        *camera_transform =
            Transform::from_translation(Quat::from_rotation_y(0.01) * camera_transform.translation)
                .looking_at(vec3(0.0, 0.5, 0.0), Vec3::Y);
    }
}

examples/3d/rotate_environment_map.rs (line 40)

fn rotate_skybox_and_environment_map(
    mut environments: Query<(&mut Skybox, &mut EnvironmentMapLight)>,
    time: Res<Time>,
) {
    let now = time.elapsed_secs();
    let rotation = Quat::from_rotation_y(0.2 * now);
    for (mut skybox, mut environment_map) in environments.iter_mut() {
        skybox.rotation = rotation;
        environment_map.rotation = rotation;
    }
}

Additional examples can be found in:

• examples/math/sampling_primitives.rs
• examples/3d/spotlight.rs
• examples/3d/anisotropy.rs
• examples/shader/shader_material_wesl.rs
• examples/transforms/scale.rs
• examples/transforms/align.rs
• examples/math/random_sampling.rs
• examples/3d/post_processing.rs
• examples/3d/color_grading.rs
• examples/3d/tonemapping.rs
• examples/transforms/transform.rs
• examples/animation/custom_skinned_mesh.rs
• examples/3d/auto_exposure.rs
• examples/3d/atmosphere.rs
• examples/3d/blend_modes.rs
• examples/animation/eased_motion.rs
• examples/games/alien_cake_addict.rs
• examples/3d/meshlet.rs
• examples/gizmos/3d_gizmos.rs
• examples/stress_tests/many_foxes.rs

pub fn from_rotation_z(angle: f32) -> Quat

Creates a quaternion from the angle (in radians) around the z axis.

Examples found in repository

examples/math/bounding_2d.rs (line 41)

fn spin(time: Res<Time>, mut query: Query<&mut Transform, With<Spin>>) {
    for mut transform in query.iter_mut() {
        transform.rotation *= Quat::from_rotation_z(time.delta_secs() / 5.);
    }
}

examples/2d/text2d.rs (line 172)

fn animate_rotation(
    time: Res<Time>,
    mut query: Query<&mut Transform, (With<Text2d>, With<AnimateRotation>)>,
) {
    for mut transform in &mut query {
        transform.rotation = Quat::from_rotation_z(ops::cos(time.elapsed_secs()));
    }
}

examples/shader/shader_prepass.rs (line 180)

fn rotate(mut q: Query<&mut Transform, With<Rotates>>, time: Res<Time>) {
    for mut t in q.iter_mut() {
        let rot = (ops::sin(time.elapsed_secs()) * 0.5 + 0.5) * std::f32::consts::PI * 2.0;
        t.rotation = Quat::from_rotation_z(rot);
    }
}

examples/math/custom_primitives.rs (line 177)

fn rotate_2d_shapes(mut shapes: Query<&mut Transform, With<Shape2d>>, time: Res<Time>) {
    let elapsed_seconds = time.elapsed_secs();

    for mut transform in shapes.iter_mut() {
        transform.rotation = Quat::from_rotation_z(elapsed_seconds);
    }
}

examples/ecs/fallible_params.rs (line 127)

fn move_targets(mut enemies: Populated<(&mut Transform, &mut Enemy)>, time: Res<Time>) {
    for (mut transform, mut target) in &mut *enemies {
        target.rotation += target.rotation_speed * time.delta_secs();
        transform.rotation = Quat::from_rotation_z(target.rotation);
        let offset = transform.right() * target.radius;
        transform.translation = target.origin.extend(0.0) + offset;
    }
}

examples/animation/morph_targets.rs (line 54)

fn setup(asset_server: Res<AssetServer>, mut commands: Commands) {
    commands.insert_resource(MorphData {
        the_wave: asset_server
            .load(GltfAssetLabel::Animation(2).from_asset("models/animated/MorphStressTest.gltf")),
        mesh: asset_server.load(
            GltfAssetLabel::Primitive {
                mesh: 0,
                primitive: 0,
            }
            .from_asset("models/animated/MorphStressTest.gltf"),
        ),
    });
    commands.spawn(SceneRoot(asset_server.load(
        GltfAssetLabel::Scene(0).from_asset("models/animated/MorphStressTest.gltf"),
    )));
    commands.spawn((
        DirectionalLight::default(),
        Transform::from_rotation(Quat::from_rotation_z(PI / 2.0)),
    ));
    commands.spawn((
        Camera3d::default(),
        Transform::from_xyz(3.0, 2.1, 10.2).looking_at(Vec3::ZERO, Vec3::Y),
    ));
}

Additional examples can be found in:

• examples/animation/gltf_skinned_mesh.rs
• examples/stress_tests/many_sprites.rs
• examples/testbed/2d.rs
• examples/stress_tests/many_animated_sprites.rs
• examples/animation/custom_skinned_mesh.rs
• examples/stress_tests/many_text2d.rs
• examples/camera/2d_screen_shake.rs
• examples/3d/motion_blur.rs
• examples/picking/sprite_picking.rs
• examples/2d/mesh2d_arcs.rs
• examples/3d/pbr.rs
• examples/testbed/full_ui.rs

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).

Examples found in repository

examples/shader/extended_material_bindless.rs (line 154)

fn rotate_sphere(mut meshes: Query<&mut Transform, With<Mesh3d>>, time: Res<Time>) {
    for mut transform in &mut meshes {
        transform.rotation =
            Quat::from_euler(EulerRot::YXZ, -time.elapsed_secs(), FRAC_PI_2 * 3.0, 0.0);
    }
}

examples/3d/ssr.rs (line 293)

fn rotate_model(
    mut query: Query<&mut Transform, Or<(With<CubeModel>, With<FlightHelmetModel>)>>,
    time: Res<Time>,
) {
    for mut transform in query.iter_mut() {
        transform.rotation = Quat::from_euler(EulerRot::XYZ, 0.0, time.elapsed_secs(), 0.0);
    }
}

examples/3d/occlusion_culling.rs (lines 375-380)

fn spin_large_cube(mut large_cubes: Query<&mut Transform, With<LargeCube>>) {
    for mut transform in &mut large_cubes {
        transform.rotate(Quat::from_euler(
            EulerRot::XYZ,
            0.13 * ROTATION_SPEED,
            0.29 * ROTATION_SPEED,
            0.35 * ROTATION_SPEED,
        ));
    }
}

/// Spawns a directional light to illuminate the scene.
fn spawn_light(commands: &mut Commands) {
    commands
        .spawn(DirectionalLight::default())
        .insert(Transform::from_rotation(Quat::from_euler(
            EulerRot::ZYX,
            0.0,
            PI * -0.15,
            PI * -0.15,
        )));
}

examples/3d/load_gltf.rs (lines 56-61)

fn animate_light_direction(
    time: Res<Time>,
    mut query: Query<&mut Transform, With<DirectionalLight>>,
) {
    for mut transform in &mut query {
        transform.rotation = Quat::from_euler(
            EulerRot::ZYX,
            0.0,
            time.elapsed_secs() * PI / 5.0,
            -FRAC_PI_4,
        );
    }
}

examples/3d/query_gltf_primitives.rs (line 62)

fn setup(mut commands: Commands, asset_server: Res<AssetServer>) {
    commands.spawn((
        Camera3d::default(),
        Transform::from_xyz(4.0, 4.0, 12.0).looking_at(Vec3::new(0.0, 0.0, 0.5), Vec3::Y),
    ));

    commands.spawn((
        Transform::from_rotation(Quat::from_euler(EulerRot::ZYX, 0.0, 1.0, -PI / 4.)),
        DirectionalLight::default(),
    ));

    commands.spawn(SceneRoot(asset_server.load(
        GltfAssetLabel::Scene(0).from_asset("models/GltfPrimitives/gltf_primitives.glb"),
    )));
}

examples/3d/spotlight.rs (lines 142-147)

fn light_sway(time: Res<Time>, mut query: Query<(&mut Transform, &mut SpotLight)>) {
    for (mut transform, mut angles) in query.iter_mut() {
        transform.rotation = Quat::from_euler(
            EulerRot::XYZ,
            -FRAC_PI_2 + ops::sin(time.elapsed_secs() * 0.67 * 3.0) * 0.5,
            ops::sin(time.elapsed_secs() * 3.0) * 0.5,
            0.0,
        );
        let angle = (ops::sin(time.elapsed_secs() * 1.2) + 1.0) * (FRAC_PI_4 - 0.1);
        angles.inner_angle = angle * 0.8;
        angles.outer_angle = angle;
    }
}

Additional examples can be found in:

• examples/asset/multi_asset_sync.rs
• examples/animation/animated_mesh.rs
• examples/3d/volumetric_fog.rs
• examples/3d/post_processing.rs
• examples/3d/pcss.rs
• examples/3d/color_grading.rs
• examples/3d/tonemapping.rs
• examples/stress_tests/many_materials.rs
• examples/testbed/3d.rs
• examples/3d/mesh_ray_cast.rs
• examples/camera/camera_orbit.rs
• examples/animation/animated_mesh_events.rs
• examples/3d/clustered_decals.rs
• examples/3d/ssao.rs
• examples/camera/first_person_view_model.rs
• examples/3d/visibility_range.rs
• examples/animation/animated_mesh_control.rs
• examples/3d/shadow_caster_receiver.rs
• examples/3d/anti_aliasing.rs
• examples/3d/meshlet.rs
• examples/stress_tests/many_foxes.rs
• examples/3d/split_screen.rs
• examples/3d/../helpers/camera_controller.rs
• examples/3d/deferred_rendering.rs
• examples/3d/transmission.rs

pub fn from_mat3(mat: &Mat3) -> Quat

Creates a quaternion from a 3x3 rotation matrix.

Note if the input matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any input matrix column is not normalized when glam_assert is enabled.

Examples found in repository

examples/math/render_primitives.rs (line 602)

fn rotate_primitive_2d_meshes(
    mut primitives_2d: Query<
        (&mut Transform, &ViewVisibility),
        (With<PrimitiveData>, With<MeshDim2>),
    >,
    time: Res<Time>,
) {
    let rotation_2d = Quat::from_mat3(&Mat3::from_angle(time.elapsed_secs()));
    primitives_2d
        .iter_mut()
        .filter(|(_, vis)| vis.get())
        .for_each(|(mut transform, _)| {
            transform.rotation = rotation_2d;
        });
}

examples/ecs/fallible_params.rs (line 152)

fn track_targets(
    // `Single` ensures the system runs ONLY when exactly one matching entity exists.
    mut player: Single<(&mut Transform, &Player)>,
    // `Option<Single>` ensures that the system runs ONLY when zero or one matching entity exists.
    enemy: Option<Single<&Transform, (With<Enemy>, Without<Player>)>>,
    time: Res<Time>,
) {
    let (player_transform, player) = &mut *player;
    if let Some(enemy_transform) = enemy {
        // Enemy found, rotate and move towards it.
        let delta = enemy_transform.translation - player_transform.translation;
        let distance = delta.length();
        let front = delta / distance;
        let up = Vec3::Z;
        let side = front.cross(up);
        player_transform.rotation = Quat::from_mat3(&Mat3::from_cols(side, front, up));
        let max_step = distance - player.min_follow_radius;
        if 0.0 < max_step {
            let velocity = (player.speed * time.delta_secs()).min(max_step);
            player_transform.translation += front * velocity;
        }
    } else {
        // 0 or multiple enemies found, keep searching.
        player_transform.rotate_axis(Dir3::Z, player.rotation_speed * time.delta_secs());
    }
}

pub fn from_mat3a(mat: &Mat3A) -> Quat

Creates a quaternion from a 3x3 SIMD aligned rotation matrix.

Note if the input matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any input matrix column is not normalized when glam_assert is enabled.

pub fn from_mat4(mat: &Mat4) -> Quat

Creates a quaternion from the upper 3x3 rotation matrix inside a homogeneous 4x4 matrix.

Note if the upper 3x3 matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any column of the upper 3x3 rotation matrix is not normalized when glam_assert is enabled.

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 inputs must be unit vectors.

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.

Examples found in repository

examples/math/render_primitives.rs (lines 618-627)

fn rotate_primitive_3d_meshes(
    mut primitives_3d: Query<
        (&mut Transform, &ViewVisibility),
        (With<PrimitiveData>, With<MeshDim3>),
    >,
    time: Res<Time>,
) {
    let rotation_3d = Quat::from_rotation_arc(
        Vec3::Z,
        Vec3::new(
            ops::sin(time.elapsed_secs()),
            ops::cos(time.elapsed_secs()),
            ops::sin(time.elapsed_secs()) * 0.5,
        )
        .try_normalize()
        .unwrap_or(Vec3::Z),
    );
    primitives_3d
        .iter_mut()
        .filter(|(_, vis)| vis.get())
        .for_each(|(mut transform, _)| {
            transform.rotation = rotation_3d;
        });
}

fn draw_gizmos_3d(mut gizmos: Gizmos, state: Res<State<PrimitiveSelected>>, time: Res<Time>) {
    const POSITION: Vec3 = Vec3::new(LEFT_RIGHT_OFFSET_3D, 0.0, 0.0);
    let rotation = Quat::from_rotation_arc(
        Vec3::Z,
        Vec3::new(
            ops::sin(time.elapsed_secs()),
            ops::cos(time.elapsed_secs()),
            ops::sin(time.elapsed_secs()) * 0.5,
        )
        .try_normalize()
        .unwrap_or(Vec3::Z),
    );
    let isometry = Isometry3d::new(POSITION, rotation);
    let color = Color::WHITE;
    let resolution = 10;

    #[expect(
        clippy::match_same_arms,
        reason = "Certain primitives don't have any 3D rendering support yet."
    )]
    match state.get() {
        PrimitiveSelected::RectangleAndCuboid => {
            gizmos.primitive_3d(&CUBOID, isometry, color);
        }
        PrimitiveSelected::CircleAndSphere => drop(
            gizmos
                .primitive_3d(&SPHERE, isometry, color)
                .resolution(resolution),
        ),
        PrimitiveSelected::Ellipse => {}
        PrimitiveSelected::Triangle => gizmos.primitive_3d(&TRIANGLE_3D, isometry, color),
        PrimitiveSelected::Plane => drop(gizmos.primitive_3d(&PLANE_3D, isometry, color)),
        PrimitiveSelected::Line => gizmos.primitive_3d(&LINE3D, isometry, color),
        PrimitiveSelected::Segment => gizmos.primitive_3d(&SEGMENT_3D, isometry, color),
        PrimitiveSelected::Polyline => gizmos.primitive_3d(&POLYLINE_3D, isometry, color),
        PrimitiveSelected::Polygon => {}
        PrimitiveSelected::RegularPolygon => {}
        PrimitiveSelected::Capsule => drop(
            gizmos
                .primitive_3d(&CAPSULE_3D, isometry, color)
                .resolution(resolution),
        ),
        PrimitiveSelected::Cylinder => drop(
            gizmos
                .primitive_3d(&CYLINDER, isometry, color)
                .resolution(resolution),
        ),
        PrimitiveSelected::Cone => drop(
            gizmos
                .primitive_3d(&CONE, isometry, color)
                .resolution(resolution),
        ),
        PrimitiveSelected::ConicalFrustum => {
            gizmos.primitive_3d(&CONICAL_FRUSTUM, isometry, color);
        }

        PrimitiveSelected::Torus => drop(
            gizmos
                .primitive_3d(&TORUS, isometry, color)
                .minor_resolution(resolution)
                .major_resolution(resolution),
        ),
        PrimitiveSelected::Tetrahedron => {
            gizmos.primitive_3d(&TETRAHEDRON, isometry, color);
        }

        PrimitiveSelected::Arc => {}
        PrimitiveSelected::CircularSector => {}
        PrimitiveSelected::CircularSegment => {}
    }
}

examples/2d/rotation.rs (line 167)

fn snap_to_player_system(
    mut query: Query<&mut Transform, (With<SnapToPlayer>, Without<Player>)>,
    player_transform: Single<&Transform, With<Player>>,
) {
    // Get the player translation in 2D
    let player_translation = player_transform.translation.xy();

    for mut enemy_transform in &mut query {
        // Get the vector from the enemy ship to the player ship in 2D and normalize it.
        let to_player = (player_translation - enemy_transform.translation.xy()).normalize();

        // Get the quaternion to rotate from the initial enemy facing direction to the direction
        // facing the player
        let rotate_to_player = Quat::from_rotation_arc(Vec3::Y, to_player.extend(0.));

        // Rotate the enemy to face the player
        enemy_transform.rotation = rotate_to_player;
    }
}

examples/3d/3d_viewport_to_world.rs (line 46)

fn draw_cursor(
    camera_query: Single<(&Camera, &GlobalTransform)>,
    ground: Single<&GlobalTransform, With<Ground>>,
    windows: Query<&Window>,
    mut gizmos: Gizmos,
) {
    let Ok(windows) = windows.single() else {
        return;
    };

    let (camera, camera_transform) = *camera_query;

    let Some(cursor_position) = windows.cursor_position() else {
        return;
    };

    // Calculate a ray pointing from the camera into the world based on the cursor's position.
    let Ok(ray) = camera.viewport_to_world(camera_transform, cursor_position) else {
        return;
    };

    // Calculate if and where the ray is hitting the ground plane.
    let Some(distance) =
        ray.intersect_plane(ground.translation(), InfinitePlane3d::new(ground.up()))
    else {
        return;
    };
    let point = ray.get_point(distance);

    // Draw a circle just above the ground plane at that position.
    gizmos.circle(
        Isometry3d::new(
            point + ground.up() * 0.01,
            Quat::from_rotation_arc(Vec3::Z, ground.up().as_vec3()),
        ),
        0.2,
        Color::WHITE,
    );
}

examples/gizmos/3d_gizmos.rs (line 180)

fn draw_example_collection(
    mut gizmos: Gizmos,
    mut my_gizmos: Gizmos<MyRoundGizmos>,
    time: Res<Time>,
) {
    gizmos.grid(
        Quat::from_rotation_x(PI / 2.),
        UVec2::splat(20),
        Vec2::new(2., 2.),
        // Light gray
        LinearRgba::gray(0.65),
    );
    gizmos.grid(
        Isometry3d::new(Vec3::splat(10.0), Quat::from_rotation_x(PI / 3. * 2.)),
        UVec2::splat(20),
        Vec2::new(2., 2.),
        PURPLE,
    );
    gizmos.sphere(Vec3::splat(10.0), 1.0, PURPLE);

    gizmos
        .primitive_3d(
            &Plane3d {
                normal: Dir3::Y,
                half_size: Vec2::splat(1.0),
            },
            Isometry3d::new(
                Vec3::splat(4.0) + Vec2::from(ops::sin_cos(time.elapsed_secs())).extend(0.0),
                Quat::from_rotation_x(PI / 2. + time.elapsed_secs()),
            ),
            GREEN,
        )
        .cell_count(UVec2::new(5, 10))
        .spacing(Vec2::new(0.2, 0.1));

    gizmos.cuboid(
        Transform::from_translation(Vec3::Y * 0.5).with_scale(Vec3::splat(1.25)),
        BLACK,
    );
    gizmos.rect(
        Isometry3d::new(
            Vec3::new(ops::cos(time.elapsed_secs()) * 2.5, 1., 0.),
            Quat::from_rotation_y(PI / 2.),
        ),
        Vec2::splat(2.),
        LIME,
    );

    gizmos.cross(Vec3::new(-1., 1., 1.), 0.5, FUCHSIA);

    let domain = Interval::EVERYWHERE;
    let curve = FunctionCurve::new(domain, |t| {
        (Vec2::from(ops::sin_cos(t * 10.0))).extend(t - 6.0)
    });
    let resolution = ((ops::sin(time.elapsed_secs()) + 1.0) * 100.0) as usize;
    let times_and_colors = (0..=resolution)
        .map(|n| n as f32 / resolution as f32)
        .map(|t| t * 5.0)
        .map(|t| (t, TEAL.mix(&HOT_PINK, t / 5.0)));
    gizmos.curve_gradient_3d(curve, times_and_colors);

    my_gizmos.sphere(Vec3::new(1., 0.5, 0.), 0.5, RED);

    my_gizmos
        .rounded_cuboid(Vec3::new(-2.0, 0.75, -0.75), Vec3::splat(0.9), TURQUOISE)
        .edge_radius(0.1)
        .arc_resolution(4);

    for y in [0., 0.5, 1.] {
        gizmos.ray(
            Vec3::new(1., y, 0.),
            Vec3::new(-3., ops::sin(time.elapsed_secs() * 3.), 0.),
            BLUE,
        );
    }

    my_gizmos
        .arc_3d(
            180.0_f32.to_radians(),
            0.2,
            Isometry3d::new(
                Vec3::ONE,
                Quat::from_rotation_arc(Vec3::Y, Vec3::ONE.normalize()),
            ),
            ORANGE,
        )
        .resolution(10);

    // Circles have 32 line-segments by default.
    my_gizmos.circle(Quat::from_rotation_arc(Vec3::Z, Vec3::Y), 3., BLACK);

    // You may want to increase this for larger circles or spheres.
    my_gizmos
        .circle(Quat::from_rotation_arc(Vec3::Z, Vec3::Y), 3.1, NAVY)
        .resolution(64);
    my_gizmos
        .sphere(Isometry3d::IDENTITY, 3.2, BLACK)
        .resolution(64);

    gizmos.arrow(Vec3::ZERO, Vec3::splat(1.5), YELLOW);

    // You can create more complex arrows using the arrow builder.
    gizmos
        .arrow(Vec3::new(2., 0., 2.), Vec3::new(2., 2., 2.), ORANGE_RED)
        .with_double_end()
        .with_tip_length(0.5);
}

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 inputs must be unit vectors.

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.

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 inputs must be unit vectors.

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.

pub fn to_axis_angle(self) -> (Vec3, f32)

Returns the rotation axis (normalized) and angle (in radians) of self.

pub fn to_scaled_axis(self) -> Vec3

Returns the rotation axis scaled by the rotation in radians.

Examples found in repository

examples/math/custom_primitives.rs (line 189)

fn bounding_shapes_2d(
    shapes: Query<&Transform, With<Shape2d>>,
    mut gizmos: Gizmos,
    bounding_shape: Res<State<BoundingShape>>,
) {
    for transform in shapes.iter() {
        // Get the rotation angle from the 3D rotation.
        let rotation = transform.rotation.to_scaled_axis().z;
        let rotation = Rot2::radians(rotation);
        let isometry = Isometry2d::new(transform.translation.xy(), rotation);

        match bounding_shape.get() {
            BoundingShape::None => (),
            BoundingShape::BoundingBox => {
                // Get the AABB of the primitive with the rotation and translation of the mesh.
                let aabb = HEART.aabb_2d(isometry);
                gizmos.rect_2d(aabb.center(), aabb.half_size() * 2., WHITE);
            }
            BoundingShape::BoundingSphere => {
                // Get the bounding sphere of the primitive with the rotation and translation of the mesh.
                let bounding_circle = HEART.bounding_circle(isometry);
                gizmos
                    .circle_2d(bounding_circle.center(), bounding_circle.radius(), WHITE)
                    .resolution(64);
            }
        }
    }
}

pub fn to_euler(self, order: EulerRot) -> (f32, f32, f32)

Returns the rotation angles for the given euler rotation sequence.

Examples found in repository

examples/2d/mesh2d_arcs.rs (line 111)

fn draw_bounds<Shape: Bounded2d + Send + Sync + 'static>(
    q: Query<(&DrawBounds<Shape>, &GlobalTransform)>,
    mut gizmos: Gizmos,
) {
    for (shape, transform) in &q {
        let (_, rotation, translation) = transform.to_scale_rotation_translation();
        let translation = translation.truncate();
        let rotation = rotation.to_euler(EulerRot::XYZ).2;
        let isometry = Isometry2d::new(translation, Rot2::radians(rotation));

        let aabb = shape.0.aabb_2d(isometry);
        gizmos.rect_2d(aabb.center(), aabb.half_size() * 2.0, RED);

        let bounding_circle = shape.0.bounding_circle(isometry);
        gizmos.circle_2d(bounding_circle.center, bounding_circle.radius(), BLUE);
    }
}

examples/math/bounding_2d.rs (line 105)

fn render_shapes(mut gizmos: Gizmos, query: Query<(&Shape, &Transform)>) {
    let color = GRAY;
    for (shape, transform) in query.iter() {
        let translation = transform.translation.xy();
        let rotation = transform.rotation.to_euler(EulerRot::YXZ).2;
        let isometry = Isometry2d::new(translation, Rot2::radians(rotation));
        match shape {
            Shape::Rectangle(r) => {
                gizmos.primitive_2d(r, isometry, color);
            }
            Shape::Circle(c) => {
                gizmos.primitive_2d(c, isometry, color);
            }
            Shape::Triangle(t) => {
                gizmos.primitive_2d(t, isometry, color);
            }
            Shape::Line(l) => {
                gizmos.primitive_2d(l, isometry, color);
            }
            Shape::Capsule(c) => {
                gizmos.primitive_2d(c, isometry, color);
            }
            Shape::Polygon(p) => {
                gizmos.primitive_2d(p, isometry, color);
            }
        }
    }
}

#[derive(Component)]
enum DesiredVolume {
    Aabb,
    Circle,
}

#[derive(Component, Debug)]
enum CurrentVolume {
    Aabb(Aabb2d),
    Circle(BoundingCircle),
}

fn update_volumes(
    mut commands: Commands,
    query: Query<
        (Entity, &DesiredVolume, &Shape, &Transform),
        Or<(Changed<DesiredVolume>, Changed<Shape>, Changed<Transform>)>,
    >,
) {
    for (entity, desired_volume, shape, transform) in query.iter() {
        let translation = transform.translation.xy();
        let rotation = transform.rotation.to_euler(EulerRot::YXZ).2;
        let isometry = Isometry2d::new(translation, Rot2::radians(rotation));
        match desired_volume {
            DesiredVolume::Aabb => {
                let aabb = match shape {
                    Shape::Rectangle(r) => r.aabb_2d(isometry),
                    Shape::Circle(c) => c.aabb_2d(isometry),
                    Shape::Triangle(t) => t.aabb_2d(isometry),
                    Shape::Line(l) => l.aabb_2d(isometry),
                    Shape::Capsule(c) => c.aabb_2d(isometry),
                    Shape::Polygon(p) => p.aabb_2d(isometry),
                };
                commands.entity(entity).insert(CurrentVolume::Aabb(aabb));
            }
            DesiredVolume::Circle => {
                let circle = match shape {
                    Shape::Rectangle(r) => r.bounding_circle(isometry),
                    Shape::Circle(c) => c.bounding_circle(isometry),
                    Shape::Triangle(t) => t.bounding_circle(isometry),
                    Shape::Line(l) => l.bounding_circle(isometry),
                    Shape::Capsule(c) => c.bounding_circle(isometry),
                    Shape::Polygon(p) => p.bounding_circle(isometry),
                };
                commands
                    .entity(entity)
                    .insert(CurrentVolume::Circle(circle));
            }
        }
    }
}

examples/camera/camera_orbit.rs (line 126)

fn orbit(
    mut camera: Single<&mut Transform, With<Camera>>,
    camera_settings: Res<CameraSettings>,
    mouse_buttons: Res<ButtonInput<MouseButton>>,
    mouse_motion: Res<AccumulatedMouseMotion>,
    time: Res<Time>,
) {
    let delta = mouse_motion.delta;
    let mut delta_roll = 0.0;

    if mouse_buttons.pressed(MouseButton::Left) {
        delta_roll -= 1.0;
    }
    if mouse_buttons.pressed(MouseButton::Right) {
        delta_roll += 1.0;
    }

    // Mouse motion is one of the few inputs that should not be multiplied by delta time,
    // as we are already receiving the full movement since the last frame was rendered. Multiplying
    // by delta time here would make the movement slower that it should be.
    let delta_pitch = delta.y * camera_settings.pitch_speed;
    let delta_yaw = delta.x * camera_settings.yaw_speed;

    // Conversely, we DO need to factor in delta time for mouse button inputs.
    delta_roll *= camera_settings.roll_speed * time.delta_secs();

    // Obtain the existing pitch, yaw, and roll values from the transform.
    let (yaw, pitch, roll) = camera.rotation.to_euler(EulerRot::YXZ);

    // Establish the new yaw and pitch, preventing the pitch value from exceeding our limits.
    let pitch = (pitch + delta_pitch).clamp(
        camera_settings.pitch_range.start,
        camera_settings.pitch_range.end,
    );
    let roll = roll + delta_roll;
    let yaw = yaw + delta_yaw;
    camera.rotation = Quat::from_euler(EulerRot::YXZ, yaw, pitch, roll);

    // Adjust the translation to maintain the correct orientation toward the orbit target.
    // In our example it's a static target, but this could easily be customized.
    let target = Vec3::ZERO;
    camera.translation = target - camera.forward() * camera_settings.orbit_distance;
}

examples/3d/clustered_decals.rs (line 436)

fn process_move_input(
    mut selections: Query<(&mut Transform, &Selection)>,
    mouse_buttons: Res<ButtonInput<MouseButton>>,
    mouse_motion: Res<AccumulatedMouseMotion>,
    app_status: Res<AppStatus>,
) {
    // Only process drags when movement is selected.
    if !mouse_buttons.pressed(MouseButton::Left) || app_status.drag_mode != DragMode::Move {
        return;
    }

    for (mut transform, selection) in &mut selections {
        if app_status.selection != *selection {
            continue;
        }

        let position = transform.translation;

        // Convert to spherical coordinates.
        let radius = position.length();
        let mut theta = acos(position.y / radius);
        let mut phi = position.z.signum() * acos(position.x * position.xz().length_recip());

        // Camera movement is the inverse of object movement.
        let (phi_factor, theta_factor) = match *selection {
            Selection::Camera => (1.0, -1.0),
            Selection::DecalA | Selection::DecalB => (-1.0, 1.0),
        };

        // Adjust the spherical coordinates. Clamp the inclination to (0, π).
        phi += phi_factor * mouse_motion.delta.x * MOVE_SPEED;
        theta = f32::clamp(
            theta + theta_factor * mouse_motion.delta.y * MOVE_SPEED,
            0.001,
            PI - 0.001,
        );

        // Convert spherical coordinates back to Cartesian coordinates.
        transform.translation =
            radius * vec3(sin(theta) * cos(phi), cos(theta), sin(theta) * sin(phi));

        // Look at the center, but preserve the previous roll angle.
        let roll = transform.rotation.to_euler(EulerRot::YXZ).2;
        transform.look_at(Vec3::ZERO, Vec3::Y);
        let (yaw, pitch, _) = transform.rotation.to_euler(EulerRot::YXZ);
        transform.rotation = Quat::from_euler(EulerRot::YXZ, yaw, pitch, roll);
    }
}

/// Processes a drag event that scales the selected target.
fn process_scale_input(
    mut selections: Query<(&mut Transform, &Selection)>,
    mouse_buttons: Res<ButtonInput<MouseButton>>,
    mouse_motion: Res<AccumulatedMouseMotion>,
    app_status: Res<AppStatus>,
) {
    // Only process drags when the scaling operation is selected.
    if !mouse_buttons.pressed(MouseButton::Left) || app_status.drag_mode != DragMode::Scale {
        return;
    }

    for (mut transform, selection) in &mut selections {
        if app_status.selection == *selection {
            transform.scale *= 1.0 + mouse_motion.delta.x * SCALE_SPEED;
        }
    }
}

/// Processes a drag event that rotates the selected target along its local Z
/// axis.
fn process_roll_input(
    mut selections: Query<(&mut Transform, &Selection)>,
    mouse_buttons: Res<ButtonInput<MouseButton>>,
    mouse_motion: Res<AccumulatedMouseMotion>,
    app_status: Res<AppStatus>,
) {
    // Only process drags when the rolling operation is selected.
    if !mouse_buttons.pressed(MouseButton::Left) || app_status.drag_mode != DragMode::Roll {
        return;
    }

    for (mut transform, selection) in &mut selections {
        if app_status.selection != *selection {
            continue;
        }

        let (yaw, pitch, mut roll) = transform.rotation.to_euler(EulerRot::YXZ);
        roll += mouse_motion.delta.x * ROLL_SPEED;
        transform.rotation = Quat::from_euler(EulerRot::YXZ, yaw, pitch, roll);
    }
}

examples/camera/first_person_view_model.rs (line 226)

fn move_player(
    accumulated_mouse_motion: Res<AccumulatedMouseMotion>,
    player: Single<(&mut Transform, &CameraSensitivity), With<Player>>,
) {
    let (mut transform, camera_sensitivity) = player.into_inner();

    let delta = accumulated_mouse_motion.delta;

    if delta != Vec2::ZERO {
        // Note that we are not multiplying by delta_time here.
        // The reason is that for mouse movement, we already get the full movement that happened since the last frame.
        // This means that if we multiply by delta_time, we will get a smaller rotation than intended by the user.
        // This situation is reversed when reading e.g. analog input from a gamepad however, where the same rules
        // as for keyboard input apply. Such an input should be multiplied by delta_time to get the intended rotation
        // independent of the framerate.
        let delta_yaw = -delta.x * camera_sensitivity.x;
        let delta_pitch = -delta.y * camera_sensitivity.y;

        let (yaw, pitch, roll) = transform.rotation.to_euler(EulerRot::YXZ);
        let yaw = yaw + delta_yaw;

        // If the pitch was ±¹⁄₂ π, the camera would look straight up or down.
        // When the user wants to move the camera back to the horizon, which way should the camera face?
        // The camera has no way of knowing what direction was "forward" before landing in that extreme position,
        // so the direction picked will for all intents and purposes be arbitrary.
        // Another issue is that for mathematical reasons, the yaw will effectively be flipped when the pitch is at the extremes.
        // To not run into these issues, we clamp the pitch to a safe range.
        const PITCH_LIMIT: f32 = FRAC_PI_2 - 0.01;
        let pitch = (pitch + delta_pitch).clamp(-PITCH_LIMIT, PITCH_LIMIT);

        transform.rotation = Quat::from_euler(EulerRot::YXZ, yaw, pitch, roll);
    }
}

examples/3d/../helpers/camera_controller.rs (line 145)

fn run_camera_controller(
    time: Res<Time>,
    mut windows: Query<&mut Window>,
    accumulated_mouse_motion: Res<AccumulatedMouseMotion>,
    accumulated_mouse_scroll: Res<AccumulatedMouseScroll>,
    mouse_button_input: Res<ButtonInput<MouseButton>>,
    key_input: Res<ButtonInput<KeyCode>>,
    mut toggle_cursor_grab: Local<bool>,
    mut mouse_cursor_grab: Local<bool>,
    mut query: Query<(&mut Transform, &mut CameraController), With<Camera>>,
) {
    let dt = time.delta_secs();

    let Ok((mut transform, mut controller)) = query.single_mut() else {
        return;
    };

    if !controller.initialized {
        let (yaw, pitch, _roll) = transform.rotation.to_euler(EulerRot::YXZ);
        controller.yaw = yaw;
        controller.pitch = pitch;
        controller.initialized = true;
        info!("{}", *controller);
    }
    if !controller.enabled {
        return;
    }

    let mut scroll = 0.0;

    let amount = match accumulated_mouse_scroll.unit {
        MouseScrollUnit::Line => accumulated_mouse_scroll.delta.y,
        MouseScrollUnit::Pixel => accumulated_mouse_scroll.delta.y / 16.0,
    };
    scroll += amount;
    controller.walk_speed += scroll * controller.scroll_factor * controller.walk_speed;
    controller.run_speed = controller.walk_speed * 3.0;

    // Handle key input
    let mut axis_input = Vec3::ZERO;
    if key_input.pressed(controller.key_forward) {
        axis_input.z += 1.0;
    }
    if key_input.pressed(controller.key_back) {
        axis_input.z -= 1.0;
    }
    if key_input.pressed(controller.key_right) {
        axis_input.x += 1.0;
    }
    if key_input.pressed(controller.key_left) {
        axis_input.x -= 1.0;
    }
    if key_input.pressed(controller.key_up) {
        axis_input.y += 1.0;
    }
    if key_input.pressed(controller.key_down) {
        axis_input.y -= 1.0;
    }

    let mut cursor_grab_change = false;
    if key_input.just_pressed(controller.keyboard_key_toggle_cursor_grab) {
        *toggle_cursor_grab = !*toggle_cursor_grab;
        cursor_grab_change = true;
    }
    if mouse_button_input.just_pressed(controller.mouse_key_cursor_grab) {
        *mouse_cursor_grab = true;
        cursor_grab_change = true;
    }
    if mouse_button_input.just_released(controller.mouse_key_cursor_grab) {
        *mouse_cursor_grab = false;
        cursor_grab_change = true;
    }
    let cursor_grab = *mouse_cursor_grab || *toggle_cursor_grab;

    // Apply movement update
    if axis_input != Vec3::ZERO {
        let max_speed = if key_input.pressed(controller.key_run) {
            controller.run_speed
        } else {
            controller.walk_speed
        };
        controller.velocity = axis_input.normalize() * max_speed;
    } else {
        let friction = controller.friction.clamp(0.0, 1.0);
        controller.velocity *= 1.0 - friction;
        if controller.velocity.length_squared() < 1e-6 {
            controller.velocity = Vec3::ZERO;
        }
    }
    let forward = *transform.forward();
    let right = *transform.right();
    transform.translation += controller.velocity.x * dt * right
        + controller.velocity.y * dt * Vec3::Y
        + controller.velocity.z * dt * forward;

    // Handle cursor grab
    if cursor_grab_change {
        if cursor_grab {
            for mut window in &mut windows {
                if !window.focused {
                    continue;
                }

                window.cursor_options.grab_mode = CursorGrabMode::Locked;
                window.cursor_options.visible = false;
            }
        } else {
            for mut window in &mut windows {
                window.cursor_options.grab_mode = CursorGrabMode::None;
                window.cursor_options.visible = true;
            }
        }
    }

    // Handle mouse input
    if accumulated_mouse_motion.delta != Vec2::ZERO && cursor_grab {
        // Apply look update
        controller.pitch = (controller.pitch
            - accumulated_mouse_motion.delta.y * RADIANS_PER_DOT * controller.sensitivity)
            .clamp(-PI / 2., PI / 2.);
        controller.yaw -=
            accumulated_mouse_motion.delta.x * RADIANS_PER_DOT * controller.sensitivity;
        transform.rotation = Quat::from_euler(EulerRot::ZYX, 0.0, controller.yaw, controller.pitch);
    }
}

pub fn to_array(&self) -> [f32; 4]

[x, y, z, w]

pub fn xyz(self) -> Vec3

Returns the vector part of the quaternion.

pub fn conjugate(self) -> Quat

Returns the quaternion conjugate of self. For a unit quaternion the conjugate is also the inverse.

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.

pub fn dot(self, rhs: Quat) -> f32

Computes the dot product of self and rhs. The dot product is equal to the cosine of the angle between two quaternion rotations.

pub fn length(self) -> f32

Computes the length of self.

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.

pub fn length_recip(self) -> f32

Computes 1.0 / length().

For valid results, self must not be of length zero.

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.

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

Returns true if any elements are NAN.

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

pub fn angle_between(self, rhs: 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 rhs are not normalized when glam_assert is enabled.

Examples found in repository

examples/transforms/align.rs (line 153)

fn rotate_ship(ship: Single<(&mut Ship, &mut Transform)>, time: Res<Time>) {
    let (mut ship, mut ship_transform) = ship.into_inner();

    if !ship.in_motion {
        return;
    }

    let target_rotation = ship.target_transform.rotation;

    ship_transform
        .rotation
        .smooth_nudge(&target_rotation, 3.0, time.delta_secs());

    if ship_transform.rotation.angle_between(target_rotation) <= f32::EPSILON {
        ship.in_motion = false;
    }
}

pub fn rotate_towards(&self, rhs: Quat, max_angle: f32) -> Quat

Rotates towards rhs up to max_angle (in radians).

When max_angle is 0.0, the result will be equal to self. When max_angle is equal to self.angle_between(rhs), the result will be equal to rhs. If max_angle is negative, rotates towards the exact opposite of rhs. Will not go past the target.

Both quaternions must be normalized.

Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

pub fn abs_diff_eq(self, rhs: Quat, max_abs_diff: f32) -> bool

Returns true if the absolute difference of all elements between self and rhs 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.

pub fn lerp(self, end: Quat, s: f32) -> Quat

Performs a linear interpolation between self and rhs 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 rhs.

Panics

Will panic if self or end are not normalized when glam_assert is enabled.

Examples found in repository

examples/ecs/iter_combinations.rs (line 157)

fn look_at_star(
    mut camera: Single<&mut Transform, (With<Camera>, Without<Star>)>,
    star: Single<&Transform, With<Star>>,
) {
    let new_rotation = camera
        .looking_at(star.translation, Vec3::Y)
        .rotation
        .lerp(camera.rotation, 0.1);
    camera.rotation = new_rotation;
}

examples/transforms/transform.rs (line 120)

fn rotate_cube(
    mut cubes: Query<(&mut Transform, &mut CubeState), Without<Center>>,
    center_spheres: Query<&Transform, With<Center>>,
    timer: Res<Time>,
) {
    // Calculate the point to circle around. (The position of the center_sphere)
    let mut center: Vec3 = Vec3::ZERO;
    for sphere in &center_spheres {
        center += sphere.translation;
    }
    // Update the rotation of the cube(s).
    for (mut transform, cube) in &mut cubes {
        // Calculate the rotation of the cube if it would be looking at the sphere in the center.
        let look_at_sphere = transform.looking_at(center, *transform.local_y());
        // Interpolate between the current rotation and the fully turned rotation
        // when looking a the sphere,  with a given turn speed to get a smooth motion.
        // With higher speed the curvature of the orbit would be smaller.
        let incremental_turn_weight = cube.turn_speed * timer.delta_secs();
        let old_rotation = transform.rotation;
        transform.rotation = old_rotation.lerp(look_at_sphere.rotation, incremental_turn_weight);
    }
}

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.

Panics

Will panic if self or end are not normalized when glam_assert is enabled.

Examples found in repository

examples/gizmos/axes.rs (line 212)

fn interpolate_transforms(t1: Transform, t2: Transform, t: f32) -> Transform {
    let translation = t1.translation.lerp(t2.translation, t);
    let rotation = t1.rotation.slerp(t2.rotation, t);
    let scale = elerp(t1.scale, t2.scale, t);

    Transform {
        translation,
        rotation,
        scale,
    }
}

examples/3d/parallax_mapping.rs (line 195)

fn move_camera(
    mut camera: Single<&mut Transform, With<CameraController>>,
    mut current_view: Local<usize>,
    button: Res<ButtonInput<MouseButton>>,
) {
    if button.just_pressed(MouseButton::Left) {
        *current_view = (*current_view + 1) % CAMERA_POSITIONS.len();
    }
    let target = CAMERA_POSITIONS[*current_view];
    camera.translation = camera.translation.lerp(target.translation, 0.2);
    camera.rotation = camera.rotation.slerp(target.rotation, 0.2);
}

pub fn mul_vec3(self, rhs: 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.

Examples found in repository

examples/3d/anisotropy.rs (line 205)

fn rotate_camera(
    mut camera: Query<&mut Transform, With<Camera>>,
    app_status: Res<AppStatus>,
    time: Res<Time>,
    mut stopwatch: Local<Stopwatch>,
) {
    if app_status.light_mode == LightMode::EnvironmentMap {
        stopwatch.tick(time.delta());
    }

    let now = stopwatch.elapsed_secs();
    for mut transform in camera.iter_mut() {
        *transform = Transform::from_translation(
            Quat::from_rotation_y(now).mul_vec3(CAMERA_INITIAL_POSITION),
        )
        .looking_at(Vec3::ZERO, Vec3::Y);
    }
}

pub fn mul_quat(self, rhs: 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 rhs are not normalized when glam_assert is enabled.

Examples found in repository

examples/camera/2d_screen_shake.rs (line 164)

fn screen_shake(
    time: Res<Time>,
    mut screen_shake: ResMut<ScreenShake>,
    mut query: Query<(&mut Camera, &mut Transform)>,
) {
    let mut rng = ChaCha8Rng::from_entropy();
    let shake = screen_shake.trauma * screen_shake.trauma;
    let angle = (screen_shake.max_angle * shake).to_radians() * rng.gen_range(-1.0..1.0);
    let offset_x = screen_shake.max_offset * shake * rng.gen_range(-1.0..1.0);
    let offset_y = screen_shake.max_offset * shake * rng.gen_range(-1.0..1.0);

    if shake > 0.0 {
        for (mut camera, mut transform) in query.iter_mut() {
            // Position
            let sub_view = camera.sub_camera_view.as_mut().unwrap();
            let target = sub_view.offset
                + Vec2 {
                    x: offset_x,
                    y: offset_y,
                };
            sub_view
                .offset
                .smooth_nudge(&target, CAMERA_DECAY_RATE, time.delta_secs());

            // Rotation
            let rotation = Quat::from_rotation_z(angle);
            transform.rotation = transform
                .rotation
                .interpolate_stable(&(transform.rotation.mul_quat(rotation)), CAMERA_DECAY_RATE);
        }
    } else {
        // return camera to the latest position of player (it's fixed in this example case)
        if let Ok((mut camera, mut transform)) = query.single_mut() {
            let sub_view = camera.sub_camera_view.as_mut().unwrap();
            let target = screen_shake.latest_position.unwrap();
            sub_view
                .offset
                .smooth_nudge(&target, 1.0, time.delta_secs());
            transform.rotation = transform.rotation.interpolate_stable(&Quat::IDENTITY, 0.1);
        }
    }
    // Decay the trauma over time
    screen_shake.trauma -= TRAUMA_DECAY_SPEED * time.delta_secs();
    screen_shake.trauma = screen_shake.trauma.clamp(0.0, 1.0);
}

pub fn from_affine3(a: &Affine3A) -> Quat

Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.

Note if the input affine matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any input affine matrix column is not normalized when glam_assert is enabled.

pub fn mul_vec3a(self, rhs: Vec3A) -> Vec3A

Multiplies a quaternion and a 3D vector, returning the rotated vector.

pub fn as_dquat(self) -> DQuat

Trait Implementations

impl Add for Quat

fn add(self, rhs: Quat) -> Quat

Adds two quaternions.

The sum is not guaranteed to be normalized.

Note that addition is not the same as combining the rotations represented by the two quaternions! That corresponds to multiplication.

type Output = Quat

The resulting type after applying the + operator.

impl Animatable for Quat

fn interpolate(a: &Quat, b: &Quat, t: f32) -> Quat

Performs a slerp to smoothly interpolate between quaternions.

fn blend(inputs: impl Iterator<Item = BlendInput<Quat>>) -> Quat

Blends one or more values together.

impl AsRef<[f32; 4]> for Quat

fn as_ref(&self) -> &[f32; 4]

Converts this type into a shared reference of the (usually inferred) input type.

impl Clone for Quat

fn clone(&self) -> Quat

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Curve<Quat> for CubicRotationCurve

fn domain(&self) -> Interval

The interval over which this curve is parametrized.

fn sample_clamped(&self, t: f32) -> Quat

Sample a point on this curve at the parameter value t, clamping t to lie inside the domain of the curve.

fn sample_unchecked(&self, t: f32) -> Quat

Sample a point on this curve at the parameter value t, extracting the associated value. This is the unchecked version of sampling, which should only be used if the sample time t is already known to lie within the curve’s domain.

fn sample(&self, t: f32) -> Option<T>

Sample a point on this curve at the parameter value t, returning None if the point is outside of the curve’s domain.

impl Debug for Quat

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

Formats the value using the given formatter.

impl Default for Quat

fn default() -> Quat

Returns the “default value” for a type.

impl Deref for Quat

type Target = Vec4<f32>

The resulting type after dereferencing.

fn deref(&self) -> &<Quat as Deref>::Target

Dereferences the value.

impl DerefMut for Quat

fn deref_mut(&mut self) -> &mut <Quat as Deref>::Target

Mutably dereferences the value.

impl<'de> Deserialize<'de> for Quat

Deserialize expects a sequence of 4 values.

fn deserialize<D>( deserializer: D, ) -> Result<Quat, <D as Deserializer<'de>>::Error>

where D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Display for Quat

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

Formats the value using the given formatter.

impl Div<f32> for Quat

fn div(self, rhs: f32) -> Quat

Divides a quaternion by a scalar value. The quotient is not guaranteed to be normalized.

type Output = Quat

The resulting type after applying the / operator.

impl Ease for Quat

fn interpolating_curve_unbounded(start: Quat, end: Quat) -> impl Curve<Quat>

Given start and end values, produce a curve with unlimited domain that:

impl From<Quat> for [f32; 4]

fn from(q: Quat) -> [f32; 4]

Converts to this type from the input type.

impl From<Quat> for (f32, f32, f32, f32)

fn from(q: Quat) -> (f32, f32, f32, f32)

Converts to this type from the input type.

impl From<Quat> for Isometry3d

fn from(rotation: Quat) -> Isometry3d

Converts to this type from the input type.

impl From<Quat> for Vec4

fn from(q: Quat) -> Vec4

Converts to this type from the input type.

impl From<Quat> for __m128

fn from(q: Quat) -> __m128

Converts to this type from the input type.

impl FromArg for &'static Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

type This<'from_arg> = &'from_arg Quat

The type to convert into.

fn from_arg( arg: Arg<'_>, ) -> Result<<&'static Quat as FromArg>::This<'_>, ArgError>

Creates an item from an argument.

impl FromArg for &'static mut Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

type This<'from_arg> = &'from_arg mut Quat

The type to convert into.

fn from_arg( arg: Arg<'_>, ) -> Result<<&'static mut Quat as FromArg>::This<'_>, ArgError>

Creates an item from an argument.

impl FromArg for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

type This<'from_arg> = Quat

The type to convert into.

fn from_arg(arg: Arg<'_>) -> Result<<Quat as FromArg>::This<'_>, ArgError>

Creates an item from an argument.

impl FromReflect for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn from_reflect(reflect: &(dyn PartialReflect + 'static)) -> Option<Quat>

Constructs a concrete instance of Self from a reflected value.

fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails.

impl FromRng for Quat

fn from_rng<R>(rng: &mut R) -> Self

where R: Rng + ?Sized,

Construct a value of this type uniformly at random using rng as the source of randomness.

impl GetOwnership for &Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn ownership() -> Ownership

Returns the ownership of Self.

impl GetOwnership for &mut Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn ownership() -> Ownership

Returns the ownership of Self.

impl GetOwnership for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn ownership() -> Ownership

Returns the ownership of Self.

impl GetTypeRegistration for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.

fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type.

impl IntoReturn for &Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn into_return<'into_return>(self) -> Return<'into_return>

where &Quat: 'into_return,

Converts Self into a Return value.

impl IntoReturn for &mut Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn into_return<'into_return>(self) -> Return<'into_return>

where &mut Quat: 'into_return,

Converts Self into a Return value.

impl IntoReturn for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn into_return<'into_return>(self) -> Return<'into_return>

where Quat: 'into_return,

Converts Self into a Return value.

impl Mul<Dir3> for Quat

fn mul(self, direction: Dir3) -> <Quat as Mul<Dir3>>::Output

Rotates the Dir3 using a Quat.

type Output = Dir3

The resulting type after applying the * operator.

impl Mul<Dir3A> for Quat

fn mul(self, direction: Dir3A) -> <Quat as Mul<Dir3A>>::Output

Rotates the Dir3A using a Quat.

type Output = Dir3A

The resulting type after applying the * operator.

impl Mul<Vec3> for Quat

fn mul(self, rhs: Vec3) -> <Quat as Mul<Vec3>>::Output

Multiplies a quaternion and a 3D vector, returning the rotated vector.

Panics

Will panic if self is not normalized when glam_assert is enabled.

type Output = Vec3

The resulting type after applying the * operator.

impl Mul<Vec3A> for Quat

type Output = Vec3A

The resulting type after applying the * operator.

fn mul(self, rhs: Vec3A) -> <Quat as Mul<Vec3A>>::Output

Performs the * operation.

impl Mul<f32> for Quat

fn mul(self, rhs: f32) -> Quat

Multiplies a quaternion by a scalar value.

The product is not guaranteed to be normalized.

type Output = Quat

The resulting type after applying the * operator.

impl Mul for Quat

fn mul(self, rhs: 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 rhs are not normalized when glam_assert is enabled.

type Output = Quat

The resulting type after applying the * operator.

impl MulAssign for Quat

fn mul_assign(&mut self, rhs: 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 rhs are not normalized when glam_assert is enabled.

impl Neg for Quat

type Output = Quat

The resulting type after applying the - operator.

fn neg(self) -> Quat

Performs the unary - operation.

impl PartialEq for Quat

fn eq(&self, rhs: &Quat) -> 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 PartialReflect for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

Returns the TypeInfo of the type represented by this value.

fn try_apply( &mut self, value: &(dyn PartialReflect + 'static), ) -> Result<(), ApplyError>

Tries to apply a reflected value to this value.

fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type.

fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type.

fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type.

fn reflect_owned(self: Box<Quat>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type.

fn try_into_reflect( self: Box<Quat>, ) -> Result<Box<dyn Reflect>, Box<dyn PartialReflect>>

Attempts to cast this type to a boxed, fully-reflected value.

fn try_as_reflect(&self) -> Option<&(dyn Reflect + 'static)>

Attempts to cast this type to a fully-reflected value.

fn try_as_reflect_mut(&mut self) -> Option<&mut (dyn Reflect + 'static)>

Attempts to cast this type to a mutable, fully-reflected value.

fn into_partial_reflect(self: Box<Quat>) -> Box<dyn PartialReflect>

Casts this type to a boxed, reflected value.

fn as_partial_reflect(&self) -> &(dyn PartialReflect + 'static)

Casts this type to a reflected value.

fn as_partial_reflect_mut(&mut self) -> &mut (dyn PartialReflect + 'static)

Casts this type to a mutable, reflected value.

fn reflect_partial_eq( &self, value: &(dyn PartialReflect + 'static), ) -> Option<bool>

Returns a “partial equality” comparison result.

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

Debug formatter for the value.

fn reflect_clone(&self) -> Result<Box<dyn Reflect>, ReflectCloneError>

Attempts to clone Self using reflection.

fn apply(&mut self, value: &(dyn PartialReflect + 'static))

Applies a reflected value to this value.

fn clone_value(&self) -> Box<dyn PartialReflect>

👎Deprecated since 0.16.0: to clone reflected values, prefer using reflect_clone. To convert reflected values to dynamic ones, use to_dynamic.

Clones Self into its dynamic representation.

fn to_dynamic(&self) -> Box<dyn PartialReflect>

Converts this reflected value into its dynamic representation based on its kind.

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type).

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl<'a> Product<&'a Quat> for Quat

fn product<I>(iter: I) -> Quat

where I: Iterator<Item = &'a Quat>,

Takes an iterator and generates Self from the elements by multiplying the items.

impl Product for Quat

fn product<I>(iter: I) -> Quat

where I: Iterator<Item = Quat>,

Takes an iterator and generates Self from the elements by multiplying the items.

impl Reflect for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn into_any(self: Box<Quat>) -> Box<dyn Any>

Returns the value as a Box<dyn Any>.

fn as_any(&self) -> &(dyn Any + 'static)

Returns the value as a &dyn Any.

fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Returns the value as a &mut dyn Any.

fn into_reflect(self: Box<Quat>) -> Box<dyn Reflect>

Casts this type to a boxed, fully-reflected value.

fn as_reflect(&self) -> &(dyn Reflect + 'static)

Casts this type to a fully-reflected value.

fn as_reflect_mut(&mut self) -> &mut (dyn Reflect + 'static)

Casts this type to a mutable, fully-reflected value.

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value.

impl Serialize for Quat

Serialize as a sequence of 4 values.

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.

impl StableInterpolate for Quat

fn interpolate_stable(&self, other: &Quat, t: f32) -> Quat

Interpolate between this value and the other given value using the parameter t. At t = 0.0, a value equivalent to self is recovered, while t = 1.0 recovers a value equivalent to other, with intermediate values interpolating between the two. See the trait-level documentation for details.

fn interpolate_stable_assign(&mut self, other: &Self, t: f32)

A version of interpolate_stable that assigns the result to self for convenience.

fn smooth_nudge(&mut self, target: &Self, decay_rate: f32, delta: f32)

Smoothly nudge this value towards the target at a given decay rate. The decay_rate parameter controls how fast the distance between self and target decays relative to the units of delta; the intended usage is for decay_rate to generally remain fixed, while delta is something like delta_time from an updating system. This produces a smooth following of the target that is independent of framerate.

impl Struct for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn field(&self, name: &str) -> Option<&(dyn PartialReflect + 'static)>

Returns a reference to the value of the field named name as a &dyn PartialReflect.

fn field_mut( &mut self, name: &str, ) -> Option<&mut (dyn PartialReflect + 'static)>

Returns a mutable reference to the value of the field named name as a &mut dyn PartialReflect.

fn field_at(&self, index: usize) -> Option<&(dyn PartialReflect + 'static)>

Returns a reference to the value of the field with index index as a &dyn PartialReflect.

fn field_at_mut( &mut self, index: usize, ) -> Option<&mut (dyn PartialReflect + 'static)>

Returns a mutable reference to the value of the field with index index as a &mut dyn PartialReflect.

fn name_at(&self, index: usize) -> Option<&str>

Returns the name of the field with index index.

fn field_len(&self) -> usize

Returns the number of fields in the struct.

fn iter_fields(&self) -> FieldIter<'_>

Returns an iterator over the values of the reflectable fields for this struct.

fn to_dynamic_struct(&self) -> DynamicStruct

fn clone_dynamic(&self) -> DynamicStruct

👎Deprecated since 0.16.0: use to_dynamic_struct instead

Clones the struct into a DynamicStruct.

fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

Will return None if TypeInfo is not available.

impl Sub for Quat

fn sub(self, rhs: Quat) -> Quat

Subtracts the rhs quaternion from self.

The difference is not guaranteed to be normalized.

type Output = Quat

The resulting type after applying the - operator.

impl<'a> Sum<&'a Quat> for Quat

fn sum<I>(iter: I) -> Quat

where I: Iterator<Item = &'a Quat>,

Takes an iterator and generates Self from the elements by “summing up” the items.

impl Sum for Quat

fn sum<I>(iter: I) -> Quat

where I: Iterator<Item = Quat>,

Takes an iterator and generates Self from the elements by “summing up” the items.

impl TypePath for Quat

where Quat: Any + Send + Sync,

fn type_path() -> &'static str

Returns the fully qualified path of the underlying type.

fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type.

fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous.

fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous.

fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous.

impl Typed for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Zeroable for Quat

fn zeroed() -> Self

Calls zeroed.

impl Copy for Quat

impl Pod for Quat