Struct glam::f32::Quat [−][src]
#[repr(align(16))]pub struct Quat(_);
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.
This type is 16 byte aligned.
Implementations
impl Quat
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impl Quat
[src]pub fn from_xyzw(x: f32, y: f32, z: f32, w: f32) -> Self
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pub fn from_xyzw(x: f32, y: f32, z: f32, w: f32) -> Self
[src]Creates a new rotation quaternion.
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.
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 fn from_vec4(v: Vec4) -> Self
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pub fn from_vec4(v: Vec4) -> Self
[src]Creates a new rotation quaternion from a 4D vector.
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.
The resulting quaternion is expected to be of unit length.
pub fn from_slice_unaligned(slice: &[f32]) -> Self
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pub fn from_slice_unaligned(slice: &[f32]) -> Self
[src]Creates a rotation quaternion from an unaligned slice.
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])
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pub fn write_to_slice_unaligned(self, slice: &mut [f32])
[src]pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self
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pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self
[src]Create a quaternion for a normalized rotation axis
and angle
(in radians).
The axis must be normalized (unit-length).
pub fn from_scaled_axis(v: Vec3) -> Self
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pub fn from_scaled_axis(v: Vec3) -> Self
[src]Create a quaternion that rotates v.length()
radians around v.normalize()
.
from_scaled_axis(Vec3::ZERO)
results in the identity quaternion.
pub fn from_rotation_x(angle: f32) -> Self
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pub fn from_rotation_x(angle: f32) -> Self
[src]Creates a quaternion from the angle
(in radians) around the x axis.
pub fn from_rotation_y(angle: f32) -> Self
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pub fn from_rotation_y(angle: f32) -> Self
[src]Creates a quaternion from the angle
(in radians) around the y axis.
pub fn from_rotation_z(angle: f32) -> Self
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pub fn from_rotation_z(angle: f32) -> Self
[src]Creates a quaternion from the angle
(in radians) around the z axis.
pub fn from_rotation_ypr(yaw: f32, pitch: f32, roll: f32) -> Self
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Please use from_euler(EulerRot::YXZ, yaw, pitch, roll)
instead
pub fn from_euler(euler: EulerRot, a: f32, b: f32, c: f32) -> Self
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pub fn from_euler(euler: EulerRot, a: f32, b: f32, c: f32) -> Self
[src]Creates a quaternion from the given euler rotation sequence and the angles (in radians).
pub fn from_rotation_mat3(mat: &Mat3) -> Self
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Please use from_mat3
instead
pub fn from_rotation_mat4(mat: &Mat4) -> Self
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Please use from_mat4
instead
pub fn from_mat4(mat: &Mat4) -> Self
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pub fn from_mat4(mat: &Mat4) -> Self
[src]Creates a quaternion from a 3x3 rotation matrix inside a homogeneous 4x4 matrix.
pub fn from_rotation_arc(from: Vec3, to: Vec3) -> Self
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pub fn from_rotation_arc(from: Vec3, to: Vec3) -> Self
[src]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
).
pub fn from_rotation_arc_colinear(from: Vec3, to: Vec3) -> Self
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pub fn from_rotation_arc_colinear(from: Vec3, to: Vec3) -> Self
[src]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
.
pub fn to_axis_angle(self) -> (Vec3, f32)
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pub fn to_axis_angle(self) -> (Vec3, f32)
[src]Returns the rotation axis and angle (in radians) of self
.
pub fn to_scaled_axis(self) -> Vec3
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pub fn to_scaled_axis(self) -> Vec3
[src]Returns the rotation axis scaled by the rotation in radians.
pub fn to_euler(self, euler: EulerRot) -> (f32, f32, f32)
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pub fn to_euler(self, euler: EulerRot) -> (f32, f32, f32)
[src]Returns the rotation angles for the given euler rotation sequence.
pub fn conjugate(self) -> Self
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pub fn conjugate(self) -> Self
[src]Returns the quaternion conjugate of self
. For a unit quaternion the
conjugate is also the inverse.
pub fn inverse(self) -> Self
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pub fn inverse(self) -> Self
[src]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.
pub fn dot(self, other: Self) -> f32
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pub fn dot(self, other: Self) -> f32
[src]Computes the dot product of self
and other
. The dot product is
equal to the the cosine of the angle between two quaternion rotations.
pub fn length_squared(self) -> f32
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pub fn length_squared(self) -> f32
[src]Computes the squared length of self
.
This is generally faster than length()
as it avoids a square
root operation.
pub fn length_recip(self) -> f32
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pub fn length_recip(self) -> f32
[src]Computes 1.0 / length()
.
For valid results, self
must not be of length zero.
pub fn normalize(self) -> Self
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pub fn normalize(self) -> Self
[src]Returns self
normalized to length 1.0.
For valid results, self
must not be of length zero.
pub fn is_finite(self) -> bool
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pub fn is_finite(self) -> bool
[src]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
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pub fn is_normalized(self) -> bool
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pub fn is_normalized(self) -> bool
[src]Returns whether self
of length 1.0
or not.
Uses a precision threshold of 1e-6
.
pub fn is_near_identity(self) -> bool
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pub fn angle_between(self, other: Self) -> f32
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pub fn angle_between(self, other: Self) -> f32
[src]Returns the angle (in radians) for the minimal rotation for transforming this quaternion into another.
Both quaternions must be normalized.
pub fn abs_diff_eq(self, other: Self, max_abs_diff: f32) -> bool
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pub fn abs_diff_eq(self, other: Self, max_abs_diff: f32) -> bool
[src]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.
pub fn lerp(self, end: Self, s: f32) -> Self
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pub fn lerp(self, end: Self, s: f32) -> Self
[src]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: Self, s: f32) -> Self
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pub fn slerp(self, end: Self, s: f32) -> Self
[src]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_vec3(self, other: Vec3) -> Vec3
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pub fn mul_vec3(self, other: Vec3) -> Vec3
[src]Multiplies a quaternion and a 3D vector, returning the rotated vector.
pub fn mul_quat(self, other: Self) -> Self
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pub fn mul_quat(self, other: Self) -> Self
[src]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.
pub fn mul_vec3a(self, other: Vec3A) -> Vec3A
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pub fn mul_vec3a(self, other: Vec3A) -> Vec3A
[src]Multiplies a quaternion and a 3D vector, returning the rotated vector.
pub fn as_f64(self) -> DQuat
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pub fn from_affine3(mat: &Affine3A) -> Self
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pub fn from_affine3(mat: &Affine3A) -> Self
[src]Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.
Trait Implementations
impl MulAssign<Quat> for Quat
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impl MulAssign<Quat> for Quat
[src]fn mul_assign(&mut self, other: Self)
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fn mul_assign(&mut self, other: Self)
[src]Performs the *=
operation. Read more
impl Copy for Quat
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Auto Trait Implementations
impl RefUnwindSafe for Quat
impl Send for Quat
impl Sync for Quat
impl Unpin for Quat
impl UnwindSafe for Quat
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
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impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
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pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> ToOwned for T where
T: Clone,
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impl<T> ToOwned for T where
T: Clone,
[src]type Owned = T
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn to_owned(&self) -> T
[src]Creates owned data from borrowed data, usually by cloning. Read more
pub fn clone_into(&self, target: &mut T)
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pub fn clone_into(&self, target: &mut T)
[src]🔬 This is a nightly-only experimental API. (toowned_clone_into
)
recently added
Uses borrowed data to replace owned data, usually by cloning. Read more