Struct Quat

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

Single-precision quaternion.

Fields

x: f32

y: f32

z: f32

s: f32

Implementations

impl Quat

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

Full constructor.

pub fn identity() -> Self

Identity constructor.

pub fn euler(angles: Vec3) -> Self

Constructor for a rotation defined by a set of Euler angles

The rotation order is Z, then X, then Y. From the point of the object, this is equivalent to a yaw in angles.y, a pitch in angles.x, and a roll in angles.z.

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

Constructor for a rotation around axis by angle radians.

axis need not be normalized.

pub fn rotate(&self, vector: Vec3) -> Vec3

Return the application of the rotation represented by this quaternion to the vector argument.

Trait Implementations

impl ApproxEq for Quat

type Epsilon = <Quaternion<f32> as ApproxEq>::Epsilon

Used for specifying relative comparisons.

fn default_epsilon() -> Self::Epsilon

The default tolerance to use when testing values that are close together.

fn default_max_relative() -> Self::Epsilon

The default relative tolerance for testing values that are far-apart.

fn default_max_ulps() -> u32

The default ULPs to tolerate when testing values that are far-apart.

fn relative_eq( &self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon, ) -> bool

A test for equality that uses a relative comparison if the values are far apart.

fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool

A test for equality that uses units in the last place (ULP) if the values are far apart.

fn relative_ne( &self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon, ) -> bool

The inverse of ApproxEq::relative_eq.

fn ulps_ne(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool

The inverse of ApproxEq::ulps_eq.

impl AsRef<[f32; 4]> for Quat

fn as_ref(&self) -> &[f32; 4]

Converts this type into a shared reference of the (usually inferred) input type.

impl Clone for Quat

fn clone(&self) -> Quat

Returns a copy 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 Display for Quat

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

Formats the value using the given formatter.

impl From<[f32; 4]> for Quat

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

Converts to this type from the input type.

impl Into<[f32; 4]> for Quat

fn into(self) -> [f32; 4]

Converts this type into the (usually inferred) input type.

impl Mul for Quat

type Output = Quat

The resulting type after applying the * operator.

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

Performs the * operation.

impl MulAssign for Quat

fn mul_assign(&mut self, rhs: Quat)

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 Copy for Quat

impl StructuralPartialEq for Quat