Struct macroquad::math::Quat[−][src]

#[repr(transparent)]pub struct 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`[src]

`pub const IDENTITY: Quat`[src]

The identity quaternion. Corresponds to no rotation.

`pub fn from_xyzw(x: f32, y: f32, z: f32, w: f32) -> Quat`[src]

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() -> Quat`[src]

👎 Deprecated:

use Quat::IDENTITY instead

`pub fn from_slice_unaligned(slice: &[f32]) -> Quat`[src]

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])`[src]

Writes the quaternion to an unaligned slice.

Panics

Panics if slice length is less than 4.

`pub fn from_axis_angle(axis: Vec3, angle: f32) -> Quat`[src]

Create a quaternion for a normalized rotation axis and angle (in radians). The axis must be normalized (unit-length).

`pub fn from_scaled_axis(v: Vec3) -> Quat`[src]

Create a quaternion that rotates v.length() radians around v.normalize().

from_scaled_axis(Vec3::ZERO) results in the identity quaternion.

`pub fn from_rotation_x(angle: f32) -> Quat`[src]

Creates a quaternion from the angle (in radians) around the x axis.

`pub fn from_rotation_y(angle: f32) -> Quat`[src]

Creates a quaternion from the angle (in radians) around the y axis.

`pub fn from_rotation_z(angle: f32) -> Quat`[src]

Creates a quaternion from the angle (in radians) around the z axis.

`pub fn from_rotation_ypr(yaw: f32, pitch: f32, roll: f32) -> Quat`[src]

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) -> Quat`[src]

Creates a quaternion from a 3x3 rotation matrix.

`pub fn from_rotation_mat4(mat: &Mat4) -> Quat`[src]

Creates a quaternion from a 3x3 rotation matrix inside a homogeneous 4x4 matrix.

`pub fn from_rotation_arc(from: Vec3, to: Vec3) -> Quat`[src]

Gets the minimal rotation for transforming from to to. The rotation is in the plane spanned by the two vectors. Will rotate at most 180 degrees.

The input vectors must be normalized (unit-length).

from_rotation_arc(from, to) * from ≈ to.

For near-singular cases (from≈to and from≈-to) the current implementation is only accurate to about 0.001 (for f32).

`pub fn from_rotation_arc_colinear(from: Vec3, to: Vec3) -> Quat`[src]

Gets the minimal rotation for transforming from to either to or -to. This means that the resulting quaternion will rotate from so that it is colinear with to.

The rotation is in the plane spanned by the two vectors. Will rotate at most 90 degrees.

The input vectors must be normalized (unit-length).

to.dot(from_rotation_arc_colinear(from, to) * from).abs() ≈ 1.

`pub fn to_axis_angle(self) -> (Vec3, f32)`[src]

Returns the rotation axis and angle (in radians) of self.

`pub fn to_scaled_axis(self) -> Vec3`[src]

Returns the rotation axis scaled by the rotation in radians.

`pub fn conjugate(self) -> Quat`[src]

Returns the quaternion conjugate of self. For a unit quaternion the conjugate is also the inverse.

`pub fn inverse(self) -> Quat`[src]

Returns the inverse of a normalized quaternion.

Typically quaternion inverse returns the conjugate of a normalized quaternion. Because self is assumed to already be unit length this method does not normalize before returning the conjugate.

`pub fn dot(self, other: Quat) -> f32`[src]

Computes the dot product of self and other. The dot product is equal to the the cosine of the angle between two quaternion rotations.

`pub fn length(self) -> f32`[src]

Computes the length of self.

`pub fn length_squared(self) -> f32`[src]

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`[src]

Computes 1.0 / length().

For valid results, self must not be of length zero.

`pub fn normalize(self) -> Quat`[src]

Returns self normalized to length 1.0.

For valid results, self must not be of length zero.

`pub fn is_finite(self) -> bool`[src]

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`[src]

`pub fn is_normalized(self) -> bool`[src]

Returns whether self of length 1.0 or not.

Uses a precision threshold of 1e-6.

`pub fn is_near_identity(self) -> bool`[src]

`pub fn angle_between(self, other: Quat) -> f32`[src]

Returns the angle (in radians) for the minimal rotation for transforming this quaternion into another.

Both quaternions must be normalized.

`pub fn abs_diff_eq(self, other: Quat, max_abs_diff: f32) -> bool`[src]

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: Quat, s: f32) -> Quat`[src]

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: Quat, s: f32) -> Quat`[src]

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`[src]

Multiplies a quaternion and a 3D vector, returning the rotated vector.

`pub fn mul_quat(self, other: Quat) -> Quat`[src]

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.