Struct glam::f32::Quat

#[repr(C)]
pub struct Quat(_);

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.

Methods

impl Quat

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

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.

new is mostly used by unit tests and serde deserialization.

pub fn identity() -> Self

pub fn from_slice_unaligned(slice: &[f32]) -> Self

Creates a new rotation quaternion from an unaligned &[f32].

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])

Writes the quaternion to an unaligned &mut [f32].

Panics

Panics if slice length is less than 4.

pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self

Create a new quaterion for a normalized rotation axis and angle (in radians).

pub fn from_rotation_x(angle: f32) -> Self

Creates a new quaternion from the angle (in radians) around the x axis.

pub fn from_rotation_y(angle: f32) -> Self

Creates a new quaternion from the angle (in radians) around the y axis.

pub fn from_rotation_z(angle: f32) -> Self

Creates a new quaternion from the angle (in radians) around the z axis.

pub fn from_rotation_ypr(yaw: f32, pitch: f32, roll: f32) -> Self

Create a quaternion from the given yaw (around y), pitch (around x) and roll (around z) in radians.

pub fn from_rotation_mat3(mat: &Mat3) -> Self

pub fn from_rotation_mat4(mat: &Mat4) -> Self

pub fn to_axis_angle(self) -> (Vec3, f32)

pub fn conjugate(self) -> Self

pub fn dot(self, other: Self) -> f32

Computes the dot product of self and other.

pub fn length(self) -> f32

Computes the length of self.

pub fn length_squared(self) -> f32

Computes the squared length of self.

This is generally faster than Quat::length() as it avoids a square root operation.

pub fn length_reciprocal(self) -> f32

Computes 1.0 / Quat::length().

For valid results, self must not be of length zero.

pub fn normalize(self) -> Self

Returns self normalized to length 1.0.

For valid results, self must not be of length zero.

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

pub fn abs_diff_eq(self, other: Self, max_abs_diff: f32) -> 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 Quat's 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 on floating point comparisons see https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/

pub fn lerp(self, end: Self, t: f32) -> Self

pub fn mul_vec3(self, other: Vec3) -> Vec3

Multiplies a quaternion and a 3D vector, rotating it.

pub fn mul_quat(self, other: Self) -> Self

Multiplies two quaternions. Note that due to floating point rounding the result may not be perfectly normalized.

Trait Implementations

impl AsRef<[f32; 4]> for Quat

fn as_ref(&self) -> &[f32; 4]

Performs the conversion.

impl AsMut<[f32; 4]> for Quat

fn as_mut(&mut self) -> &mut [f32; 4]

Performs the conversion.

impl From<Vec4> for Quat

fn from(v: Vec4) -> Self

Performs the conversion.

impl From<Quat> for Vec4

fn from(q: Quat) -> Self

Performs the conversion.

impl From<(f32, f32, f32, f32)> for Quat

fn from(t: (f32, f32, f32, f32)) -> Self

Performs the conversion.

impl From<Quat> for (f32, f32, f32, f32)

fn from(q: Quat) -> Self

Performs the conversion.

impl From<[f32; 4]> for Quat

fn from(a: [f32; 4]) -> Self

Performs the conversion.

impl From<Quat> for [f32; 4]

fn from(q: Quat) -> Self

Performs the conversion.

impl From<Quat> for __m128

fn from(q: Quat) -> Self

Performs the conversion.

impl From<__m128> for Quat

fn from(t: __m128) -> Self

Performs the conversion.

impl Clone for Quat

fn clone(&self) -> Quat

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Quat

impl Default for Quat

fn default() -> Self

Returns the "default value" for a type.

impl PartialEq<Quat> for Quat

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

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

#[must_use] fn ne(&self, other: &Rhs) -> bool

This method tests for !=.

impl PartialOrd<Quat> for Quat

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

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

#[must_use] fn lt(&self, other: &Rhs) -> bool

This method tests less than (for self and other) and is used by the < operator.

#[must_use] fn le(&self, other: &Rhs) -> bool

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

#[must_use] fn gt(&self, other: &Rhs) -> bool

This method tests greater than (for self and other) and is used by the > operator.

#[must_use] fn ge(&self, other: &Rhs) -> bool

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

impl Display for Quat

fn fmt(&self, fmt: &mut Formatter) -> Result

Formats the value using the given formatter.

impl Debug for Quat

fn fmt(&self, fmt: &mut Formatter) -> Result

Formats the value using the given formatter.

impl Mul<Quat> for Quat

type Output = Self

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<Vec3> for Quat

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, other: Vec3) -> Vec3

Performs the * operation.

impl Neg for Quat

type Output = Self

The resulting type after applying the - operator.

fn neg(self) -> Self

Performs the unary - operation.

impl MulAssign<Quat> for Quat

fn mul_assign(&mut self, other: Self)

Performs the *= operation.