#[repr(transparent)]pub struct DQuat(_);
Expand description
A quaternion representing an orientation.
This quaternion is intended to be of unit length but may denormalize due to floating point “error creep” which can occur when successive quaternion operations are applied.
Implementations
sourceimpl DQuat
impl DQuat
sourcepub const IDENTITY: DQuat = Self(InnerF64::W)
pub const IDENTITY: DQuat = Self(InnerF64::W)
The identity quaternion. Corresponds to no rotation.
sourcepub fn from_xyzw(x: f64, y: f64, z: f64, w: f64) -> DQuat
pub fn from_xyzw(x: f64, y: f64, z: f64, w: f64) -> DQuat
Creates a new rotation quaternion.
This should generally not be called manually unless you know what you are doing.
Use one of the other constructors instead such as identity
or from_axis_angle
.
from_xyzw
is mostly used by unit tests and serde
deserialization.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
sourcepub fn from_array(a: [f64; 4]) -> DQuat
pub fn from_array(a: [f64; 4]) -> DQuat
Creates a rotation quaternion from an array.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
sourcepub fn from_vec4(v: DVec4) -> DQuat
pub fn from_vec4(v: DVec4) -> DQuat
Creates a new rotation quaternion from a 4D vector.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
sourcepub fn from_slice(slice: &[f64]) -> DQuat
pub fn from_slice(slice: &[f64]) -> DQuat
Creates a rotation quaternion from a slice.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
Panics
Panics if slice
length is less than 4.
sourcepub fn write_to_slice(self, slice: &mut [f64])
pub fn write_to_slice(self, slice: &mut [f64])
sourcepub fn from_axis_angle(axis: DVec3, angle: f64) -> DQuat
pub fn from_axis_angle(axis: DVec3, angle: f64) -> DQuat
Create a quaternion for a normalized rotation axis
and angle
(in radians).
The axis must be normalized (unit-length).
Panics
Will panic if axis
is not normalized when glam_assert
is enabled.
sourcepub fn from_scaled_axis(v: DVec3) -> DQuat
pub fn from_scaled_axis(v: DVec3) -> DQuat
Create a quaternion that rotates v.length()
radians around v.normalize()
.
from_scaled_axis(Vec3::ZERO)
results in the identity quaternion.
sourcepub fn from_rotation_x(angle: f64) -> DQuat
pub fn from_rotation_x(angle: f64) -> DQuat
Creates a quaternion from the angle
(in radians) around the x axis.
sourcepub fn from_rotation_y(angle: f64) -> DQuat
pub fn from_rotation_y(angle: f64) -> DQuat
Creates a quaternion from the angle
(in radians) around the y axis.
sourcepub fn from_rotation_z(angle: f64) -> DQuat
pub fn from_rotation_z(angle: f64) -> DQuat
Creates a quaternion from the angle
(in radians) around the z axis.
sourcepub fn from_euler(euler: EulerRot, a: f64, b: f64, c: f64) -> DQuat
pub fn from_euler(euler: EulerRot, a: f64, b: f64, c: f64) -> DQuat
Creates a quaternion from the given euler rotation sequence and the angles (in radians).
sourcepub fn from_mat4(mat: &DMat4) -> DQuat
pub fn from_mat4(mat: &DMat4) -> DQuat
Creates a quaternion from a 3x3 rotation matrix inside a homogeneous 4x4 matrix.
sourcepub fn from_rotation_arc(from: DVec3, to: DVec3) -> DQuat
pub fn from_rotation_arc(from: DVec3, to: DVec3) -> DQuat
Gets the minimal rotation for transforming from
to to
. The rotation is in the
plane spanned by the two vectors. Will rotate at most 180 degrees.
The input vectors must be normalized (unit-length).
from_rotation_arc(from, to) * from ≈ to
.
For near-singular cases (from≈to and from≈-to) the current implementation
is only accurate to about 0.001 (for f32
).
Panics
Will panic if from
or to
are not normalized when glam_assert
is enabled.
sourcepub fn from_rotation_arc_colinear(from: DVec3, to: DVec3) -> DQuat
pub fn from_rotation_arc_colinear(from: DVec3, to: DVec3) -> DQuat
Gets the minimal rotation for transforming from
to either to
or -to
. This means
that the resulting quaternion will rotate from
so that it is colinear with to
.
The rotation is in the plane spanned by the two vectors. Will rotate at most 90 degrees.
The input vectors must be normalized (unit-length).
to.dot(from_rotation_arc_colinear(from, to) * from).abs() ≈ 1
.
Panics
Will panic if from
or to
are not normalized when glam_assert
is enabled.
sourcepub fn from_rotation_arc_2d(from: DVec2, to: DVec2) -> DQuat
pub fn from_rotation_arc_2d(from: DVec2, to: DVec2) -> DQuat
Gets the minimal rotation for transforming from
to to
. The resulting rotation is
around the z axis. Will rotate at most 180 degrees.
The input vectors must be normalized (unit-length).
from_rotation_arc_2d(from, to) * from ≈ to
.
For near-singular cases (from≈to and from≈-to) the current implementation
is only accurate to about 0.001 (for f32
).
Panics
Will panic if from
or to
are not normalized when glam_assert
is enabled.
sourcepub fn to_axis_angle(self) -> (DVec3, f64)
pub fn to_axis_angle(self) -> (DVec3, f64)
Returns the rotation axis and angle (in radians) of self
.
sourcepub fn to_scaled_axis(self) -> DVec3
pub fn to_scaled_axis(self) -> DVec3
Returns the rotation axis scaled by the rotation in radians.
sourcepub fn to_euler(self, euler: EulerRot) -> (f64, f64, f64)
pub fn to_euler(self, euler: EulerRot) -> (f64, f64, f64)
Returns the rotation angles for the given euler rotation sequence.
sourcepub fn conjugate(self) -> DQuat
pub fn conjugate(self) -> DQuat
Returns the quaternion conjugate of self
. For a unit quaternion the
conjugate is also the inverse.
sourcepub fn inverse(self) -> DQuat
pub fn inverse(self) -> DQuat
Returns the inverse of a normalized quaternion.
Typically quaternion inverse returns the conjugate of a normalized quaternion.
Because self
is assumed to already be unit length this method does not normalize
before returning the conjugate.
Panics
Will panic if self
is not normalized when glam_assert
is enabled.
sourcepub fn dot(self, other: DQuat) -> f64
pub fn dot(self, other: DQuat) -> f64
Computes the dot product of self
and other
. The dot product is
equal to the the cosine of the angle between two quaternion rotations.
sourcepub fn length_squared(self) -> f64
pub fn length_squared(self) -> f64
Computes the squared length of self
.
This is generally faster than length()
as it avoids a square
root operation.
sourcepub fn length_recip(self) -> f64
pub fn length_recip(self) -> f64
Computes 1.0 / length()
.
For valid results, self
must not be of length zero.
sourcepub fn normalize(self) -> DQuat
pub fn normalize(self) -> DQuat
Returns self
normalized to length 1.0.
For valid results, self
must not be of length zero.
Panics
Will panic if self
is zero length when glam_assert
is enabled.
sourcepub fn is_finite(self) -> bool
pub fn is_finite(self) -> bool
Returns true
if, and only if, all elements are finite.
If any element is either NaN
, positive or negative infinity, this will return false
.
pub fn is_nan(self) -> bool
sourcepub fn is_normalized(self) -> bool
pub fn is_normalized(self) -> bool
Returns whether self
of length 1.0
or not.
Uses a precision threshold of 1e-6
.
pub fn is_near_identity(self) -> bool
sourcepub fn angle_between(self, other: DQuat) -> f64
pub fn angle_between(self, other: DQuat) -> f64
Returns the angle (in radians) for the minimal rotation for transforming this quaternion into another.
Both quaternions must be normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
sourcepub fn abs_diff_eq(self, other: DQuat, max_abs_diff: f64) -> bool
pub fn abs_diff_eq(self, other: DQuat, max_abs_diff: f64) -> bool
Returns true if the absolute difference of all elements between self
and other
is less than or equal to max_abs_diff
.
This can be used to compare if two quaternions contain similar elements. It works
best when comparing with a known value. The max_abs_diff
that should be used used
depends on the values being compared against.
For more see comparing floating point numbers.
sourcepub fn lerp(self, end: DQuat, s: f64) -> DQuat
pub fn lerp(self, end: DQuat, s: f64) -> DQuat
Performs a linear interpolation between self
and other
based on
the value s
.
When s
is 0.0
, the result will be equal to self
. When s
is 1.0
, the result will be equal to other
.
Panics
Will panic if self
or end
are not normalized when glam_assert
is enabled.
sourcepub fn slerp(self, end: DQuat, s: f64) -> DQuat
pub fn slerp(self, end: DQuat, s: f64) -> DQuat
Performs a spherical linear interpolation between self
and end
based on the value s
.
When s
is 0.0
, the result will be equal to self
. When s
is 1.0
, the result will be equal to end
.
Note that a rotation can be represented by two quaternions: q
and
-q
. The slerp path between q
and end
will be different from the
path between -q
and end
. One path will take the long way around and
one will take the short way. In order to correct for this, the dot
product between self
and end
should be positive. If the dot
product is negative, slerp between -self
and end
.
Panics
Will panic if self
or end
are not normalized when glam_assert
is enabled.
sourcepub fn mul_vec3(self, other: DVec3) -> DVec3
pub fn mul_vec3(self, other: DVec3) -> DVec3
Multiplies a quaternion and a 3D vector, returning the rotated vector.
Panics
Will panic if self
is not normalized when glam_assert
is enabled.
sourcepub fn mul_quat(self, other: DQuat) -> DQuat
pub fn mul_quat(self, other: DQuat) -> DQuat
Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.
Note that due to floating point rounding the result may not be perfectly normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
pub fn as_f32(self) -> Quat
sourcepub fn from_affine3(mat: &DAffine3) -> DQuat
pub fn from_affine3(mat: &DAffine3) -> DQuat
Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.
Trait Implementations
sourceimpl Add<DQuat> for DQuat
impl Add<DQuat> for DQuat
sourceimpl<'de> Deserialize<'de> for DQuat
impl<'de> Deserialize<'de> for DQuat
sourcefn deserialize<D>(
deserializer: D
) -> Result<DQuat, <D as Deserializer<'de>>::Error> where
D: Deserializer<'de>,
fn deserialize<D>(
deserializer: D
) -> Result<DQuat, <D as Deserializer<'de>>::Error> where
D: Deserializer<'de>,
Deserialize this value from the given Serde deserializer. Read more
impl FromReflect for DQuat
impl FromReflect for DQuat
fn from_reflect(reflect: &(dyn Reflect + 'static)) -> Option<DQuat>
fn from_reflect(reflect: &(dyn Reflect + 'static)) -> Option<DQuat>
Constructs a concrete instance of Self
from a reflected value.
impl GetTypeRegistration for DQuat
impl GetTypeRegistration for DQuat
sourceimpl Mul<DQuat> for DQuat
impl Mul<DQuat> for DQuat
sourcefn mul(self, other: DQuat) -> DQuat
fn mul(self, other: DQuat) -> DQuat
Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.
Note that due to floating point rounding the result may not be perfectly normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
sourceimpl MulAssign<DQuat> for DQuat
impl MulAssign<DQuat> for DQuat
sourcefn mul_assign(&mut self, other: DQuat)
fn mul_assign(&mut self, other: DQuat)
Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.
Note that due to floating point rounding the result may not be perfectly normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
impl Reflect for DQuat
impl Reflect for DQuat
fn any_mut(&mut self) -> &mut (dyn Any + 'static)
fn any_mut(&mut self) -> &mut (dyn Any + 'static)
Returns the value as a &mut dyn Any
.
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Clones the value as a Reflect
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fn apply(&mut self, value: &(dyn Reflect + 'static))
fn apply(&mut self, value: &(dyn Reflect + 'static))
Applies a reflected value to this value. Read more
fn set(
&mut self,
value: Box<dyn Reflect + 'static, Global>
) -> Result<(), Box<dyn Reflect + 'static, Global>>
fn set(
&mut self,
value: Box<dyn Reflect + 'static, Global>
) -> Result<(), Box<dyn Reflect + 'static, Global>>
Performs a type-checked assignment of a reflected value to this value. Read more
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fn reflect_ref(&self) -> ReflectRef<'_>
Returns an enumeration of “kinds” of type. Read more
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Returns a mutable enumeration of “kinds” of type. Read more
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fn reflect_hash(&self) -> Option<u64>
Returns a hash of the value (which includes the type). Read more
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fn reflect_partial_eq(&self, value: &(dyn Reflect + 'static)) -> Option<bool>
Returns a “partial equality” comparison result. Read more
fn serializable(&self) -> Option<Serializable<'_>>
fn serializable(&self) -> Option<Serializable<'_>>
Returns a serializable version of the value. Read more
sourceimpl Serialize for DQuat
impl Serialize for DQuat
sourcefn serialize<S>(
&self,
serializer: S
) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error> where
S: Serializer,
fn serialize<S>(
&self,
serializer: S
) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error> where
S: Serializer,
Serialize this value into the given Serde serializer. Read more
impl Copy for DQuat
impl Pod for DQuat
Auto Trait Implementations
impl RefUnwindSafe for DQuat
impl Send for DQuat
impl Sync for DQuat
impl Unpin for DQuat
impl UnwindSafe for DQuat
Blanket Implementations
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
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Mutably borrows from an owned value. Read more
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impl<T> FromWorld for T where
T: Default,
impl<T> FromWorld for T where
T: Default,
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Creates Self
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&'r self,
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