Struct Quat 

#[repr(C, align(16))]
pub struct Quat {
    pub x: f32,
    pub y: f32,
    pub z: f32,
    pub w: f32,
}

Quaternion (xyzw layout, unit quaternion for rotations).

Fields

x: f32

y: f32

z: f32

w: f32

Implementations

impl Quat

pub const IDENTITY: Self

The identity quaternion (no rotation).

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

Creates a quaternion from raw x, y, z, w components.

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

Create a quaternion from axis-angle rotation.

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

Create from Euler angles (yaw, pitch, roll) in YXZ order.

pub fn length(self) -> f32

Returns the length (norm) of the quaternion.

pub fn normalize(self) -> Self

Returns a unit-length quaternion in the same direction.

pub fn inverse(self) -> Self

Returns the conjugate (inverse for unit quaternions).

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

Spherical linear interpolation.

Trait Implementations

impl Clone for Quat

fn clone(&self) -> Quat

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Quat

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

Formats the value using the given formatter.

impl Default for Quat

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for Quat

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Mul<Vec3> for Quat

Rotate a Vec3 by this quaternion.

type Output = Vec3

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul for Quat

Compose rotations: a * b applies b first, then a.

type Output = Quat

The resulting type after applying the * operator.

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

Performs the * operation.

impl PartialEq for Quat

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for Quat

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for Quat

impl StructuralPartialEq for Quat