Module geo_nd::quat

Quaternion module

Functions

apply3

Apply the quaternion to a vector3

apply4

Apply the quaternion to a vector3

as_axis_angle

Return the axis of the rotation and the angle from the quaternion

as_rijk

Return the breakdown of a quaternion

conjugate

Find the conjugate of a quaternion

distance

Get a measure of the ‘distance’ between two quaternions

distance_sq

Get a measure of the ‘distance’ between two quaternions

divide

Multiply one quaternion by the conjugate of the other / len2 of other

identity

Create an identity quaternion

invert

Get the quaternion inverse

look_at

Create quaternion for a rotation that maps unit dirn to (0,0,-1) and unit up to (0,1,0)

multiply

Multiply two quaternions together

new

1 - 2j2 - 2k2 2ij - 2kr 2ik + 2jr 2ij + 2kr 1 - 2i2 - 2k2 2jk - 2ir 2ik - 2jr 2jk + 2ir 1 - 2i2 - 2j2

nlerp

A simple normalized LERP from one quaterion to another (not spherical)

normalize

Find the conjugate of a quaternion

of_axis_angle

Find the quaternion for a rotation of an angle around an axis

of_rijk

Create a quaternion from its components

of_rotation

Find the quaternion of a Matrix3 assuming it is purely a rotation

rotate_x

Apply a rotation about the X-axis to this quaternion

rotate_y

Apply a rotation about the Y-axis to this quaternion

rotate_z

Apply a rotation about the Z-axis to this quaternion

rotation_of_vec_to_vec

Get a quaternion that is a rotation of one vector to another

to_euler

Convert the quaternion to a bank, heading, altitude tuple - applied in that order

to_rotation3

Convert a matrix-3 from the quaternion

to_rotation4

Convert to a matrix-4 from a unit quaternion

weighted_average_many

Calculate the weighted average of many unit quaternions

weighted_average_pair

Calculate the weighted average of two unit quaternions