Struct Quat 

pub struct Quat(/* private fields */);

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.

SIMD vector types are used for storage on supported platforms.

This type is 16 byte aligned.

Implementations

impl Quat

pub const IDENTITY: Quat

The identity quaternion. Corresponds to no rotation.

pub const NAN: Quat

All NANs.

pub const fn from_xyzw(x: f32, y: f32, z: f32, w: f32) -> Quat

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.

Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

pub const fn from_array(a: [f32; 4]) -> Quat

Creates a rotation quaternion from an array.

Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

pub const fn from_vec4(v: Vec4) -> Quat

Creates a new rotation quaternion from a 4D vector.

Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

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

Creates a rotation quaternion from a slice.

Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

Panics

Panics if slice length is less than 4.

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

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

Create a quaternion for a normalized rotation axis and angle (in radians).

The axis must be a unit vector.

Panics

Will panic if axis is not normalized when glam_assert is enabled.

pub fn from_scaled_axis(v: Vec3) -> Quat

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

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

Examples found in repository

examples/animation.rs (line 530)

fn orbit_camera(target: Vec3, yaw: f32, pitch: f32) -> Camera {
    let look_at = target + Vec3::Y * CAMERA_LOOK_HEIGHT;
    let base = Vec3::new(0.0, CAMERA_UP, CAMERA_BACK);
    let offset = Quat::from_rotation_y(yaw) * (Quat::from_rotation_x(pitch) * base);
    Camera::new(
        View::look_at(look_at + offset, look_at),
        Projection::perspective(CAMERA_FOV),
    )
}

pub fn from_rotation_y(angle: f32) -> Quat

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

Examples found in repository

examples/sprite-adventure.rs (line 1323)

    fn draw_crates(&self, ctx: &mut FrameContext<'_, Keep>) {
        for &(x, z, turn) in &CRATE_POSITIONS {
            ctx.draw(Crate.at(Transform::from_scale_rotation_translation(
                Vec3::splat(CRATE_SIZE),
                Quat::from_rotation_y(turn),
                Vec3::new(x, CRATE_SIZE * 0.5, z),
            )));
        }
    }

    /// The well: its rim in grey masonry, and the mouth cell laid over the
    /// rim's top face.
    fn draw_well(&self, ctx: &mut FrameContext<'_, Keep>) {
        let cells = Sheet::new(UVec2::new(WELL_CELLS, 1));
        ctx.draw(
            Well.at(Transform::from_scale_rotation_translation(
                WELL_SIZE,
                Quat::IDENTITY,
                WELL_POSITION + Vec3::Y * (WELL_SIZE.y * 0.5),
            ))
            .frame(cells.cell(WELL_RIM_CELL)),
        );
        ctx.draw(
            WellMouth
                .at(Transform::from_scale_rotation_translation(
                    Vec3::new(WELL_SIZE.x, 1.0, WELL_SIZE.z),
                    Quat::IDENTITY,
                    WELL_POSITION + Vec3::Y * (WELL_SIZE.y + WELL_MOUTH_LIFT),
                ))
                .frame(cells.cell(WELL_MOUTH_CELL)),
        );
    }

    fn draw_flora(&self, ctx: &mut FrameContext<'_, Keep>) {
        for &(x, z, rock) in &FLORA {
            let (width, height) = if rock {
                (ROCK_WIDTH, ROCK_HEIGHT)
            } else {
                (BUSH_WIDTH, BUSH_HEIGHT)
            };
            let standing = Transform::from_scale_rotation_translation(
                Vec3::new(width, height, width),
                Quat::IDENTITY,
                Vec3::new(x, height * 0.5, z),
            );
            let flora: Instance<Shape, _> = if rock {
                Rock.at(standing).into_set()
            } else {
                Bush.at(standing).into_set()
            };
            ctx.draw(flora.upright());
        }
    }

    /// One stone box drawn on the ground at `at`, `size` across, sampling
    /// the part of the sheet `frame` covers.
    fn draw_stone(ctx: &mut FrameContext<'_, Keep>, at: Vec3, size: Vec3, frame: Frame) {
        ctx.draw(
            Stone
                .at(Transform::from_scale_rotation_translation(
                    size,
                    Quat::IDENTITY,
                    at + Vec3::Y * (size.y * 0.5),
                ))
                .frame(frame),
        );
    }

    /// Two stone pillars drawn where `mouth` blocks the player, each a
    /// capital over its own course of masonry, and, on the one the camera
    /// looks into, the lintel across their tops and the dark filling
    /// the opening under it.
    fn draw_mouth(ctx: &mut FrameContext<'_, Keep>, mouth: Mouth) {
        for at in mouth.pillars() {
            Self::draw_stone(ctx, at, MOUTH_PILLAR_SIZE, Frame::default());
        }
        if !mouth.looked_into() {
            return;
        }

        Self::draw_stone(
            ctx,
            mouth.at + Vec3::Y * MOUTH_PILLAR_SIZE.y,
            MOUTH_LINTEL_SIZE,
            masonry(MOUTH_LINTEL_TILES),
        );
        ctx.draw(
            Quad.at(Transform::from_scale_rotation_translation(
                Vec3::new(MOUTH_PILLAR_OFFSET * 2.0, MOUTH_DARK_HEIGHT, 1.0),
                Quat::IDENTITY,
                mouth.at + Vec3::Y * (MOUTH_DARK_HEIGHT * 0.5),
            ))
            .material(Material::color(Color::BLACK)),
        );
    }

    fn draw_cave_floor(&self, ctx: &mut FrameContext<'_, Keep>) {
        let half = CAVE_HALF_WIDTH as i32;
        let near = CAVE_NEAR_Z as i32;
        let far = CAVE_FAR_Z as i32;
        for col in -half..=half {
            for row in far..=near {
                let variant = (col * 13 + row * 7).rem_euclid(CAVE_COLUMNS as i32) as u32;
                ctx.draw(
                    CaveFloor
                        .at(Vec3::new(
                            col as f32 * TILE_SIZE,
                            0.0,
                            row as f32 * TILE_SIZE,
                        ))
                        .frame(
                            Sheet::new(UVec2::new(CAVE_COLUMNS, CAVE_ROWS))
                                .cell_at(UVec2::new(variant, CAVE_FLOOR_ROW)),
                        ),
                );
            }
        }
    }

    /// The wall drawn at `at` over the meters `standing`, in courses
    /// [`WALL_HEIGHT`] tall from the floor up, each cut to the part of it the
    /// span leaves; its faces are picked by `seed` and its stone faded to
    /// `fade`, which is `1.0` wherever it is solid.
    fn draw_wall(
        ctx: &mut FrameContext<'_, Keep>,
        at: Vec2,
        standing: Range<f32>,
        seed: i32,
        fade: f32,
    ) {
        for course in 0..WALL_COURSES {
            let base = course as f32 * WALL_HEIGHT;
            let low = (standing.start - base).max(0.0);
            let high = (standing.end - base).min(WALL_HEIGHT);
            if high <= low {
                continue;
            }

            let variant = (seed + course).rem_euclid(CAVE_COLUMNS as i32) as u32;
            ctx.draw(
                CaveWall
                    .at(Transform::from_scale_rotation_translation(
                        Vec3::new(TILE_SIZE, high - low, TILE_SIZE),
                        Quat::IDENTITY,
                        Vec3::new(at.x, base + (low + high) * 0.5, at.y),
                    ))
                    .frame(cave_wall_face(variant, low..high))
                    .faded(fade),
            );
        }
    }

    /// The room's two side walls and its back wall, full height, and the low
    /// wall closing its near end between the side walls and the mouth. The
    /// back wall stops short of the corners the side walls already fill, and
    /// the near one leaves the mouth's own tile open.
    fn draw_cave_walls(&self, ctx: &mut FrameContext<'_, Keep>) {
        let half = CAVE_HALF_WIDTH as i32 + 1;
        let near = CAVE_NEAR_Z as i32;
        let far = CAVE_FAR_Z as i32;

        for row in far..=near {
            let z = row as f32 * TILE_SIZE;
            let west = Vec2::new(-half as f32 * TILE_SIZE, z);
            let east = Vec2::new(half as f32 * TILE_SIZE, z);
            Self::draw_wall(ctx, west, 0.0..WALL_TOP, row * 5, SOLID);
            Self::draw_wall(ctx, east, 0.0..WALL_TOP, row * 5 + 1, SOLID);
        }
        for col in (-half + 1)..half {
            let x = col as f32 * TILE_SIZE;
            let back = Vec2::new(x, far as f32 * TILE_SIZE);
            Self::draw_wall(ctx, back, 0.0..WALL_TOP, col * 5 + 2, SOLID);
            if col != 0 {
                let lip = Vec2::new(x, CAVE_LIP_Z);
                Self::draw_wall(ctx, lip, 0.0..CAVE_LIP_HEIGHT, col * 5 + 4, SOLID);
            }
        }
    }

    /// The wall the door hangs in, run across the room between the side walls
    /// with one tile left open on the room's axis for the doorway and stone
    /// filling the column over the door. A player behind the wall is drawn
    /// through the stacks between them and the camera, at `seen_through`,
    /// faded by `ghost`; the rest of it stays solid, and keeps casting.
    fn draw_door_wall(ctx: &mut FrameContext<'_, Keep>, seen_through: Option<f32>, ghost: f32) {
        let stone = |x: f32| match seen_through {
            Some(at) if (x - at).abs() < GHOST_CORRIDOR_HALF => ghost_alpha(ghost),
            _ => SOLID,
        };
        let half = CAVE_HALF_WIDTH as i32;

        for col in (-half..=half).filter(|&col| col != 0) {
            let x = col as f32 * TILE_SIZE;
            Self::draw_wall(
                ctx,
                Vec2::new(x, DOOR_Z),
                0.0..WALL_TOP,
                col * 5 + 3,
                stone(x),
            );
        }
        Self::draw_wall(
            ctx,
            Vec2::new(0.0, DOOR_Z),
            DOOR_HEIGHT..WALL_TOP,
            3,
            stone(0.0),
        );
    }

    /// The two torches: an upright cutout post apiece, the flame's loop
    /// burning over its binding, and the light that flame casts.
    fn draw_torches(&self, ctx: &mut FrameContext<'_, Keep>) {
        let elapsed = self.simulated.as_secs_f32();
        let loop_cells = Sheet::new(UVec2::new(FLAME_CELLS, 1));

        for (index, &(x, z)) in TORCH_POSITIONS.iter().enumerate() {
            let base = Vec3::new(x, 0.0, z);
            ctx.draw(
                Torch
                    .at(Transform::from_scale_rotation_translation(
                        Vec3::new(TORCH_SPRITE_WIDTH, TORCH_STAND_HEIGHT, 1.0),
                        Quat::IDENTITY,
                        base + Vec3::Y * (TORCH_STAND_HEIGHT * 0.5),
                    ))
                    .upright(),
            );

            let phase = index as f32 * 2.1;
            let flicker = (elapsed * FLAME_FLICKER_SPEED + phase).sin();
            let flame_pos =
                base + Vec3::Y * (TORCH_STAND_HEIGHT + FLAME_LIFT + flicker * FLAME_BOB);

            let light_pos = flame_pos + Vec3::new(0.0, TORCH_LIGHT_LIFT, TORCH_LIGHT_STANDOFF);
            ctx.light(Light::point(light_pos, TORCH_LIGHT_COLOR, TORCH_LIGHT_RANGE).shadow());
            // The pair burn an even share of the loop apart.
            let offset = index as u32 * FLAME_CELLS / TORCH_POSITIONS.len() as u32;
            ctx.draw(
                Flame
                    .at(Transform::from_scale_rotation_translation(
                        Vec3::splat(FLAME_SIZE),
                        Quat::IDENTITY,
                        flame_pos,
                    ))
                    .billboard()
                    .roll(flicker * FLAME_ROLL)
                    .frame(loop_cells.cell((elapsed * FLAME_RATE) as u32 + offset)),
            );
        }
    }

    /// The door at its hinge — swung back against the wall once opened —
    /// drawn through alongside its wall, faded by `ghost`.
    fn draw_door(&self, ctx: &mut FrameContext<'_, Keep>, ghost: f32) {
        let fade = ghost_alpha(ghost);
        let swung = if self.door_opening {
            Quat::from_rotation_y(core::f32::consts::FRAC_PI_2)
        } else {
            Quat::IDENTITY
        };

        ctx.draw(
            Door.at(Transform::from_rotation_translation(swung, DOOR_HINGE))
                .material(Material::shaded(DOOR_COLOR, DOOR_LITNESS))
                .faded(fade),
        );
    }

    /// The posts and lintel framing the doorway, in a color the stone never
    /// is, standing clear of the wall so the opening reads as a door from
    /// across the chamber. Glowing of their own while the door is closed and
    /// within [`INTERACT_RADIUS`], the cue that it opens.
    fn draw_door_frame(&self, ctx: &mut FrameContext<'_, Keep>, ghost: f32) {
        let reachable =
            !self.door_opening && self.position.distance(INTERACT_POINT) < INTERACT_RADIUS;
        let material =
            Material::shaded(DOOR_FRAME_COLOR, DOOR_FRAME_LITNESS).emissive(if reachable {
                DOOR_FRAME_GLOW
            } else {
                Color::BLACK
            });
        let fade = ghost_alpha(ghost);
        let z = DOOR_WALL_NEAR_Z + DOOR_FRAME_STANDOFF;
        let jamb_height = DOOR_HEIGHT + DOOR_FRAME_THICKNESS;

        for side in SIDES {
            ctx.draw(
                Cube.at(Transform::from_scale_rotation_translation(
                    Vec3::new(DOOR_FRAME_THICKNESS, jamb_height, DOOR_FRAME_THICKNESS),
                    Quat::IDENTITY,
                    Vec3::new(
                        side * (DOORWAY_HALF + DOOR_FRAME_THICKNESS * 0.5),
                        jamb_height * 0.5,
                        z,
                    ),
                ))
                .material(material)
                .faded(fade),
            );
        }
        ctx.draw(
            Cube.at(Transform::from_scale_rotation_translation(
                Vec3::new(
                    DOOR_WIDTH + DOOR_FRAME_THICKNESS * 2.0,
                    DOOR_FRAME_THICKNESS,
                    DOOR_FRAME_THICKNESS,
                ),
                Quat::IDENTITY,
                Vec3::new(0.0, DOOR_HEIGHT + DOOR_FRAME_THICKNESS * 0.5, z),
            ))
            .material(material)
            .faded(fade),
        );
    }

    /// A world prompt over the door: what opens it while the player is
    /// within [`INTERACT_RADIUS`] and it is closed, and that it swings while
    /// it does; gone once it has swung [`DOOR_SWING_TICKS`]. Laid out and
    /// placed like `examples/animation.rs`'s own prompt.
    fn draw_door_prompt(&self, ctx: &mut FrameContext<'_, Keep>, camera: Camera) {
        let near = self.position.distance(INTERACT_POINT) < INTERACT_RADIUS;
        let swinging = self.door_opening && self.swing_ticks < DOOR_SWING_TICKS;
        let text = if swinging {
            "opening"
        } else if near && !self.door_opening {
            "e opens the door"
        } else {
            return;
        };

        let galley = ctx.text_layout(text, egui::FontId::proportional(DOOR_PROMPT_SIZE));
        let point = INTERACT_POINT + Vec3::Y * (DOOR_HEIGHT + DOOR_PROMPT_LIFT);
        let window_size = ctx.window_size();
        let pixels_per_point = ctx.pixels_per_point();
        let Some(pixel) = camera.pixel_of(point, window_size) else {
            return;
        };

        ctx.ui(|ui| {
            let painter = ui.painter();
            let at = logical(pixel, pixels_per_point);
            let ink = galley.mesh_bounds;
            let pos = egui::pos2(at.x - ink.center().x, at.y - ink.center().y);
            let backdrop = egui::Rect::from_center_size(
                at,
                ink.size() + egui::Vec2::splat(DOOR_PROMPT_PADDING * 2.0),
            );
            painter.rect_filled(
                backdrop,
                DOOR_PROMPT_PADDING,
                egui::Color32::from_black_alpha(DOOR_PROMPT_BACKDROP),
            );
            painter.galley(pos, galley, DOOR_PROMPT_COLOR);
        });
    }

    /// The gem, spinning and bobbing over the chamber's floor, and the light
    /// it casts over it.
    fn draw_gem(&self, ctx: &mut FrameContext<'_, Keep>) {
        let t = self.simulated.as_secs_f32();
        let bob = (t * 2.0).sin() * GEM_BOB_HEIGHT;
        ctx.light(
            Light::point(
                GEM_POSITION + Vec3::Y * (bob + GEM_LIGHT_LIFT),
                GEM_LIGHT_COLOR,
                GEM_LIGHT_RANGE,
            )
            .shadow(),
        );
        ctx.draw(
            Gem.at(Transform::from_scale_rotation_translation(
                Vec3::ONE,
                Quat::from_rotation_y(t * GEM_SPIN_SPEED),
                GEM_POSITION + Vec3::Y * bob,
            ))
            .material(Material::shaded(GEM_COLOR, 0.7).emissive(GEM_COLOR.dimmed(1.6))),
        );
    }

examples/animation.rs (line 530)

fn orbit_camera(target: Vec3, yaw: f32, pitch: f32) -> Camera {
    let look_at = target + Vec3::Y * CAMERA_LOOK_HEIGHT;
    let base = Vec3::new(0.0, CAMERA_UP, CAMERA_BACK);
    let offset = Quat::from_rotation_y(yaw) * (Quat::from_rotation_x(pitch) * base);
    Camera::new(
        View::look_at(look_at + offset, look_at),
        Projection::perspective(CAMERA_FOV),
    )
}

/// The logical point egui paints the physical pixel `pixel` at.
fn logical(pixel: Vec2, pixels_per_point: f32) -> egui::Pos2 {
    let point = pixel / pixels_per_point;
    egui::pos2(point.x, point.y)
}

#[derive(InputButtonAction, Clone, Copy)]
enum Button {
    Run,
    Attack,
    Jump,
    Dance,
    Interact,
    Restart,
    Hold,
    Release,
}

impl InputButtonAction for Button {
    fn bindings(&self) -> Vec<ButtonBinding> {
        match self {
            Button::Run => vec![Key::LeftShift.into()],
            Button::Attack => vec![Key::F.into()],
            Button::Jump => vec![Key::Space.into()],
            Button::Dance => vec![Key::N.into()],
            Button::Interact => vec![Key::E.into()],
            Button::Restart => vec![Key::R.into()],
            Button::Hold => vec![MouseButton::Left.into()],
            Button::Release => vec![Key::Escape.into()],
        }
    }
}

/// The camera's own controls: turned and tilted by how far the pointer
/// moves sideways and upward each tick.
#[derive(InputAxisAction, Clone, Copy)]
enum Axis {
    CameraYaw,
    CameraPitch,
}

impl InputAxisAction for Axis {
    fn bindings(&self) -> Vec<AxisBinding> {
        match self {
            Axis::CameraYaw => {
                vec![AxisBinding::pointer_delta(PointerDelta::Sideways).scale(CAMERA_YAW_SCALE)]
            }
            Axis::CameraPitch => {
                vec![AxisBinding::pointer_delta(PointerDelta::Up).scale(CAMERA_PITCH_SCALE)]
            }
        }
    }
}

#[derive(InputAxis2Action, Clone, Copy)]
enum Move {
    Walk,
}

impl InputAxis2Action for Move {
    fn bindings(&self) -> Vec<Axis2Binding> {
        match self {
            Move::Walk => vec![
                Axis2Binding::from(ButtonAxis2 {
                    left: Key::A,
                    right: Key::D,
                    down: Key::S,
                    up: Key::W,
                }),
                Axis2Binding::from(ButtonAxis2 {
                    left: Key::Left,
                    right: Key::Right,
                    down: Key::Down,
                    up: Key::Up,
                }),
            ],
        }
    }
}

struct Controls;

impl InputActions for Controls {
    type Button = Button;
    type Axis = Axis;
    type Axis2 = Move;
}

/// `text` in [`PANEL_TEXT_COLOR`].
fn panel_text(text: impl Into<String>) -> egui::RichText {
    egui::RichText::new(text.into()).color(PANEL_TEXT_COLOR)
}

struct Scene {
    elf_pos: Vec3,
    elf_prev: Vec3,
    elf_yaw: f32,
    /// Height the elf is lifted over the ground while off the ground,
    /// integrated in [`Game::tick`] from [`Self::jump_speed`].
    elf_height: f32,
    elf_height_prev: f32,
    /// The elf's own vertical speed while off the ground, in meters a
    /// second, positive upward.
    jump_speed: f32,
    elf_input: ElfInput,
    elf_animator: Animator<Elf, ElfState>,
    scrubbed_animator: Animator<Elf, ScrubbedState>,
    butterfly_animator: Animator<Butterfly, FlyingState>,
    hits: u32,
    /// True while a hurt patch already held the elf, so leaving and
    /// returning to the same patch counts as a new hit.
    in_patch: bool,
    /// Whether the pointer is held; a click takes it, escape frees it.
    holding: bool,
    /// The camera's turn around the elf, and its tilt, both in radians.
    camera_yaw: f32,
    camera_pitch: f32,
    /// The last state change the panel names.
    last_event: &'static str,
}

impl Scene {
    fn init(_ctx: &mut InitContext<'_, Scene>) -> Result<Self, Error> {
        Ok(Self {
            elf_pos: ELF_START,
            elf_prev: ELF_START,
            elf_yaw: 0.0,
            elf_height: 0.0,
            elf_height_prev: 0.0,
            jump_speed: 0.0,
            elf_input: ElfInput::default(),
            elf_animator: Animator::new(),
            scrubbed_animator: Animator::new(),
            butterfly_animator: Animator::new(),
            hits: 0,
            in_patch: false,
            holding: false,
            camera_yaw: 0.0,
            camera_pitch: 0.0,
            last_event: "none yet",
        })
    }

    /// Turns the camera by how far the pointer moves sideways and upward,
    /// [`CAMERA_PITCH_RANGE`] holding how far it tilts.
    fn steer_camera(&mut self, ctx: &mut FrameContext<'_, Scene>) {
        self.camera_yaw -= ctx.axis(Axis::CameraYaw);
        self.camera_pitch = (self.camera_pitch + ctx.axis(Axis::CameraPitch))
            .clamp(CAMERA_PITCH_RANGE.start, CAMERA_PITCH_RANGE.end);
    }

    /// Turns `elf_yaw` toward the heading `ctx` reads, relative to the
    /// camera's own turn, and moves `elf_pos` along it; the speed it moves
    /// at, a fraction of [`ELF_SPEED`], held at [`WALK_CAP`] until
    /// `Button::Run` is held.
    fn advance(&mut self, ctx: &mut TickContext<'_, Scene>) -> f32 {
        let control = ctx.axis2(Move::Walk).clamp_length_max(1.0);
        let turn = Quat::from_rotation_y(self.camera_yaw);
        let heading = turn * Vec3::X * control.x + turn * Vec3::NEG_Z * control.y;
        let dt = ctx.dt().as_secs_f32();
        if let Some(direction) = heading.try_normalize() {
            let wanted = direction.x.atan2(direction.z);
            let turn = (wanted - self.elf_yaw + core::f32::consts::PI).rem_euclid(TAU)
                - core::f32::consts::PI;
            self.elf_yaw += turn.clamp(-TURN_RATE * dt, TURN_RATE * dt);
        }
        let cap = if ctx.down(Button::Run) { 1.0 } else { WALK_CAP };
        self.elf_pos += heading * cap * ELF_SPEED * dt;
        heading.length() * cap
    }

    /// Integrates [`Self::elf_height`] under [`GRAVITY`] from
    /// [`Self::jump_speed`], held at the ground; `true` the tick it
    /// returns there from above it.
    fn fall(&mut self, dt: f32) -> bool {
        let off_ground = self.elf_height > 0.0;
        self.jump_speed -= GRAVITY * dt;
        self.elf_height = (self.elf_height + self.jump_speed * dt).max(0.0);
        if self.elf_height == 0.0 {
            self.jump_speed = 0.0;
        }
        off_ground && self.elf_height == 0.0
    }

    /// The hurt patch `elf_pos` stands inside, if any.
    fn patch_underfoot(&self) -> Option<Vec3> {
        HURT_PATCHES
            .into_iter()
            .find(|&patch| self.elf_pos.distance(patch) < HURT_RADIUS)
    }

    /// Reads the controls and moves the elf, filling [`Self::elf_input`]
    /// for [`ElfState`] to read.
    fn tick_elf(&mut self, ctx: &mut TickContext<'_, Scene>) {
        let grounded = matches!(
            self.elf_animator.state(),
            ElfState::Idle | ElfState::Locomotion
        );

        self.elf_input.speed = self.advance(ctx);
        self.elf_input.attack = ctx.pressed(Button::Attack);
        self.elf_input.jump = ctx.pressed(Button::Jump);
        self.elf_input.dance = ctx.pressed(Button::Dance);

        self.elf_input.near_seat = self.elf_pos.distance(SEAT_POSITION) < SEAT_INTERACT_RADIUS;
        self.elf_input.interact = ctx.pressed(Button::Interact);
        if self.elf_input.interact && grounded && self.elf_input.near_seat {
            self.elf_pos = SEAT_SPOT;
            self.elf_yaw = SEAT_FACING;
        }

        let underfoot = self.patch_underfoot();
        let entered_patch = underfoot.is_some() && !self.in_patch;
        self.in_patch = underfoot.is_some();
        self.hits += u32::from(entered_patch);
        self.elf_input.hit = entered_patch && self.hits < FATAL_HITS;
        self.elf_input.dying = entered_patch && self.hits >= FATAL_HITS;
        if entered_patch {
            self.last_event = match self.elf_input.dying {
                true => "elf died",
                false => "elf hit",
            };
        }
    }

    /// Starts a new [`Animator`] over the elf's own state, its position and
    /// hit count reset with it.
    fn restart_elf(&mut self) {
        self.elf_animator = Animator::new();
        self.elf_pos = ELF_START;
        self.elf_prev = ELF_START;
        self.elf_yaw = 0.0;
        self.elf_height = 0.0;
        self.elf_height_prev = 0.0;
        self.jump_speed = 0.0;
        self.elf_input = ElfInput::default();
        self.hits = 0;
        self.in_patch = false;
        self.last_event = "new elf started";
    }

    fn panel(&self, ctx: &mut FrameContext<'_, Scene>) {
        let state = match self.elf_animator.state() {
            ElfState::Idle => "idle",
            ElfState::Locomotion if self.elf_input.speed > WALK_CAP => "running",
            ElfState::Locomotion => "walking",
            ElfState::Attack => "attacking",
            ElfState::Hit => "hit",
            ElfState::Death => "dead",
            ElfState::SitDown => "sitting down",
            ElfState::Sit => "sitting",
            ElfState::StandUp => "standing up",
            ElfState::Jump => "jumping",
            ElfState::Dance => "dancing",
        };
        ctx.ui(|ui| {
            egui::Frame::new()
                .fill(egui::Color32::from_black_alpha(PANEL_BACKDROP))
                .inner_margin(PANEL_PADDING)
                .corner_radius(f32::from(PANEL_PADDING))
                .show(ui, |ui| {
                    ui.heading(panel_text(format!("elf is {state}")));
                    ui.label(panel_text(format!(
                        "hits taken {} of the {} red patches hurt for, {}",
                        self.hits, FATAL_HITS, self.last_event
                    )));
                    ui.label(panel_text(match self.elf_animator.transitioning() {
                        true => "fading between clips",
                        false => "one clip playing",
                    }));
                    ui.add_space(f32::from(PANEL_PADDING));
                    egui::Grid::new("controls").show(ui, |ui| {
                        for (key, does) in CONTROLS {
                            ui.label(panel_text(key));
                            ui.label(panel_text(does));
                            ui.end_row();
                        }
                    });
                });
        });
    }

    /// A prompt over the seat, each hurt patch, and the scrubbed elf,
    /// naming what a player finds there; the seat's own prompt names the
    /// live binding of `Button::Interact` by its own name, not one fixed
    /// in the code, and is absent while the elf sits on it.
    fn draw_prompts(&self, ctx: &mut FrameContext<'_, Scene>, camera: Camera) {
        let sit_key = ctx
            .bindings(Button::Interact)
            .into_iter()
            .next()
            .map_or_else(|| "interact".to_owned(), |binding| binding.to_string());
        let sit = ctx.text_layout(
            &format!("{sit_key} sits"),
            egui::FontId::proportional(PROMPT_SIZE),
        );
        let hurts = ctx.text_layout("hurts", egui::FontId::proportional(PROMPT_SIZE));
        let walk_closer = ctx.text_layout("walk closer", egui::FontId::proportional(PROMPT_SIZE));

        let mut prompts = vec![(
            SCRUBBED_ELF_POSITION + Vec3::Y * (ELF_HEIGHT + PROMPT_LIFT),
            walk_closer,
        )];
        if !self.elf_animator.state().seated() {
            prompts.push((
                SEAT_POSITION + Vec3::Y * (SEAT_HEAD_HEIGHT + PROMPT_LIFT),
                sit,
            ));
        }
        prompts.extend(HURT_PATCHES.map(|patch| (patch + Vec3::Y * PROMPT_LIFT, hurts.clone())));

        let window_size = ctx.window_size();
        let pixels_per_point = ctx.pixels_per_point();
        ctx.ui(|ui| {
            let painter = ui.painter();
            for (point, galley) in prompts {
                let Some(pixel) = camera.pixel_of(point, window_size) else {
                    continue;
                };
                let at = logical(pixel, pixels_per_point);
                let ink = galley.mesh_bounds;
                let pos = egui::pos2(at.x - ink.center().x, at.y - ink.center().y);
                let backdrop = egui::Rect::from_center_size(
                    at,
                    ink.size() + egui::Vec2::splat(PROMPT_PADDING * 2.0),
                );
                painter.rect_filled(
                    backdrop,
                    PROMPT_PADDING,
                    egui::Color32::from_black_alpha(PANEL_BACKDROP),
                );
                painter.galley(pos, galley, PANEL_TEXT_COLOR);
            }
        });
    }
}

impl Game for Scene {
    type Meshes = Shape;
    type Sounds = NoSounds;
    type InputActions = Controls;
    type Skyboxes = Sky;
    type SurfaceStyles = NoSurfaceStyles;
    type PostEffects = NoPostEffects;

    fn tick(&mut self, ctx: &mut TickContext<'_, Scene>) {
        self.elf_prev = self.elf_pos;
        self.elf_height_prev = self.elf_height;

        if ctx.pressed(Button::Restart) {
            self.restart_elf();
        }
        if ctx.pressed(Button::Hold) {
            self.holding = true;
        }
        if ctx.pressed(Button::Release) {
            self.holding = false;
        }

        self.elf_input.landed = self.fall(ctx.dt().as_secs_f32());
        self.tick_elf(ctx);
        ctx.animate(Elf, &mut self.elf_animator, &self.elf_input);

        if self.elf_animator.entered(ElfState::Jump) {
            self.jump_speed = JUMP_LAUNCH_SPEED;
        }
        if self.elf_animator.left(ElfState::StandUp) {
            self.last_event = "elf stood up";
        }
        if self.elf_animator.entered(ElfState::Sit) {
            self.last_event = "elf sat down";
        }
        if self.elf_animator.entered(ElfState::Death) {
            self.last_event = "elf died";
        }

        let scrubbed_input = ScrubbedInput {
            settled: settled_at(self.elf_pos.distance(SCRUBBED_ELF_POSITION)),
        };
        ctx.animate(Elf, &mut self.scrubbed_animator, &scrubbed_input);
        ctx.animate(Butterfly, &mut self.butterfly_animator, &());
    }

    fn frame(&mut self, ctx: &mut FrameContext<'_, Scene>) {
        self.steer_camera(ctx);

        let alpha = ctx.alpha();
        let elf_pos = self.elf_prev.lerp(self.elf_pos, alpha);
        let elf_height = self.elf_height_prev + (self.elf_height - self.elf_height_prev) * alpha;
        let (butterfly_pos, butterfly_yaw) = butterfly_pose(ctx.elapsed().as_secs_f32());

        let camera = orbit_camera(elf_pos, self.camera_yaw, self.camera_pitch);
        ctx.set_camera(camera);
        ctx.set_cursor(if self.holding {
            Cursor::Held
        } else {
            Cursor::Arrow
        });
        ctx.set_skybox(Sky::Day);
        ctx.set_exposure(3.0);
        ctx.set_bloom(0.2);
        ctx.light(Light::directional(SUN_DIRECTION, SUN_COLOR).shadow());
        ctx.light(
            Light::point(
                LAMP_POST_POSITION + Vec3::Y * (LAMP_POST_HEIGHT + LAMP_HEAD_GAP * 0.5),
                LAMP_LIGHT_COLOR,
                LAMP_LIGHT_RANGE,
            )
            .shadow(),
        );
        ctx.light(
            Light::spot(Spot {
                position: SPOT_POSITION,
                direction: SPOT_DIRECTION,
                color: SPOT_COLOR,
                range: SPOT_RANGE,
                angle: SPOT_ANGLE,
            })
            .shadow(),
        );
        ctx.light(
            Light::point(butterfly_pos, BUTTERFLY_LIGHT_COLOR, BUTTERFLY_LIGHT_RANGE).shadow(),
        );

        ctx.draw(
            Plane
                .at(Transform::from_scale(Vec3::new(
                    GROUND_SIZE,
                    1.0,
                    GROUND_SIZE,
                )))
                .material(Material::lit(GROUND_COLOR)),
        );
        for patch in HURT_PATCHES {
            ctx.draw(
                Plane
                    .at(Transform::from_scale_rotation_translation(
                        Vec3::splat(HURT_RADIUS * 2.0),
                        Quat::IDENTITY,
                        patch,
                    ))
                    .material(Material::lit(HURT_COLOR)),
            );
        }
        ctx.draw(
            Cube.at(Transform::from_scale_rotation_translation(
                Vec3::new(SEAT_FOOTPRINT, SEAT_HEIGHT, SEAT_FOOTPRINT),
                Quat::IDENTITY,
                SEAT_POSITION + Vec3::Y * SEAT_HEIGHT * 0.5,
            ))
            .material(Material::lit(SEAT_COLOR)),
        );
        ctx.draw(
            Cube.at(Transform::from_scale_rotation_translation(
                Vec3::new(LAMP_POST_THICKNESS, LAMP_POST_HEIGHT, LAMP_POST_THICKNESS),
                Quat::IDENTITY,
                LAMP_POST_POSITION + Vec3::Y * LAMP_POST_HEIGHT * 0.5,
            ))
            .material(Material::lit(LAMP_POST_COLOR)),
        );
        ctx.draw(
            Cube.at(Transform::from_scale_rotation_translation(
                Vec3::splat(LAMP_HEAD_SIZE),
                Quat::IDENTITY,
                LAMP_POST_POSITION
                    + Vec3::Y * (LAMP_POST_HEIGHT + LAMP_HEAD_GAP + LAMP_HEAD_SIZE * 0.5),
            ))
            .material(Material::color(Color::BLACK).emissive(LAMP_LIGHT_COLOR)),
        );
        ctx.draw(
            Cube.at(Transform::from_scale_rotation_translation(
                Vec3::splat(SPOT_FIXTURE_SIZE),
                Quat::IDENTITY,
                SPOT_POSITION + Vec3::Y * SPOT_FIXTURE_SIZE * 0.5,
            ))
            .material(Material::lit(SPOT_FIXTURE_COLOR)),
        );

        ctx.draw(
            Elf.at(Transform::from_rotation_translation(
                Quat::from_rotation_y(self.elf_yaw),
                elf_pos + Vec3::Y * elf_height,
            ))
            .posed(&self.elf_animator),
        );
        ctx.draw(
            Elf.at(Transform::from_rotation_translation(
                Quat::from_rotation_y(core::f32::consts::PI),
                SCRUBBED_ELF_POSITION,
            ))
            .posed(&self.scrubbed_animator),
        );
        ctx.draw(
            Butterfly
                .at(Transform::from_rotation_translation(
                    Quat::from_rotation_y(butterfly_yaw),
                    butterfly_pos,
                ))
                .posed(&self.butterfly_animator)
                .material(Material::lit(Color::WHITE).emissive(BUTTERFLY_EMISSIVE)),
        );

        self.draw_prompts(ctx, camera);
        self.panel(ctx);
    }

examples/isometric-board.rs (line 575)

    fn draw_rocks(&self, ctx: &mut FrameContext<'_, Board>) {
        for &(x, z, seed, scale) in &ROCKS {
            let angle = hash_signed(seed, 99) * core::f32::consts::PI;
            ctx.draw(
                Rock { seed }
                    .at(Transform::from_scale_rotation_translation(
                        Vec3::splat(scale),
                        Quat::from_rotation_y(angle),
                        Vec3::new(x, 0.5 * scale, z),
                    ))
                    .material(Material::lit(ROCK_COLOR)),
            );
        }
    }

examples/stress-preview.rs (line 413)

    fn draw_field(&self, ctx: &mut FrameContext<'_, Self>, elapsed: f32) {
        for entry in &self.field {
            let yaw = if self.settings.moving && entry.moving {
                entry.phase + elapsed * MOVING_SPEED
            } else {
                entry.phase
            };
            ctx.draw(
                Rock { seed: entry.seed }.at(Transform::from_scale_rotation_translation(
                    Vec3::ONE,
                    Quat::from_rotation_y(yaw),
                    entry.position,
                )),
            );
        }
    }

pub fn from_rotation_z(angle: f32) -> Quat

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

pub fn from_euler(euler: EulerRot, a: f32, b: f32, c: f32) -> Quat

Creates a quaternion from the given Euler rotation sequence and the angles (in radians).

pub fn from_rotation_axes(x_axis: Vec3, y_axis: Vec3, z_axis: Vec3) -> Quat

From the columns of a 3x3 rotation matrix.

Note if the input axes contain scales, shears, or other non-rotation transformations then the output of this function is ill-defined.

Panics

Will panic if any axis is not normalized when glam_assert is enabled.

pub fn from_mat3(mat: &Mat3) -> Quat

Creates a quaternion from a 3x3 rotation matrix.

Note if the input matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any input matrix column is not normalized when glam_assert is enabled.

pub fn from_mat3a(mat: &Mat3A) -> Quat

Creates a quaternion from a 3x3 SIMD aligned rotation matrix.

Note if the input matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any input matrix column is not normalized when glam_assert is enabled.

pub fn from_mat4(mat: &Mat4) -> Quat

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

Note if the upper 3x3 matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any column of the upper 3x3 rotation matrix is not normalized when glam_assert is enabled.

pub fn from_rotation_arc(from: Vec3, to: Vec3) -> Quat

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 inputs must be unit vectors.

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).

Panics

Will panic if from or to are not normalized when glam_assert is enabled.

Examples found in repository

examples/flock-parallelism.rs (line 676)

    fn draw_butterflies(&self, ctx: &mut FrameContext<'_, Self>) {
        for (position, velocity, kind) in self.butterflies.each() {
            let rotation = Quat::from_rotation_arc(Vec3::Z, Vec3::from(velocity).normalize());
            ctx.draw(
                Butterfly
                    .at(Transform::from_scale_rotation_translation(
                        Vec3::splat(BUTTERFLY_SCALE),
                        rotation,
                        Vec3::from(position),
                    ))
                    .posed(&self.flaps[usize::from(kind.flap)])
                    .material(Material::lit(TINTS[usize::from(kind.tint)])),
            );
        }
    }

pub fn from_rotation_arc_colinear(from: Vec3, to: Vec3) -> Quat

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 inputs must be unit vectors.

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

Panics

Will panic if from or to are not normalized when glam_assert is enabled.

pub fn from_rotation_arc_2d(from: Vec2, to: Vec2) -> Quat

Gets the minimal rotation for transforming from to to. The resulting rotation is around the z axis. Will rotate at most 180 degrees.

The inputs must be unit vectors.

from_rotation_arc_2d(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).

Panics

Will panic if from or to are not normalized when glam_assert is enabled.

pub fn look_to_lh(dir: Vec3, up: Vec3) -> Quat

👎Deprecated since 0.33.1:

use the glam::camera::lh::view::look_to_quat function instead

Creates a quaterion rotation from a facing direction and an up direction.

For a left-handed view coordinate system with +X=right, +Y=up and +Z=forward.

Panics

Will panic if up is not normalized when glam_assert is enabled.

pub fn look_to_rh(dir: Vec3, up: Vec3) -> Quat

👎Deprecated since 0.33.1:

use the glam::camera::rh::view::look_to_quat function instead

Creates a quaterion rotation from facing direction and an up direction.

For a right-handed view coordinate system with +X=right, +Y=up and +Z=back.

Panics

Will panic if dir and up are not normalized when glam_assert is enabled.

pub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Quat

👎Deprecated since 0.33.1:

use the glam::camera::lh::view::look_at_quat function instead

Creates a quaternion rotation from a camera position, a focal point, and an up direction.

For a left-handed view coordinate system with +X=right, +Y=up and +Z=forward.

Panics

Will panic if up is not normalized when glam_assert is enabled.

pub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Quat

👎Deprecated since 0.33.1:

use the glam::camera::rh::view::look_at_quat function instead

Creates a quaternion rotation using a camera position, an up direction, and a focal point.

For a right-handed view coordinate system with +X=right, +Y=up and +Z=back.

Panics

Will panic if up is not normalized when glam_assert is enabled.

pub fn to_axis_angle(self) -> (Vec3, f32)

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

pub fn to_scaled_axis(self) -> Vec3

Returns the rotation axis scaled by the rotation in radians.

pub fn to_euler(self, order: EulerRot) -> (f32, f32, f32)

Returns the rotation angles for the given euler rotation sequence.

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

Converts self to [x, y, z, w]

pub fn xyz(self) -> Vec3

Returns the vector part of the quaternion.

pub fn conjugate(self) -> Quat

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

pub fn inverse(self) -> Quat

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.

Panics

Will panic if self is not normalized when glam_assert is enabled.

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

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

pub fn length(self) -> f32

Computes the length of self.

pub fn length_squared(self) -> f32

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

Computes 1.0 / length().

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

pub fn normalize(self) -> Quat

Returns self normalized to length 1.0.

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

Panics

Will panic if self is zero length when glam_assert is enabled.

pub fn is_finite(self) -> bool

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

Returns true if any elements are NAN.

pub fn is_normalized(self) -> bool

Returns whether self of length 1.0 or not.

Uses a precision threshold of 1e-6.

pub fn is_near_identity(self) -> bool

pub fn angle_between(self, rhs: Quat) -> f32

Returns the angle (in radians) for the minimal rotation between two quaternions in the range [0, +π].

Both quaternions must be normalized.

Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

pub fn rotate_towards(self, rhs: Quat, max_angle: f32) -> Quat

Rotates towards rhs up to max_angle (in radians).

When max_angle is 0.0, the result will be equal to self. When max_angle is equal to self.angle_between(rhs), the result will be equal to rhs. If max_angle is negative, rotates towards the exact opposite of rhs. Will not go past the target.

Both quaternions must be normalized.

Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

pub fn abs_diff_eq(self, rhs: Quat, max_abs_diff: f32) -> bool

Returns true if the absolute difference of all elements between self and rhs 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

Performs a linear interpolation between self and rhs 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 rhs.

Panics

Will panic if self or end are not normalized when glam_assert is enabled.

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

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.

Panics

Will panic if self or end are not normalized when glam_assert is enabled.

pub fn slerp_long(self, end: Quat, s: f32) -> Quat

Performs a spherical linear interpolation between self and end based on the value s, preserving the rotation direction.

When s is 0.0, the result will be equal to self. When s is 1.0, the result will be equal to end.

When the dot product of self and end is negative, the standard slerp will flip the end quaternion to take the shortest path, while this method will take the longer arc. This is useful when the intended rotation direction must be preserved.

Panics

Will panic if self or end are not normalized when glam_assert is enabled.

pub fn mul_vec3(self, rhs: Vec3) -> Vec3

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

Panics

Will panic if self is not normalized when glam_assert is enabled.

pub fn mul_quat(self, rhs: Quat) -> Quat

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.

Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

pub fn from_affine3(a: &Affine3) -> Quat

Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.

Note if the input affine matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any input affine matrix column is not normalized when glam_assert is enabled.

pub fn from_affine3a(a: &Affine3A) -> Quat

Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.

Note if the input affine matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any input affine matrix column is not normalized when glam_assert is enabled.

pub fn mul_vec3a(self, rhs: Vec3A) -> Vec3A

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

pub fn as_dquat(self) -> DQuat

Trait Implementations

impl Add for Quat

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

Adds two quaternions.

The sum is not guaranteed to be normalized.

Note that addition is not the same as combining the rotations represented by the two quaternions! That corresponds to multiplication.

type Output = Quat

The resulting type after applying the + operator.

impl Add<&Quat> for Quat

type Output = Quat

The resulting type after applying the + operator.

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

Performs the + operation.

impl Add<&Quat> for &Quat

type Output = Quat

The resulting type after applying the + operator.

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

Performs the + operation.

impl Add<Quat> for &Quat

type Output = Quat

The resulting type after applying the + operator.

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

Performs the + operation.

impl AddAssign for Quat

fn add_assign(&mut self, rhs: Quat)

Performs the += operation.

impl AddAssign<&Quat> for Quat

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

Performs the += operation.

impl AsRef<[f32; 4]> for Quat

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

Converts this type into a shared reference of the (usually inferred) input type.

impl Clone for Quat

fn clone(&self) -> Quat

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Quat

impl Debug for Quat

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

Formats the value using the given formatter.

impl Default for Quat

fn default() -> Quat

Returns the “default value” for a type.

impl Deref for Quat

type Target = Vec4<f32>

The resulting type after dereferencing.

fn deref(&self) -> &<Quat as Deref>::Target

Dereferences the value.

impl DerefMut for Quat

fn deref_mut(&mut self) -> &mut <Quat as Deref>::Target

Mutably dereferences the value.

impl Display for Quat

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

Formats the value using the given formatter.

impl Div<&f32> for Quat

type Output = Quat

The resulting type after applying the / operator.

fn div(self, rhs: &f32) -> Quat

Performs the / operation.

impl Div<&f32> for &Quat

type Output = Quat

The resulting type after applying the / operator.

fn div(self, rhs: &f32) -> Quat

Performs the / operation.

impl Div<f32> for Quat

fn div(self, rhs: f32) -> Quat

Divides a quaternion by a scalar value. The quotient is not guaranteed to be normalized.

type Output = Quat

The resulting type after applying the / operator.

impl Div<f32> for &Quat

type Output = Quat

The resulting type after applying the / operator.

fn div(self, rhs: f32) -> Quat

Performs the / operation.

impl DivAssign<&f32> for Quat

fn div_assign(&mut self, rhs: &f32)

Performs the /= operation.

impl DivAssign<f32> for Quat

fn div_assign(&mut self, rhs: f32)

Performs the /= operation.

impl From<Quat> for Vec4

fn from(q: Quat) -> Vec4

Converts to this type from the input type.

impl Mul for Quat

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

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.

Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

type Output = Quat

The resulting type after applying the * operator.

impl Mul<&Quat> for Quat

type Output = Quat

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<&Quat> for &Quat

type Output = Quat

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<&Vec3> for Quat

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, rhs: &Vec3) -> Vec3

Performs the * operation.

impl Mul<&Vec3> for &Quat

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, rhs: &Vec3) -> Vec3

Performs the * operation.

impl Mul<&Vec3A> for Quat

type Output = Vec3A

The resulting type after applying the * operator.

fn mul(self, rhs: &Vec3A) -> Vec3A

Performs the * operation.

impl Mul<&Vec3A> for &Quat

type Output = Vec3A

The resulting type after applying the * operator.

fn mul(self, rhs: &Vec3A) -> Vec3A

Performs the * operation.

impl Mul<&f32> for Quat

type Output = Quat

The resulting type after applying the * operator.

fn mul(self, rhs: &f32) -> Quat

Performs the * operation.

impl Mul<&f32> for &Quat

type Output = Quat

The resulting type after applying the * operator.

fn mul(self, rhs: &f32) -> Quat

Performs the * operation.

impl Mul<Quat> for &Quat

type Output = Quat

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<Vec3> for Quat

fn mul(self, rhs: Vec3) -> <Quat as Mul<Vec3>>::Output

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

Panics

Will panic if self is not normalized when glam_assert is enabled.

type Output = Vec3

The resulting type after applying the * operator.

impl Mul<Vec3> for &Quat

type Output = Vec3

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<Vec3A> for Quat

type Output = Vec3A

The resulting type after applying the * operator.

fn mul(self, rhs: Vec3A) -> <Quat as Mul<Vec3A>>::Output

Performs the * operation.

impl Mul<Vec3A> for &Quat

type Output = Vec3A

The resulting type after applying the * operator.

fn mul(self, rhs: Vec3A) -> Vec3A

Performs the * operation.

impl Mul<f32> for Quat

fn mul(self, rhs: f32) -> Quat

Multiplies a quaternion by a scalar value.

The product is not guaranteed to be normalized.

type Output = Quat

The resulting type after applying the * operator.

impl Mul<f32> for &Quat

type Output = Quat

The resulting type after applying the * operator.

fn mul(self, rhs: f32) -> Quat

Performs the * operation.

impl MulAssign for Quat

fn mul_assign(&mut self, rhs: Quat)

Performs the *= operation.

impl MulAssign<&Quat> for Quat

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

Performs the *= operation.

impl MulAssign<&f32> for Quat

fn mul_assign(&mut self, rhs: &f32)

Performs the *= operation.

impl MulAssign<f32> for Quat

fn mul_assign(&mut self, rhs: f32)

Performs the *= operation.

impl Neg for Quat

type Output = Quat

The resulting type after applying the - operator.

fn neg(self) -> Quat

Performs the unary - operation.

impl Neg for &Quat

type Output = Quat

The resulting type after applying the - operator.

fn neg(self) -> Quat

Performs the unary - operation.

impl PartialEq for Quat

fn eq(&self, rhs: &Quat) -> bool

Equality operator ==.

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

Inequality operator !=.

impl Pod for Quat

impl Product for Quat

fn product<I>(iter: I) -> Quat

where I: Iterator<Item = Quat>,

Takes an iterator and generates Self from the elements by multiplying the items.

impl<'a> Product<&'a Quat> for Quat

fn product<I>(iter: I) -> Quat

where I: Iterator<Item = &'a Quat>,

Takes an iterator and generates Self from the elements by multiplying the items.

impl Sub for Quat

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

Subtracts the rhs quaternion from self.

The difference is not guaranteed to be normalized.

type Output = Quat

The resulting type after applying the - operator.

impl Sub<&Quat> for Quat

type Output = Quat

The resulting type after applying the - operator.

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

Performs the - operation.

impl Sub<&Quat> for &Quat

type Output = Quat

The resulting type after applying the - operator.

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

Performs the - operation.

impl Sub<Quat> for &Quat

type Output = Quat

The resulting type after applying the - operator.

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

Performs the - operation.

impl SubAssign for Quat

fn sub_assign(&mut self, rhs: Quat)

Performs the -= operation.

impl SubAssign<&Quat> for Quat

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

Performs the -= operation.

impl Sum for Quat

fn sum<I>(iter: I) -> Quat

where I: Iterator<Item = Quat>,

Takes an iterator and generates Self from the elements by “summing up” the items.

impl<'a> Sum<&'a Quat> for Quat

fn sum<I>(iter: I) -> Quat

where I: Iterator<Item = &'a Quat>,

Takes an iterator and generates Self from the elements by “summing up” the items.

impl Zeroable for Quat

fn zeroed() -> Self

Calls zeroed.