Struct DualQuat 

pub struct DualQuat {
    pub real: Quat,
    pub dual: Quat,
}

A dual quaternion representing a rigid body transformation.

real encodes the rotation, dual encodes the translation as: dual = 0.5 * Quat(t.x, t.y, t.z, 0) * real

Fields

real: Quat

Rotation part (unit quaternion).

dual: Quat

Translation-encoding part.

Implementations

impl DualQuat

pub fn from_rotation_translation(rot: Quat, translation: Vec3) -> Self

Creates a dual quaternion from a rotation quaternion and translation vector.

pub fn to_rotation_translation(&self) -> (Quat, Vec3)

Extracts the rotation quaternion and translation vector.

pub fn lerp(a: &Self, b: &Self, t: f32) -> Self

Dual linear blend (DLB) interpolation between two dual quaternions.

Matches GLM’s glm::lerp for dual quaternions: component-wise lerp of both real and dual parts, then normalize. Produces smooth rigid body interpolation with slight arc motion.

pub fn normalize(&self) -> Self

Normalizes the dual quaternion.

Normalizes the real part to unit length, then makes the dual part orthogonal to the real part (removes any non-rigid component).

Trait Implementations

impl Clone for DualQuat

fn clone(&self) -> DualQuat

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for DualQuat

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

Formats the value using the given formatter.

impl Copy for DualQuat