Struct Quaternion 

pub struct Quaternion { /* private fields */ }

A quaternion representing a 3D rotation with x, y, z, and w components.

Implementations

impl Quaternion

Implements quaternion operations for Quaternion.

pub fn identity() -> Quaternion

Returns the identity quaternion (0, 0, 0, 1) representing no rotation.

Returns

• Quaternion - The identity quaternion.

pub fn from_axis_angle(axis: Vector3D, angle: f64) -> Quaternion

Creates a quaternion from a rotation around an axis.

Arguments

• Vector3D - The rotation axis (should be normalized).
• f64 - The rotation angle in radians.

Returns

• Quaternion - The rotation quaternion.

pub fn from_euler(yaw: f64, pitch: f64, roll: f64) -> Quaternion

Creates a quaternion from Euler angles (yaw, pitch, roll) in radians.

Arguments

• f64 - The yaw (rotation around y axis) in radians.
• f64 - The pitch (rotation around x axis) in radians.
• f64 - The roll (rotation around z axis) in radians.

Returns

• Quaternion - The rotation quaternion.

pub fn magnitude(&self) -> f64

Returns the magnitude of the quaternion.

Returns

• f64 - The magnitude.

pub fn normalized(&self) -> Quaternion

Returns a normalized copy of this quaternion.

Returns

• Quaternion - The normalized quaternion.

pub fn conjugate(&self) -> Quaternion

Returns the conjugate of this quaternion.

Returns

• Quaternion - The conjugate quaternion.

pub fn dot(&self, other: Quaternion) -> f64

Computes the dot product with another quaternion.

Arguments

• Quaternion - The other quaternion.

Returns

• f64 - The dot product.

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

Performs spherical linear interpolation between this and another quaternion.

Arguments

• Quaternion - The target quaternion.
• f64 - The interpolation factor in the range 0.0 to 1.0.

Returns

• Quaternion - The interpolated quaternion.

impl Quaternion

pub fn get_x(&self) -> f64

pub fn get_mut_x(&mut self) -> &mut f64

pub fn set_x(&mut self, val: f64) -> &mut Self

pub fn get_y(&self) -> f64

pub fn get_mut_y(&mut self) -> &mut f64

pub fn set_y(&mut self, val: f64) -> &mut Self

pub fn get_z(&self) -> f64

pub fn get_mut_z(&mut self) -> &mut f64

pub fn set_z(&mut self, val: f64) -> &mut Self

pub fn get_w(&self) -> f64

pub fn get_mut_w(&mut self) -> &mut f64

pub fn set_w(&mut self, val: f64) -> &mut Self

impl Quaternion

pub fn new(x: f64, y: f64, z: f64, w: f64) -> Self

Trait Implementations

impl Clone for Quaternion

fn clone(&self) -> Quaternion

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Quaternion

impl Debug for Quaternion

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

Formats the value using the given formatter.

impl Default for Quaternion

Implements Default for Quaternion as the identity quaternion.

fn default() -> Quaternion

Returns the “default value” for a type.

impl Mul for Quaternion

Implements quaternion multiplication.

type Output = Quaternion

The resulting type after applying the * operator.

fn mul(self, other: Quaternion) -> Quaternion

Performs the * operation.

impl PartialEq for Quaternion

fn eq(&self, other: &Quaternion) -> 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 PartialOrd for Quaternion

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

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

fn lt(&self, other: &Rhs) -> bool

Tests less than (for self and other) and is used by the < operator.

fn le(&self, other: &Rhs) -> bool

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

fn gt(&self, other: &Rhs) -> bool

Tests greater than (for self and other) and is used by the > operator.

fn ge(&self, other: &Rhs) -> bool

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

impl StructuralPartialEq for Quaternion