Struct Quaternion 

pub struct Quaternion {
    pub w: f32,
    pub x: f32,
    pub y: f32,
    pub z: f32,
}

Unit quaternion for 3D rotation: q = w + xi + yj + zk.

Fields

w: f32

x: f32

y: f32

z: f32

Implementations

impl Quaternion

pub const IDENTITY: Self

pub fn new(w: f32, x: f32, y: f32, z: f32) -> Self

pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self

Create from axis-angle (axis must be normalized).

pub fn from_euler(roll: f32, pitch: f32, yaw: f32) -> Self

Create from Euler angles (roll, pitch, yaw) in radians.

pub fn norm(self) -> f32

pub fn normalize(self) -> Self

pub fn conjugate(self) -> Self

pub fn inverse(self) -> Self

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

pub fn mul(self, rhs: Self) -> Self

Hamilton product.

pub fn rotate(self, v: Vec3) -> Vec3

Rotate a 3D vector by this quaternion.

pub fn slerp(self, other: Self, t: f32) -> Self

Spherical linear interpolation between two quaternions.

pub fn angle(self) -> f32

Extract the rotation angle around the rotation axis.

pub fn axis(self) -> Vec3

Extract the rotation axis (normalized). Returns Y if rotation is near zero.

pub fn exp_map(v: Vec3) -> Self

Exponential map: converts a rotation vector (axis * angle) to a quaternion.

pub fn log_map(self) -> Vec3

Log map: converts a quaternion to its rotation vector (axis * angle).

pub fn to_mat4(self) -> Mat4

To 4x4 rotation matrix (column-major, compatible with glam).

Trait Implementations

impl Clone for Quaternion

fn clone(&self) -> Quaternion

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Quaternion

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

Formats the value using the given formatter.

impl Default for Quaternion

fn default() -> Self

Returns the “default value” for a type.

impl Mul for Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

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

Performs the * operation.

impl PartialEq for Quaternion

fn eq(&self, other: &Quaternion) -> bool

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for Quaternion

impl StructuralPartialEq for Quaternion