Struct duku::Quaternion

pub struct Quaternion {
    pub x: f32,
    pub y: f32,
    pub z: f32,
    pub w: f32,
}

Compact 3D rotation representation.

Used for rotating vectors

Example

let vector = Vector3::UP;
let quat = Quaternion::euler_rotation(0.0, 0.0, 90.0);
assert_eq!(quat * vector, Vector3::RIGHT);

Fields

x: f32

the X component

y: f32

the Y component

z: f32

the Z component

w: f32

the W component

Implementations

impl Quaternion

pub const fn new(x: f32, y: f32, z: f32, w: f32) -> Self

Create quaternion

pub fn euler_rotation(x: f32, y: f32, z: f32) -> Self

Create quaternion with euler angles

This rotation's yaw, pitch and roll are z, y and x

pub fn axis_rotation(axis: impl Into<Vector3>, angle: f32) -> Self

Create quaternion around axis

This rotates vectors around axis by the angle

pub fn look_rotation(
    dir: impl Into<Vector3>,
    global_up: impl Into<Vector3>
) -> Self

Create quaternion to rotate towards direction

Note: global_up is used as a guide to try aligning to

pub fn inverse(self) -> Quaternion

Calculate the inverse rotation

Trait Implementations

impl Clone for Quaternion

pub fn clone(&self) -> Quaternion

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Quaternion

impl Debug for Quaternion

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

Formats the value using the given formatter.

impl Default for Quaternion

pub fn default() -> Self

Returns the "default value" for a type.

impl From<Matrix4> for Quaternion

pub fn from(m: Matrix4) -> Self

Performs the conversion.

impl From<Quaternion> for Matrix4

pub fn from(q: Quaternion) -> Self

Performs the conversion.

impl Mul<Quaternion> for Quaternion

type Output = Self

The resulting type after applying the * operator.

pub fn mul(self, rhs: Self) -> Self

Performs the * operation.

impl Mul<Vector3> for Quaternion

type Output = Vector3

The resulting type after applying the * operator.

pub fn mul(self, rhs: Vector3) -> Vector3

Performs the * operation.

impl MulAssign<Quaternion> for Quaternion

pub fn mul_assign(&mut self, rhs: Self)

Performs the *= operation.

impl PartialEq<Quaternion> for Quaternion

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

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

pub fn ne(&self, other: &Quaternion) -> bool

This method tests for !=.

impl StructuralPartialEq for Quaternion