Struct Rotor 

pub struct Rotor { /* private fields */ }

A rotor represents a rotation in geometric algebra.

Rotors are even-grade multivectors with unit magnitude that implement rotations via the sandwich product: R v R†

In 3D, a rotor encodes rotation by angle θ around an axis n as: R = cos(θ/2) + sin(θ/2) * B where B is the unit bivector representing the rotation plane.

Implementations

impl Rotor

pub fn from_multivector(mv: GA3) -> Self

Create a rotor from a multivector (assumes it’s already a valid rotor)

pub fn identity() -> Self

Create the identity rotor (no rotation)

pub fn xy(angle: f64) -> Self

Create a rotor for rotation by angle (in radians) in the XY plane

This is equivalent to rotation around the Z axis.

pub fn xz(angle: f64) -> Self

Create a rotor for rotation by angle (in radians) in the XZ plane

This is equivalent to rotation around the Y axis.

pub fn yz(angle: f64) -> Self

Create a rotor for rotation by angle (in radians) in the YZ plane

This is equivalent to rotation around the X axis.

pub fn from_bivector_angle(angle: f64, xy: f64, xz: f64, yz: f64) -> Self

Create a rotor from an angle and bivector components

The bivector (xy, xz, yz) defines the rotation plane. Components are normalized internally.

pub fn from_axis_angle( axis_x: f64, axis_y: f64, axis_z: f64, angle: f64, ) -> Self

Create a rotor for rotation around an axis vector by an angle

The axis does not need to be normalized.

pub fn as_multivector(&self) -> &GA3

Get the internal multivector

pub fn transform(&self, v: &GA3) -> GA3

Apply this rotor to transform a multivector (sandwich product)

Returns R * v * R†

pub fn then(&self, other: &Rotor) -> Rotor

Compose two rotors: self followed by other

The result applies self first, then other.

pub fn inverse(&self) -> Rotor

Get the inverse rotor (reverse rotation)

pub fn normalize(&self) -> Rotor

Normalize the rotor to unit magnitude

pub fn angle(&self) -> f64

Get the rotation angle (in radians)

pub fn to_amari_rotor(&self) -> AmariRotor<3, 0, 0>

Convert to an amari-core Rotor<3,0,0>

This enables interop with amari-core’s typed rotor operations (slerp, compose, logarithm, power, etc.)

pub fn from_amari_rotor(rotor: &AmariRotor<3, 0, 0>) -> Self

Create from an amari-core Rotor<3,0,0>

pub fn slerp(&self, t: f64) -> Rotor

Spherical linear interpolation between identity and this rotor

t=0 gives identity, t=1 gives self

pub fn slerp_to(&self, other: &Rotor, t: f64) -> Rotor

Spherical linear interpolation between two rotors

Trait Implementations

impl Clone for Rotor

fn clone(&self) -> Rotor

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Rotor

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

Formats the value using the given formatter.