Struct Quat 

#[repr(C)]
pub struct Quat<F>
where
    F: Float,
{ /* private fields */ }

Implementations

impl<F> Quat<F>

where F: Float,

pub fn new(v: Vec3<F>, w: F) -> Self

Creates new quaternion.

pub fn new_vector(v: Vec3<F>) -> Self

Creates new quaternion with v as vector part and 0 for scalar.

pub fn new_axis_rotation(axis: Vec3<F>, angle: F) -> Self

Creates new quaternion that represents a rotation around axis by angle radians. Method can accept denormalized input.

pub fn new_dst_rotation(from: Vec3<F>, to: Vec3<F>) -> Self

Creates new quaternion that represents a rotation that moves vector from to vector to.

pub fn into_axis_angle(self) -> (Vec3<F>, F)

Recovers angle axis representation of the quaternion.

pub fn rotate(&self, v: Vec3<F>) -> Vec3<F>

Rotates vector v by the rotation defined by this quaternion.

pub fn zero() -> Self

Creates new zero quaternion.

pub fn idenitity() -> Self

Creates new identity quaternion.

pub fn from_parts(x: F, y: F, z: F, w: F) -> Self

Creates new quaternion from individual parts.

pub fn conjugate(&self) -> Self

Computes the conjugate of the quaternion.

pub fn norm(&self) -> F

Computes the norm of the quaternion.

pub fn sqrt_norm(&self) -> F

Computes the squared norm of the quaternion.

pub fn normalize(&self) -> Self

Normalizes quaternion preserving direction but reducing its norm to 1.

pub fn reciprocal(&self) -> Self

Computes the reciprocal of the quaternion.

pub fn combine(self, other: Self) -> Self

Combines two rotations. Applying self first and then `other.

pub fn product(&self, other: Self) -> Self

Computes the hamilton product between two vectors.

Trait Implementations

impl<F> Add for Quat<F>

where F: Float,

type Output = Quat<F>

The resulting type after applying the + operator.

fn add(self, rhs: Self) -> Self::Output

Performs the + operation.

impl<F> AddAssign for Quat<F>

where F: Float,

fn add_assign(&mut self, rhs: Self)

Performs the += operation.

impl<F> Clone for Quat<F>

where F: Float + Clone,

fn clone(&self) -> Quat<F>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<F> Debug for Quat<F>

where F: Float + Debug,

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

Formats the value using the given formatter.

impl<F> Default for Quat<F>

where F: Float + Default,

fn default() -> Quat<F>

Returns the “default value” for a type.

impl<F> Div<F> for Quat<F>

where F: Float,

type Output = Quat<F>

The resulting type after applying the / operator.

fn div(self, rhs: F) -> Self::Output

Performs the / operation.

impl<F> DivAssign<F> for Quat<F>

where F: Float,

fn div_assign(&mut self, rhs: F)

Performs the /= operation.

impl<F> Mul<F> for Quat<F>

where F: Float,

type Output = Quat<F>

The resulting type after applying the * operator.

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

Performs the * operation.

impl<F> MulAssign<F> for Quat<F>

where F: Float,

fn mul_assign(&mut self, rhs: F)

Performs the *= operation.

impl<F> PartialEq for Quat<F>

where F: Float + PartialEq,

fn eq(&self, other: &Quat<F>) -> 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<F> Sub for Quat<F>

where F: Float,

type Output = Quat<F>

The resulting type after applying the - operator.

fn sub(self, rhs: Self) -> Self::Output

Performs the - operation.

impl<F> SubAssign for Quat<F>

where F: Float,

fn sub_assign(&mut self, rhs: Self)

Performs the -= operation.

impl<F> Copy for Quat<F>

where F: Float + Copy,

impl<F> StructuralPartialEq for Quat<F>

where F: Float,