Struct bevy_math::Quat

#[repr(C)]pub struct Quat(_);

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

impl 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.

pub const fn identity() -> Quat

pub fn from_slice_unaligned(slice: &[f32]) -> Quat

Creates a rotation quaternion from an unaligned &[f32].

Preconditions

The resulting quaternion is expected to be of unit length.

Panics

Panics if slice length is less than 4.

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

Writes the quaternion to an unaligned &mut [f32].

Panics

Panics if slice length is less than 4.

pub fn from_axis_angle(axis: Vec3, angle: f32) -> Quat

Create a quaterion for a normalized rotation axis and angle (in radians).

pub fn from_rotation_x(angle: f32) -> Quat

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

pub fn from_rotation_y(angle: f32) -> Quat

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

pub fn from_rotation_z(angle: f32) -> Quat

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

pub fn from_rotation_ypr(yaw: f32, pitch: f32, roll: f32) -> Quat

Create a quaternion from the given yaw (around y), pitch (around x) and roll (around z) in radians.

pub fn from_rotation_mat3(mat: &Mat3) -> Quat

Creates a quaternion from a 3x3 rotation matrix.

pub fn from_rotation_mat4(mat: &Mat4) -> Quat

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

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

Returns the rotation axis and angle of self.

pub fn conjugate(self) -> Quat

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

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 quaterion 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 Quat::length() as it avoids a square root operation.

pub fn length_reciprocal(self) -> f32

👎 Deprecated since 0.9.5:

please use Quat::length_recip instead

pub fn length_recip(self) -> f32

Computes 1.0 / Quat::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.

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 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 Quat's 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 on floating point comparisons see https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/

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.

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.

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

Multiplies a quaternion and a 3D vector, rotating it.

pub fn mul_vec3(self, other: Vec3) -> Vec3

Multiplies a quaternion and a 3D vector, rotating it.

pub fn mul_quat(self, other: Quat) -> Quat

Multiplies two quaternions. Note that due to floating point rounding the result may not be perfectly normalized.

pub fn x(self) -> f32

Returns element x.

pub fn y(self) -> f32

Returns element y.

pub fn z(self) -> f32

Returns element z.

pub fn w(self) -> f32

Returns element w.

Trait Implementations

impl AsMut<[f32; 4]> for Quat

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

Performs the conversion.

impl AsRef<[f32; 4]> for Quat

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

Performs the conversion.

impl Clone for Quat

pub fn clone(&self) -> Quat

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Quat

impl Debug for Quat

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

Formats the value using the given formatter.

impl Default for Quat

pub fn default() -> Quat

Returns the "default value" for a type.

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

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.

impl Display for Quat

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

Formats the value using the given formatter.

impl From<[f32; 4]> for Quat

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

Performs the conversion.

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

pub fn from(t: (f32, f32, f32, f32)) -> Quat

Performs the conversion.

impl From<Quat> for Vec4

pub fn from(q: Quat) -> Vec4

Performs the conversion.

impl From<Vec4> for Quat

pub fn from(v: Vec4) -> Quat

Performs the conversion.

impl From<__m128> for Quat

pub fn from(t: __m128) -> Quat

Performs the conversion.

impl Mul<Quat> for Quat

type Output = Quat

The resulting type after applying the * operator.

pub fn mul(self, other: Quat) -> Quat

Performs the * operation.

impl Mul<Vec3> for Quat

type Output = Vec3

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<Vec3A> for Quat

type Output = Vec3A

The resulting type after applying the * operator.

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

Performs the * operation.

impl MulAssign<Quat> for Quat

pub fn mul_assign(&mut self, other: Quat)

Performs the *= operation.

impl Neg for Quat

type Output = Quat

The resulting type after applying the - operator.

pub fn neg(self) -> Quat

Performs the unary - operation.

impl PartialEq<Quat> for Quat

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

This method tests for self and other values to be equal, and is used by ==.

#[must_use]fn ne(&self, other: &Rhs) -> bool

This method tests for !=.

impl PartialOrd<Quat> for Quat

pub fn partial_cmp(&self, other: &Quat) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

#[must_use]fn lt(&self, other: &Rhs) -> bool

This method tests less than (for self and other) and is used by the < operator.

#[must_use]fn le(&self, other: &Rhs) -> bool

This method tests less than or equal to (for self and other) and is used by the <= operator.

#[must_use]fn gt(&self, other: &Rhs) -> bool

This method tests greater than (for self and other) and is used by the > operator.

#[must_use]fn ge(&self, other: &Rhs) -> bool

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl Serialize for Quat

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.