Struct Rot4 

pub struct Rot4(pub Quat, pub Quat);

A 4D rotation.

Tuple Fields

0: Quat

1: Quat

Implementations

impl Rot4

pub const IDENTITY: Self

Identity rotation.

pub const NAN: Self

NAN rotation.

pub const fn from_pq(p: Quat, q: Quat) -> Self

Constructs a new rotation from left and right isoclinic rotations represented by quaternions.

pub fn from_slice(slice: &[f32]) -> Self

Mirrors Quat::from_slice.

pub fn write_to_slice(self, slice: &mut [f32])

Mirrors Quat::write_to_slice

pub fn from_double_planar_rotation( a: Vec4, b: Vec4, c: Vec4, d: Vec4, angle_ab: f32, angle_cd: f32, ) -> Self

Constructs a rotation about two independent planes.

• a b forms a plane and will be rotated by an angle angle_ab.
• c d forms a plane and will be rotated by an angle angle_cd.
• {a b c d} must be an orthonormal basis for R4.

pub fn from_axes_angle(axis_1: Vec4, axis_2: Vec4, angle: f32) -> Option<Self>

Constructs a rotation about the plane specified by the two axes.

Returns None if the two axes don’t specify a plane (at least one axis is zero, or one is a multiple of the other).

pub fn from_rotation_arc(from: Vec4, to: Vec4) -> Self

Constructs a minimal rotation which rotates from to to.

from and to need not be normalized,

pub fn from_rotation_matrix(mat: Mat4) -> Self

Factors a rotation matrix into a Rot4.

If mat is not a rotation matrix, the output of this function is nonsense.

pub fn inverse(self) -> Self

Computes the inverse rotation.

pub fn normalize(self) -> Self

Normalizes the internal quaternions.

pub fn is_finite(self) -> bool

See Quat::is_finite.

pub fn is_nan(self) -> bool

See Quat::is_nan.

pub fn is_normalized(self) -> bool

See Quat::is_normalized.

pub fn is_near_identity(self) -> bool

See Quat::is_near_identity.

pub fn slerp(self, end: Self, s: f32) -> Self

Performs a smooth interpolation between two Rot4s.

Internally uses Quat::slerp.

pub fn mul_vec4(self, rhs: Vec4) -> Vec4

Applies the rotation to a Vec4.

pub fn mul_rot4(self, rhs: Self) -> Self

Composes this rotation with another.

let a: Rot4;
let b: Rot4;
let composition = a.mul_rot4(b);

let vector: Vec4;

let diff = composition.mul_vec4(vector) - b.mul_vec4(a.mul_vec4(vector));

assert!(diff.length_squared() < f32::EPSILON);

pub fn mul_proj(self, rhs: Projection) -> Projection

Rotates a projection.

This internally just rotates all the axes.

It is preferred to rotate this way instead of just rotating the center of projection and then reconstructing the Projection because that may lead to jumps.

pub fn from_rotation_xy(angle: f32) -> Self

Creates a rotation in the X-Y plane.

pub fn from_rotation_xz(angle: f32) -> Self

Creates a rotation in the X-Z plane.

pub fn from_rotation_xw(angle: f32) -> Self

Creates a rotation in the X-W plane.

pub fn from_rotation_yz(angle: f32) -> Self

Creates a rotation in the Y-Z plane.

pub fn from_rotation_yw(angle: f32) -> Self

Creates a rotation in the Y-W plane.

pub fn from_rotation_zw(angle: f32) -> Self

Creates a rotation in the Z-W plane.

Trait Implementations

impl Clone for Rot4

fn clone(&self) -> Rot4

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Rot4

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

Formats the value using the given formatter.

impl Default for Rot4

fn default() -> Rot4

Returns the “default value” for a type.

impl Copy for Rot4