Crate dual_quaternion
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A simple and type agnostic dual-quaternion math library designed for reexporting
Functions
Adds two dual-quaternions
Returns the dual-quaternion conjugate
Dot product of two dual-quaternions
Construct a dual-quaternion from separate rotation and translation components
Extracts rotation component from a dual-quaternion
Extracts translation component from a dual-quaternion
Constructs identity dual-quaternion, representing no rotation or translation.
Multiplies two dual-quaternions
Normalizes a dual-quaternion
Scales a dual-quaternion (element-wise) by a scalar
Type Definitions
A dual-quaternion consists of a real component and a dual component,
and can be used to represent both rotation and translation