Struct gramit::quaternion::Quaternion

#[repr(C)]
pub struct Quaternion {
    pub i: f32,
    pub j: f32,
    pub k: f32,
    pub r: f32,
}

Fields

i: f32

j: f32

k: f32

r: f32

Methods

impl Quaternion

pub fn new(i: f32, j: f32, k: f32, r: f32) -> Quaternion

Construct a Quaternion with the given components.

pub fn real(r: f32) -> Quaternion

Construct a Quaternion with only a real part.

pub fn vector(vec: Vec3) -> Quaternion

Construct a Quaternion with only a vector part.

pub fn real_vector(r: f32, vec: Vec3) -> Quaternion

Construct a Quaternion with the given real and vector parts.

pub fn vector_part(&self) -> Vec3

Get the imaginary components of this Quaternion as a Vec3.

pub fn conjugate_by(&self, q: &Quaternion) -> Quaternion

Conjugate this Quaternion by q.

pub fn conjugate_by_unit(&self, q: &Quaternion) -> Quaternion

Conjugate this Quaternion by q, which is assumed to be of unit magnitude.

This function takes advantage of the fact that, for unit quaternions, the inverse is equal to the complex conjugate, and so omits several floating point operations in the calculation of q's inverse.

Usage Warning

This function does not check that q is of unit magnitude! Doing so would require the same operations that the unit-magnitude assumption avoids. The user should be sure that q is actually a unit quaternion, or simply use conjugate_by, which performs the full calculation for inverting q.

pub fn inverse(&self) -> Quaternion

Get the multiplicative inverse of this Quaternion.

pub fn neg_vector(&self) -> Quaternion

Get a Quaternion that is equal to this Quaternion with its vector part negated (i.e. the complex conjugate).

For a unit quaternion, this is equal to the inverse.

pub fn magnitude(&self) -> f32

Get the magnitude of this Quaternion.

pub fn unit(&self) -> Quaternion

Get the normalized (unit-magnitude) version of this Quaternion.

Trait Implementations

impl ApproxEq<Quaternion> for Quaternion

fn approx_eq(self, rhs: Quaternion) -> bool

Compare two values for approximate equality, using a default difference treshold.

fn within_threshold(self, rhs: Quaternion, threshold: Quaternion) -> bool

Compare two Quaternions for approximate equality.

Uses a third Quaternion for element-wise thresholds.

impl From<f32> for Quaternion

fn from(r: f32) -> Quaternion

Converts an f32 into a Quaternion with only a real part.

This conversion is identical to that performed by Quaternion::real.

impl From<Vec3> for Quaternion

fn from(vec: Vec3) -> Quaternion

Converts a Vec3 into a Quaternion with only a vector part.

This conversion is identical to that performed by Quaternion::vector.

impl Clone for Quaternion

fn clone(&self) -> Quaternion

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Quaternion

impl PartialEq<Quaternion> for Quaternion

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

This method tests for self and other values to be equal, and is used by ==.

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

This method tests for !=.

impl Debug for Quaternion

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

Formats the value using the given formatter.

impl Div<Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the / operator.

fn div(self, rhs: Quaternion) -> Quaternion

Performs the / operation.

impl<'_> Div<&'_ Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the / operator.

fn div(self, rhs: &Quaternion) -> Quaternion

Performs the / operation.

impl<'_> Div<Quaternion> for &'_ Quaternion

type Output = Quaternion

The resulting type after applying the / operator.

fn div(self, rhs: Quaternion) -> Quaternion

Performs the / operation.

impl<'_, '_> Div<&'_ Quaternion> for &'_ Quaternion

type Output = Quaternion

The resulting type after applying the / operator.

fn div(self, rhs: &Quaternion) -> Quaternion

Performs the / operation.

impl Sub<Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

fn sub(self, rhs: Quaternion) -> Quaternion

Performs the - operation.

impl<'_> Sub<&'_ Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

fn sub(self, rhs: &Quaternion) -> Quaternion

Performs the - operation.

impl<'_> Sub<Quaternion> for &'_ Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

fn sub(self, rhs: Quaternion) -> Quaternion

Performs the - operation.

impl<'_, '_> Sub<&'_ Quaternion> for &'_ Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

fn sub(self, rhs: &Quaternion) -> Quaternion

Performs the - operation.

impl Add<Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the + operator.

fn add(self, rhs: Quaternion) -> Quaternion

Performs the + operation.

impl<'_> Add<&'_ Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the + operator.

fn add(self, rhs: &Quaternion) -> Quaternion

Performs the + operation.

impl<'_> Add<Quaternion> for &'_ Quaternion

type Output = Quaternion

The resulting type after applying the + operator.

fn add(self, rhs: Quaternion) -> Quaternion

Performs the + operation.

impl<'_, '_> Add<&'_ Quaternion> for &'_ Quaternion

type Output = Quaternion

The resulting type after applying the + operator.

fn add(self, rhs: &Quaternion) -> Quaternion

Performs the + operation.

impl Mul<Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

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

Performs the * operation.

impl<'_> Mul<&'_ Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

fn mul(self, rhs: &Quaternion) -> Quaternion

Performs the * operation.

impl<'_> Mul<Quaternion> for &'_ Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

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

Performs the * operation.

impl<'_, '_> Mul<&'_ Quaternion> for &'_ Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

fn mul(self, rhs: &Quaternion) -> Quaternion

Performs the * operation.

impl Neg for Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

fn neg(self) -> Quaternion

Performs the unary - operation.

impl<'_> Neg for &'_ Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

fn neg(self) -> Quaternion

Performs the unary - operation.

impl AddAssign<Quaternion> for Quaternion

fn add_assign(&mut self, rhs: Quaternion)

Performs the += operation.

impl<'_> AddAssign<&'_ Quaternion> for Quaternion

fn add_assign(&mut self, rhs: &Quaternion)

Performs the += operation.

impl SubAssign<Quaternion> for Quaternion

fn sub_assign(&mut self, rhs: Quaternion)

Performs the -= operation.

impl<'_> SubAssign<&'_ Quaternion> for Quaternion

fn sub_assign(&mut self, rhs: &Quaternion)

Performs the -= operation.

impl MulAssign<Quaternion> for Quaternion

fn mul_assign(&mut self, rhs: Quaternion)

Performs the *= operation.

impl<'_> MulAssign<&'_ Quaternion> for Quaternion

fn mul_assign(&mut self, rhs: &Quaternion)

Performs the *= operation.

impl DivAssign<Quaternion> for Quaternion

fn div_assign(&mut self, rhs: Quaternion)

Performs the /= operation.

impl<'_> DivAssign<&'_ Quaternion> for Quaternion

fn div_assign(&mut self, rhs: &Quaternion)

Performs the /= operation.

impl StructuralPartialEq for Quaternion