Quaternion support for dew expressions.

Provides quaternion types and operations for 3D rotations. Uses [x, y, z, w] component order (scalar last, matching GLM/glTF convention).

Quick Start

use wick_core::Expr;
use wick_quaternion::{Value, eval, quaternion_registry};
use std::collections::HashMap;

// Create a rotation quaternion and normalize it
let expr = Expr::parse("normalize(q)").unwrap();

let vars: HashMap<String, Value<f32>> = [
    ("q".into(), Value::Quaternion([0.0, 0.0, 0.0, 2.0])),
].into();

let result = eval(expr.ast(), &vars, &quaternion_registry()).unwrap();
assert_eq!(result, Value::Quaternion([0.0, 0.0, 0.0, 1.0]));

Features

Feature	Description
`wgsl`	WGSL shader code generation
`lua`	Lua code generation
`cranelift`	Cranelift JIT compilation

Types

Type	Description
`Scalar`	Real number
`Vec3`	3D vector [x, y, z]
`Quaternion`	Quaternion [x, y, z, w]

Functions

Function	Description
`vec3(x, y, z)`	Construct vector → vec3
`quat(x, y, z, w)`	Construct quaternion → quaternion
`conj(q)`	Conjugate → quaternion
`length(q)`	Magnitude → scalar
`normalize(q)`	Unit quaternion → quaternion
`inverse(q)`	Multiplicative inverse → quaternion
`dot(q1, q2)`	Dot product → scalar
`lerp(q1, q2, t)`	Linear interpolation → quaternion
`slerp(q1, q2, t)`	Spherical interpolation → quaternion
`axis_angle(axis, θ)`	From axis-angle → quaternion
`rotate(v, q)`	Rotate vector by quaternion → vec3

Operators

Operation	Result
`q1 * q2`	Quaternion multiplication
`q * scalar`	Scalar multiplication
`q1 + q2`	Component-wise addition
`q1 - q2`	Component-wise subtraction
`-q`	Negation

Component Order

This crate uses [x, y, z, w] order (scalar last), matching:

GLM (OpenGL Mathematics)
glTF format
Unity (internal representation)