Struct Quaternion 

pub struct Quaternion {
    pub w: f32,
    pub x: f32,
    pub y: f32,
    pub z: f32,
}

A quaternion using Hamilton (not JPL) transformation conventions. The most common operations usedful for representing orientations and rotations are defined, including for operations with Vec3.

Fields

w: f32

x: f32

y: f32

z: f32

Implementations

impl Quaternion

pub const fn new_identity() -> Self

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

pub fn from_slice(slice: &[f32]) -> Result<Self, BufError>

Construct from the first 4 values in a slice: &[w, x, y, z].

pub fn to_arr(&self) -> [f32; 4]

Convert to a len-4 array: [w, x, y, z].

pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self

Create a rotation quaternion from an axis and angle.

pub fn from_unit_vecs(v0: Vec3, v1: Vec3) -> Self

Create the quaternion that creates the shortest (great circle) rotation from vec0 to vec1.

pub fn from_euler(euler: &EulerAngle) -> Self

Convert Euler angles to a quaternion. https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

pub fn to_euler(&self) -> EulerAngle

Convert this quaternion to Tait-Bryon (Euler) angles. We use this reference: http://marc-b-reynolds.github.io/math/2017/04/18/TaitEuler.html. Most sources online provide us with results that do not behave how we expect.

pub fn axis(&self) -> Vec3

Extract the axis of rotation.

pub fn angle(&self) -> f32

Extract the axis of rotation.

pub fn to_axes(&self) -> (f32, f32, f32)

Convert an attitude to rotations around individual axes. Assumes X is left, Z is Z_VEC, and Y is Y_VEC.

pub fn to_vec(self) -> Vec3

Convert to a 3D vector, discarding w.

pub fn slerp(&self, end: Quaternion, amount: f32) -> Quaternion

Performs Spherical Linear Interpolation between this and another quaternion. A high amount will make the result more towards end. An amount of 0 will result in this quaternion. Ref: https://github.com/bitshifter/glam-rs/blob/main/src/$f/scalar/quat.rs#L567 Alternative implementation to examine: https://github.com/MartinWeigel/Quaternion/blob/master/Quaternion.c

pub fn to_matrix(&self) -> Mat4

Converts a Quaternion to a rotation matrix

pub fn to_matrix3(&self) -> Mat3

Converts a Quaternion to a rotation matrix

impl Quaternion

pub fn magnitude(&self) -> f32

Returns the magnitude.

pub fn normalize(&mut self)

Normalize, modifying in place.

pub fn to_normalized(self) -> Self

Returns the normalized version of the vector.

pub fn dot(&self, rhs: Self) -> f32

Used by slerp.

pub fn inverse(self) -> Self

pub fn rotate_vec(self, vec: Vec3) -> Vec3

Rotate a vector using this quaternion. Note that our multiplication Q * v operation is effectively quaternion multiplication, with a quaternion created by a vec with w=0. Uses the X_VEC hand rule.

Trait Implementations

impl Add for Quaternion

type Output = Quaternion

The resulting type after applying the + operator.

fn add(self, rhs: Self) -> Self::Output

Performs the + operation.

impl Clone for Quaternion

fn clone(&self) -> Quaternion

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Quaternion

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

Formats the value using the given formatter.

impl Default for Quaternion

fn default() -> Self

Returns the “default value” for a type.

impl Display for Quaternion

Available on crate feature std only.

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

Formats the value using the given formatter.

impl Div<f32> for Quaternion

type Output = Quaternion

The resulting type after applying the / operator.

fn div(self, rhs: f32) -> Self::Output

Performs the / operation.

impl Div for Quaternion

type Output = Quaternion

The resulting type after applying the / operator.

fn div(self, rhs: Self) -> Self::Output

Performs the / operation.

impl DivAssign<f32> for Quaternion

fn div_assign(&mut self, rhs: f32)

Performs the /= operation.

impl From<Quaternion> for Quaternion

fn from(other: Quaternion) -> Self

Converts to this type from the input type.

impl From<Quaternion> for Quaternion

fn from(other: Quaternion) -> Self

Converts to this type from the input type.

impl Mul<Vec3> for Quaternion

fn mul(self, rhs: Vec3) -> Self::Output

Returns the multiplication of a Quaternion with a vector. This is a normal Quaternion multiplication where the vector is treated as a Quaternion with a W element value of zero. The Quaternion is post- multiplied by the vector.

type Output = Quaternion

The resulting type after applying the * operator.

impl Mul<f32> for Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

fn mul(self, rhs: f32) -> Self::Output

Performs the * operation.

impl Mul for Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

fn mul(self, rhs: Self) -> Self::Output

Performs the * operation.

impl MulAssign<f32> for Quaternion

fn mul_assign(&mut self, rhs: f32)

Performs the *= operation.

impl PartialEq for Quaternion

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Sub for Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

fn sub(self, rhs: Self) -> Self::Output

Performs the - operation.

impl Copy for Quaternion

impl StructuralPartialEq for Quaternion