Struct duku::Quat

pub struct Quat {
    pub x: f32,
    pub y: f32,
    pub z: f32,
    pub w: f32,
}

Compact 3D rotation representation.

Used for rotating vectors

Examples

let vector = Vec3::up();
let quat = Quat::euler_rotation(0.0, 0.0, 90.0);
let rotated = quat * vector;

Fields

x: f32

the X component

y: f32

the Y component

z: f32

the Z component

w: f32

the W component

Implementations

impl Quat

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

Create quaternion

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

Create quaternion with euler angles

This rotation's yaw, pitch and roll are z, y and x

pub fn axis_rotation(axis: impl Into<Vec3>, angle: f32) -> Self

Create quaternion around axis

This rotates vectors around axis by the angle

pub fn look_rotation(dir: impl Into<Vec3>, global_up: impl Into<Vec3>) -> Self

Create quaternion to rotate towards direction

global_up is used as a guide to try aligning to

pub fn local_up(self) -> Vec3

local up direction for transformation

pub fn local_forward(self) -> Vec3

local forward direction for transformation

pub fn local_right(self) -> Vec3

local right direction for transformation

pub fn inverse(self) -> Quat

Calculate the inverse rotation

Trait Implementations

impl Clone for Quat

pub fn clone(&self) -> Quat

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Quat

impl Debug for Quat

pub fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for Quat

pub fn default() -> Self

Returns the "default value" for a type.

impl From<[f32; 4]> for Quat

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

Performs the conversion.

impl From<Mat4> for Quat

pub fn from(m: Mat4) -> Self

Performs the conversion.

impl From<Quat> for Mat4

pub fn from(q: Quat) -> Self

Performs the conversion.

impl Mul<Quat> for Quat

type Output = Self

The resulting type after applying the * operator.

pub fn mul(self, rhs: Self) -> Self

Performs the * operation.

impl Mul<Vec3> for Quat

type Output = Vec3

The resulting type after applying the * operator.

pub fn mul(self, rhs: Vec3) -> Vec3

Performs the * operation.

impl MulAssign<Quat> for Quat

pub fn mul_assign(&mut self, rhs: Self)

Performs the *= operation.

impl PartialEq<Quat> for Quat

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

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

pub fn ne(&self, other: &Quat) -> bool

This method tests for !=.

impl StructuralPartialEq for Quat