[−][src]Struct glam::f32::Quat
A quaternion representing an orientation.
This quaternion is intended to be of unit length but may denormalize due to floating point "error creep" which can occur when successive quaternion operations are applied.
This type is 16 byte aligned.
Implementations
impl Quat
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pub fn from_xyzw(x: f32, y: f32, z: f32, w: f32) -> Self
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Creates a new rotation quaternion.
This should generally not be called manually unless you know what you are doing.
Use one of the other constructors instead such as identity
or from_axis_angle
.
from_xyzw
is mostly used by unit tests and serde
deserialization.
pub const fn identity() -> Self
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pub fn from_slice_unaligned(slice: &[f32]) -> Self
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Creates a rotation quaternion from an unaligned slice.
Preconditions
The resulting quaternion is expected to be of unit length.
Panics
Panics if slice
length is less than 4.
pub fn write_to_slice_unaligned(self, slice: &mut [f32])
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pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self
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Create a quaterion for a normalized rotation axis and angle (in radians).
pub fn from_rotation_x(angle: f32) -> Self
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Creates a quaternion from the angle (in radians) around the x axis.
pub fn from_rotation_y(angle: f32) -> Self
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Creates a quaternion from the angle (in radians) around the y axis.
pub fn from_rotation_z(angle: f32) -> Self
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Creates a quaternion from the angle (in radians) around the z axis.
pub fn from_rotation_ypr(yaw: f32, pitch: f32, roll: f32) -> Self
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Create a quaternion from the given yaw (around y), pitch (around x) and roll (around z) in radians.
pub fn from_rotation_mat3(mat: &Mat3) -> Self
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Creates a quaternion from a 3x3 rotation matrix.
pub fn from_rotation_mat4(mat: &Mat4) -> Self
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Creates a quaternion from a 3x3 rotation matrix inside a homogeneous 4x4 matrix.
pub fn to_axis_angle(self) -> (Vec3, f32)
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Returns the rotation axis and angle of self
.
pub fn conjugate(self) -> Self
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Returns the quaternion conjugate of self
. For a unit quaternion the
conjugate is also the inverse.
pub fn dot(self, other: Self) -> f32
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Computes the dot product of self
and other
. The dot product is
equal to the the cosine of the angle between two quaterion rotations.
pub fn length(self) -> f32
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Computes the length of self
.
pub fn length_squared(self) -> f32
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Computes the squared length of self
.
This is generally faster than length()
as it avoids a square
root operation.
pub fn length_recip(self) -> f32
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Computes 1.0 / length()
.
For valid results, self
must not be of length zero.
pub fn normalize(self) -> Self
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Returns self
normalized to length 1.0.
For valid results, self
must not be of length zero.
pub fn is_finite(self) -> bool
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Returns true
if, and only if, all elements are finite.
If any element is either NaN
, positive or negative infinity, this will return false
.
pub fn is_nan(self) -> bool
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pub fn is_normalized(self) -> bool
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Returns whether self
of length 1.0
or not.
Uses a precision threshold of 1e-6
.
pub fn is_near_identity(self) -> bool
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pub fn abs_diff_eq(self, other: Self, max_abs_diff: f32) -> bool
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Returns true if the absolute difference of all elements between self
and other
is less than or equal to max_abs_diff
.
This can be used to compare if two quaternions contain similar elements. It works
best when comparing with a known value. The max_abs_diff
that should be used used
depends on the values being compared against.
For more see comparing floating point numbers.
pub fn lerp(self, end: Self, s: f32) -> Self
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Performs a linear interpolation between self
and other
based on
the value s
.
When s
is 0.0
, the result will be equal to self
. When s
is 1.0
, the result will be equal to other
.
pub fn slerp(self, end: Self, s: f32) -> Self
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Performs a spherical linear interpolation between self
and end
based on the value s
.
When s
is 0.0
, the result will be equal to self
. When s
is 1.0
, the result will be equal to end
.
Note that a rotation can be represented by two quaternions: q
and
-q
. The slerp path between q
and end
will be different from the
path between -q
and end
. One path will take the long way around and
one will take the short way. In order to correct for this, the dot
product between self
and end
should be positive. If the dot
product is negative, slerp between -self
and end
.
pub fn mul_vec3(self, other: Vec3) -> Vec3
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Multiplies a quaternion and a 3D vector, returning the rotated vector.
pub fn mul_quat(self, other: Self) -> Self
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Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation. Note that due to floating point rounding the result may not be perfectly normalized.
pub fn mul_vec3a(self, other: Vec3A) -> Vec3A
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Multiplies a quaternion and a 3D vector, returning the rotated vector.
pub fn as_f64(self) -> DQuat
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Trait Implementations
impl Add<Quat> for Quat
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type Output = Self
The resulting type after applying the +
operator.
pub fn add(self, other: Self) -> Self
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Adds two quaternions. The sum is not guaranteed to be normalized.
NB: Addition is not the same as combining the rotations represented by the two quaternions! That corresponds to multiplication.
impl AsMut<[f32; 4]> for Quat
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impl AsRef<[f32; 4]> for Quat
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impl Clone for Quat
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impl Copy for Quat
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impl Debug for Quat
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impl Default for Quat
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impl Deref for Quat
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type Target = XYZW<f32>
The resulting type after dereferencing.
pub fn deref(&self) -> &Self::Target
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impl Display for Quat
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impl Div<f32> for Quat
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type Output = Self
The resulting type after applying the /
operator.
pub fn div(self, other: f32) -> Self
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Divides a quaternion by a scalar value. The quotient is not guaranteed to be normalized.
impl From<[f32; 4]> for Quat
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impl From<(f32, f32, f32, f32)> for Quat
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impl From<Quat> for Vec4
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impl From<Vec4> for Quat
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impl From<__m128> for Quat
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impl Mul<Quat> for Quat
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type Output = Self
The resulting type after applying the *
operator.
pub fn mul(self, other: Self) -> Self
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impl Mul<Vec3> for Quat
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type Output = Vec3
The resulting type after applying the *
operator.
pub fn mul(self, other: Vec3) -> Self::Output
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impl Mul<Vec3A> for Quat
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type Output = Vec3A
The resulting type after applying the *
operator.
pub fn mul(self, other: Vec3A) -> Self::Output
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impl Mul<f32> for Quat
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type Output = Self
The resulting type after applying the *
operator.
pub fn mul(self, other: f32) -> Self
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Multiplies a quaternion by a scalar value. The product is not guaranteed to be normalized.
impl MulAssign<Quat> for Quat
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pub fn mul_assign(&mut self, other: Self)
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impl Neg for Quat
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impl PartialEq<Quat> for Quat
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pub fn eq(&self, other: &Self) -> bool
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#[must_use]pub fn ne(&self, other: &Rhs) -> bool
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impl PartialOrd<Quat> for Quat
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pub fn partial_cmp(&self, other: &Self) -> Option<Ordering>
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#[must_use]pub fn lt(&self, other: &Rhs) -> bool
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#[must_use]pub fn le(&self, other: &Rhs) -> bool
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#[must_use]pub fn gt(&self, other: &Rhs) -> bool
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#[must_use]pub fn ge(&self, other: &Rhs) -> bool
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impl<'a> Product<&'a Quat> for Quat
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impl Sub<Quat> for Quat
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type Output = Self
The resulting type after applying the -
operator.
pub fn sub(self, other: Self) -> Self
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Subtracts the other quaternion from self. The difference is not guaranteed to be normalized.
impl<'a> Sum<&'a Quat> for Quat
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Auto Trait Implementations
impl RefUnwindSafe for Quat
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impl Send for Quat
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impl Sync for Quat
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impl Unpin for Quat
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impl UnwindSafe for Quat
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Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T> ToString for T where
T: Display + ?Sized,
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T: Display + ?Sized,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,