Trait Quaternion

pub trait Quaternion {
    // Required methods
    fn as_ptr_mut(&mut self) -> *mut f64;
    fn as_ptr(&self) -> *const f64;
    fn prec_eq(&self, e: f64, q: [f64; 4]) -> bool;
    fn as_vec(&self) -> ODEMat<'_>;

    // Provided methods
    fn new() -> [f64; 4] { ... }
    fn from_R(m: [f64; 12]) -> [f64; 4] { ... }
    fn to_R(&self) -> [f64; 12] { ... }
    fn from_axis_and_angle(axis: [f64; 3], angle: f64) -> [f64; 4] { ... }
    fn multiply0(p: [f64; 4], q: [f64; 4]) -> [f64; 4] { ... }
    fn multiply0_pp(p: *const f64, q: *const f64) -> [f64; 4] { ... }
    fn multiply0_331(m: [f64; 12], v: [f64; 4]) -> [f64; 4] { ... }
    fn multiply0_331_pp(m: *const f64, v: *const f64) -> [f64; 4] { ... }
    fn multiply0_441(m: [f64; 16], v: [f64; 4]) -> [f64; 4] { ... }
    fn multiply0_441_pp(m: *const f64, v: *const f64) -> [f64; 4] { ... }
    fn conjugate(q: [f64; 4]) -> [f64; 4] { ... }
    fn conjugate_ptr(q: *const f64) -> [f64; 4] { ... }
}

constructor and converter for primitive type

Required Methods

fn as_ptr_mut(&mut self) -> *mut f64

ptr mut of dQuaternion

fn as_ptr(&self) -> *const f64

ptr of dQuaternion (use for converter)

fn prec_eq(&self, e: f64, q: [f64; 4]) -> bool

check equal with precision

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

for Debug

Provided Methods

fn new() -> [f64; 4]

construct as Identity

fn from_R(m: [f64; 12]) -> [f64; 4]

constructor (converter)

fn to_R(&self) -> [f64; 12]

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

fn from_axis_and_angle(axis: [f64; 3], angle: f64) -> [f64; 4]

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: [f64; 4], q: [f64; 4]) -> [f64; 4]

constructor multiply p: dQuaternion and q: dQuaternion

fn multiply0_pp(p: *const f64, q: *const f64) -> [f64; 4]

constructor multiply p: dQuaternion pointer and q: dQuaternion pointer

fn multiply0_331(m: [f64; 12], v: [f64; 4]) -> [f64; 4]

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

fn multiply0_331_pp(m: *const f64, v: *const f64) -> [f64; 4]

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

fn multiply0_441(m: [f64; 16], v: [f64; 4]) -> [f64; 4]

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

fn multiply0_441_pp(m: *const f64, v: *const f64) -> [f64; 4]

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

fn conjugate(q: [f64; 4]) -> [f64; 4]

conjugate dQuaternion

fn conjugate_ptr(q: *const f64) -> [f64; 4]

conjugate dQuaternion pointer

Dyn Compatibility

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety", so this trait is not object safe.

Implementations on Foreign Types

impl Quaternion for [f64; 4]

fn as_ptr_mut(&mut self) -> *mut f64

ptr mut of dQuaternion

fn as_ptr(&self) -> *const f64

ptr of dQuaternion (use for converter)

fn prec_eq(&self, e: f64, q: [f64; 4]) -> bool

check equal with precision

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

for Debug

Implementors