Struct nalgebra::Quat
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pub struct Quat<N> { pub w: N, pub i: N, pub j: N, pub k: N, }
A quaternion.
Fields
w: N
The scalar component of the quaternion.
i: N
The first vector component of the quaternion.
j: N
The second vector component of the quaternion.
k: N
The third vector component of the quaternion.
Methods
impl<N> Quat<N>
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fn new(w: N, i: N, j: N, k: N) -> Quat<N>
Creates a new quaternion from its components.
fn vector<'a>(&'a self) -> &'a Vec3<N>
The vector part (i, j, k)
of this quaternion.
fn scalar<'a>(&'a self) -> &'a N
The scalar part w
of this quaternion.
impl<N: Neg<Output=N> + Copy> Quat<N>
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fn conjugate(&self) -> Quat<N>
Compute the conjugate of this quaternion.
fn conjugate_mut(&mut self)
Replaces this quaternion by its conjugate.
impl<N: Zero + One> Quat<N>
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fn w() -> Quat<N>
Create a unit vector with its $compN
component equal to 1.0.
fn i() -> Quat<N>
Create a unit vector with its $compN
component equal to 1.0.
fn j() -> Quat<N>
Create a unit vector with its $compN
component equal to 1.0.
fn k() -> Quat<N>
Create a unit vector with its $compN
component equal to 1.0.
impl<N> Quat<N>
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fn as_array(&self) -> &[N; 4]
View this vector as an array.
fn as_array_mut(&mut self) -> &mut [N; 4]
View this vector as a mutable array.
fn from_array_ref(array: &[N; 4]) -> &Quat<N>
View an array as a vector.
fn from_array_mut(array: &mut [N; 4]) -> &mut Quat<N>
View an array as a vector.
impl<N: Copy> Quat<N>
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unsafe fn at_fast(&self, i: usize) -> N
Unsafe read access to a vector element by index.
unsafe fn set_fast(&mut self, i: usize, val: N)
Unsafe write access to a vector element by index.
impl<N> Quat<N>
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Trait Implementations
impl<N: Copy> Copy for Quat<N>
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impl<N: Debug> Debug for Quat<N>
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impl<N: Hash> Hash for Quat<N>
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fn hash<__HN: Hasher>(&self, __arg_0: &mut __HN)
Feeds this value into the state given, updating the hasher as necessary.
fn hash_slice<H>(data: &[Self], state: &mut H) where H: Hasher
1.3.0
Feeds a slice of this type into the state provided.
impl<N: Clone> Clone for Quat<N>
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fn clone(&self) -> Quat<N>
Returns a copy of the value. Read more
fn clone_from(&mut self, source: &Self)
1.0.0
Performs copy-assignment from source
. Read more
impl<N: Decodable> Decodable for Quat<N>
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impl<N: Encodable> Encodable for Quat<N>
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impl<N: PartialEq> PartialEq for Quat<N>
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fn eq(&self, __arg_0: &Quat<N>) -> bool
This method tests for self
and other
values to be equal, and is used by ==
. Read more
fn ne(&self, __arg_0: &Quat<N>) -> bool
This method tests for !=
.
impl<N: Eq> Eq for Quat<N>
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impl<N: BaseFloat + ApproxEq<N>> Inv for Quat<N>
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fn inv(&self) -> Option<Quat<N>>
Returns the inverse of m
.
fn inv_mut(&mut self) -> bool
In-place version of inverse
.
impl<N: BaseFloat> Norm<N> for Quat<N>
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fn sqnorm(&self) -> N
Computes the squared norm of self
. Read more
fn normalize(&self) -> Quat<N>
Gets the normalized version of a copy of v
.
fn normalize_mut(&mut self) -> N
Normalizes self
.
fn norm(&self) -> N
Computes the norm of self
.
impl<N> Mul<Quat<N>> for Quat<N> where N: Copy + Mul<N, Output=N> + Sub<N, Output=N> + Add<N, Output=N>
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type Output = Quat<N>
The resulting type after applying the *
operator
fn mul(self, right: Quat<N>) -> Quat<N>
The method for the *
operator
impl<N: ApproxEq<N> + BaseFloat> Div<Quat<N>> for Quat<N>
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type Output = Quat<N>
The resulting type after applying the /
operator
fn div(self, right: Quat<N>) -> Quat<N>
The method for the /
operator
impl<N: Rand> Rand for Quat<N>
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fn rand<R: Rng>(rng: &mut R) -> Quat<N>
Generates a random instance of this type using the specified source of randomness. Read more
impl<N: BaseFloat> POrd for Quat<N>
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fn inf(&self, other: &Quat<N>) -> Quat<N>
Returns the infimum of this value and another
fn sup(&self, other: &Quat<N>) -> Quat<N>
Returns the supremum of this value and another
fn partial_cmp(&self, other: &Quat<N>) -> POrdering
Compare self
and other
using a partial ordering relation.
fn partial_lt(&self, other: &Quat<N>) -> bool
Returns true
iff self
and other
are comparable and self < other
.
fn partial_le(&self, other: &Quat<N>) -> bool
Returns true
iff self
and other
are comparable and self <= other
.
fn partial_gt(&self, other: &Quat<N>) -> bool
Returns true
iff self
and other
are comparable and self > other
.
fn partial_ge(&self, other: &Quat<N>) -> bool
Returns true
iff self
and other
are comparable and self >= other
.
fn partial_min<'a>(&'a self, other: &'a Self) -> Option<&'a Self>
Return the minimum of self
and other
if they are comparable.
fn partial_max<'a>(&'a self, other: &'a Self) -> Option<&'a Self>
Return the maximum of self
and other
if they are comparable.
fn partial_clamp<'a>(&'a self, min: &'a Self, max: &'a Self) -> Option<&'a Self>
Clamp value
between min
and max
. Returns None
if value
is not comparable to min
or max
. Read more
impl<Nin: Copy, Nout: Copy + Cast<Nin>> Cast<Quat<Nin>> for Quat<Nout>
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impl<N> Index<usize> for Quat<N>
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type Output = N
The returned type after indexing
fn index(&self, i: usize) -> &N
The method for the indexing (Foo[Bar]
) operation
impl<N> IndexMut<usize> for Quat<N>
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impl<N> Shape<usize> for Quat<N>
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impl<N: Copy> Indexable<usize, N> for Quat<N>
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fn swap(&mut self, i1: usize, i2: usize)
Swaps the i
-th element of self
with its j
-th element.
unsafe fn unsafe_at(&self, i: usize) -> N
Reads the i
-th element of self
. Read more
unsafe fn unsafe_set(&mut self, i: usize, val: N)
Writes to the i
-th element of self
. Read more
impl<N: Copy> Repeat<N> for Quat<N>
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impl<N> Dim for Quat<N>
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impl<N: Add<N, Output=N>> Add<Quat<N>> for Quat<N>
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type Output = Quat<N>
The resulting type after applying the +
operator
fn add(self, right: Quat<N>) -> Quat<N>
The method for the +
operator
impl<N: Sub<N, Output=N>> Sub<Quat<N>> for Quat<N>
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type Output = Quat<N>
The resulting type after applying the -
operator
fn sub(self, right: Quat<N>) -> Quat<N>
The method for the -
operator
impl<N: Copy + Add<N, Output=N>> Add<N> for Quat<N>
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type Output = Quat<N>
The resulting type after applying the +
operator
fn add(self, right: N) -> Quat<N>
The method for the +
operator
impl<N: Copy + Sub<N, Output=N>> Sub<N> for Quat<N>
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type Output = Quat<N>
The resulting type after applying the -
operator
fn sub(self, right: N) -> Quat<N>
The method for the -
operator
impl<N: Copy + Mul<N, Output=N>> Mul<N> for Quat<N>
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type Output = Quat<N>
The resulting type after applying the *
operator
fn mul(self, right: N) -> Quat<N>
The method for the *
operator
impl<N: Copy + Div<N, Output=N>> Div<N> for Quat<N>
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type Output = Quat<N>
The resulting type after applying the /
operator
fn div(self, right: N) -> Quat<N>
The method for the /
operator
impl<N: Neg<Output=N> + Copy> Neg for Quat<N>
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type Output = Quat<N>
The resulting type after applying the -
operator
fn neg(self) -> Quat<N>
The method for the unary -
operator
impl<N> One for Quat<N> where N: Copy + One + Sub<N, Output=N> + Add<N, Output=N>
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impl<N: Zero> Zero for Quat<N>
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fn zero() -> Quat<N>
Returns the additive identity element of Self
, 0
. Read more
fn is_zero(&self) -> bool
Returns true
if self
is equal to the additive identity.
impl<N: ApproxEq<N>> ApproxEq<N> for Quat<N>
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fn approx_epsilon(_: Option<Quat<N>>) -> N
Default epsilon for approximation.
fn approx_ulps(_: Option<Quat<N>>) -> u32
Default ULPs for approximation.
fn approx_eq(&self, other: &Quat<N>) -> bool
Tests approximate equality.
fn approx_eq_eps(&self, other: &Quat<N>, eps: &N) -> bool
Tests approximate equality using a custom epsilon.
fn approx_eq_ulps(&self, other: &Quat<N>, ulps: u32) -> bool
Tests approximate equality using units in the last place (ULPs)
impl<N> FromIterator<N> for Quat<N>
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fn from_iter<I: IntoIterator<Item=N>>(iterator: I) -> Quat<N>
Creates a value from an iterator. Read more