Struct ico_math::Quaternion

#[repr(C)]
pub struct Quaternion {
    pub data: __m128,
}

Fields

data: __m128

Methods

impl Quaternion

pub fn new(x: f32, y: f32, z: f32, w: f32) -> Quaternion

Construct a new quaternion from f32 components. This may result in an invalid quaternion.

pub fn identity() -> Quaternion

Construct a new identity quaternion.

pub fn load(raw: &RawVector_f32) -> Quaternion

Load a value from aligned memory.

pub fn store(self, dst: &mut RawVector_f32)

Store a value to aligned memory.

pub fn angle_axis<T: Into<FloatVector>>(radians: T, axis: Vector3) -> Quaternion

Construct a new quaternion from axis-angle format.

pub fn x(self) -> FloatVector

Get the x value of the quaternion, broadcast to all components as a FloatVector (xxxx).

pub fn y(self) -> FloatVector

Get the y value of the quaternion, broadcast to all components as a FloatVector (yyyy).

pub fn z(self) -> FloatVector

Get the z value of the quaternion, broadcast to all components as a FloatVector (zzzz).

pub fn w(self) -> FloatVector

Get the w value of the quaternion, broadcast to all components as a FloatVector (wwww).

pub fn set_x<T: Into<FloatVector>>(&mut self, value: T)

Set the x value of this quaternion, leaving the other components unchanged.

pub fn set_y<T: Into<FloatVector>>(&mut self, value: T)

Set the y value of this quaternion, leaving the other components unchanged.

pub fn set_z<T: Into<FloatVector>>(&mut self, value: T)

Set the z value of this quaternion, leaving the other components unchanged.

pub fn set_w<T: Into<FloatVector>>(&mut self, value: T)

Set the w value of this quaternion, leaving the other components unchanged.

pub fn mul_vec(quat: Quaternion, vec: Vector3) -> Vector3

pub fn mul(lhs: Quaternion, rhs: Quaternion) -> Quaternion

pub fn equal(self, v2: Quaternion) -> Vector4Bool

Equals, computed component-wise. This compares bits, and is exact.

pub fn not_equal(self, v2: Quaternion) -> Vector4Bool

NotEquals, computed component-wise. This compares bits, and is exact.

pub fn greater_equal(self, v2: Quaternion) -> Vector4Bool

Greater than or equal to, computed component-wise. This compares bits, and is exact.

pub fn greater(self, v2: Quaternion) -> Vector4Bool

Greater than, computed component-wise. This compares bits, and is exact.

pub fn less_equal(self, v2: Quaternion) -> Vector4Bool

Less than or equal to, computed component-wise. This compares bits, and is exact.

pub fn less(self, v2: Quaternion) -> Vector4Bool

Less than, computed component-wise. This compares bits, and is exact.

pub fn dot(self, q2: Quaternion) -> FloatVector

pub fn sqr_magnitude(self) -> FloatVector

pub fn magnitude(self) -> FloatVector

pub fn inverse(self) -> Quaternion

pub fn reverse(self) -> Quaternion

pub fn delta(from: Quaternion, to: Quaternion) -> Quaternion

pub fn shortest_delta(self, to: Quaternion) -> Quaternion

pub fn angle(self, b: Quaternion) -> FloatVector

pub fn renormalize(self) -> Quaternion

A fast normalize (q = q / q.magnitude). When the length is 0, this will divide by 0 - and may produce infinity or NaN. Only should be used if the Quaternion is known to be non-zero.

pub fn normalize(self) -> Quaternion

A safe normalize. If the quaternion is 0, returns Identity.

pub fn select(self, v2: Quaternion, mask: Vector4Bool) -> Quaternion

Choose component wise between A and B based on the mask. False = A, True = B.

pub fn lerp<T: Into<FloatVector>>(self, to: Quaternion, t: T) -> Quaternion

pub fn slerp<T: Into<FloatVector>>(self, to: Quaternion, t: T) -> Quaternion

Spherical linear interpolation. This one in particular is probably slow.
It uses SIMD approximations for acos and sin, however, it could almost certainly be improved.

pub fn euler(radians: Vector3, rotation_order: RotationOrder) -> Quaternion

pub fn approx_equal(self, to: Quaternion) -> bool

Are these quaternions approximately the same, within ~0.163 degrees

Trait Implementations

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 From<Vector4> for Quaternion

fn from(v: Vector4) -> Quaternion

Performs the conversion.

impl From<Quaternion> for Vector4

fn from(v: Quaternion) -> Vector4

Performs the conversion.

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 ==.

#[must_use] fn ne(&self, other: &Rhs) -> bool

This method tests for !=.

impl Copy for Quaternion

impl Debug for Quaternion

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

Formats the value using the given formatter.

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<Vector3> for Quaternion

type Output = Vector3

The resulting type after applying the * operator.

fn mul(self, _rhs: Vector3) -> Vector3

Performs the * operation.

impl MulAssign<Quaternion> for Quaternion

fn mul_assign(&mut self, _rhs: Quaternion)

Performs the *= operation.