Trait Quaternion 

pub trait Quaternion {
    // Required methods
    fn as_ptr_mut(&mut self) -> *mut dReal;
    fn as_ptr(&self) -> *const dReal;
    fn prec_eq(&self, e: dReal, q: dQuaternion) -> bool;
    fn as_vec(&self) -> ODEMat<'_>;

    // Provided methods
    fn new() -> dQuaternion { ... }
    fn from_R(m: dMatrix3) -> dQuaternion { ... }
    fn to_R(&self) -> dMatrix3 { ... }
    fn from_axis_and_angle(axis: [dReal; 3], angle: dReal) -> dQuaternion { ... }
    fn multiply0(p: dQuaternion, q: dQuaternion) -> dQuaternion { ... }
    fn multiply0_pp(p: *const dReal, q: *const dReal) -> dQuaternion { ... }
    fn multiply0_331(m: dMatrix3, v: dVector3) -> dVector3 { ... }
    fn multiply0_331_pp(m: *const dReal, v: *const dReal) -> dVector3 { ... }
    fn multiply0_441(m: dMatrix4, v: dVector4) -> dVector4 { ... }
    fn multiply0_441_pp(m: *const dReal, v: *const dReal) -> dVector4 { ... }
    fn conjugate(q: dQuaternion) -> dQuaternion { ... }
    fn conjugate_ptr(q: *const dReal) -> dQuaternion { ... }
}

constructor and converter for primitive type

Required Methods

fn as_ptr_mut(&mut self) -> *mut dReal

ptr mut of dQuaternion

fn as_ptr(&self) -> *const dReal

ptr of dQuaternion (use for converter)

fn prec_eq(&self, e: dReal, q: dQuaternion) -> bool

check equal with precision

fn as_vec(&self) -> ODEMat<'_>

for Debug

Provided Methods

fn new() -> dQuaternion

construct as Identity

fn from_R(m: dMatrix3) -> dQuaternion

constructor (converter)

fn to_R(&self) -> dMatrix3

converter (like as dMatrix3::from_Q(*self))

fn from_axis_and_angle(axis: [dReal; 3], angle: dReal) -> dQuaternion

constructor axis [x, y, z] should be norm == 1, angle is theta radian Q(axis, angle) == [cos(t/2), xsin(t/2), ysin(t/2), zsin(t/2)]

fn multiply0(p: dQuaternion, q: dQuaternion) -> dQuaternion

constructor multiply p: dQuaternion and q: dQuaternion

fn multiply0_pp(p: *const dReal, q: *const dReal) -> dQuaternion

constructor multiply p: dQuaternion pointer and q: dQuaternion pointer

fn multiply0_331(m: dMatrix3, v: dVector3) -> dVector3

constructor multiply m: dMatrix3 and v: dVector3 dVector3::multiply0_331 is defined as dQuaternion::multiply0_331

fn multiply0_331_pp(m: *const dReal, v: *const dReal) -> dVector3

constructor multiply m: dMatrix3 pointer and v: dVector3 pointer dVector3::multiply0_331_pp is defined as dQuaternion::multiply0_331_pp

fn multiply0_441(m: dMatrix4, v: dVector4) -> dVector4

constructor multiply m: dMatrix4 and v: dVector4 dVector4::multiply0_441 is defined as dQuaternion::multiply0_441

fn multiply0_441_pp(m: *const dReal, v: *const dReal) -> dVector4

constructor multiply m: dMatrix4 pointer and v: dVector4 pointer dVector4::multiply0_441_pp is defined as dQuaternion::multiply0_441_pp

fn conjugate(q: dQuaternion) -> dQuaternion

conjugate dQuaternion

fn conjugate_ptr(q: *const dReal) -> dQuaternion

conjugate dQuaternion pointer

Dyn Compatibility

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety".

Implementors

impl Quaternion for dQuaternion