Type Alias Quaternion 

pub type Quaternion<T> = (T, Vector3<T>);

Quaternion

The type (q0, [q1, q2, q3]) is equivalent to the expression q0 + q1i + q2j + q3k, where 1, i, j, k are basis of quaternions and satisfy the following equality:

i^2 = j^2 = k^2 = ijk = -1

Trait Implementations

impl<T: Float> QuaternionOps<T> for Quaternion<T>

fn sum(self) -> T

fn add(self, rhs: Quaternion<T>) -> Quaternion<T>

self + rhs

fn sub(self, rhs: Quaternion<T>) -> Quaternion<T>

self - rhs

fn scale(self, s: T) -> Quaternion<T>

s * self

fn scale_add(self, s: T, b: Quaternion<T>) -> Quaternion<T>

s * self + b

fn hadamard(self, rhs: Quaternion<T>) -> Quaternion<T>

self ∘ rhs

fn hadamard_add(self, b: Quaternion<T>, c: Quaternion<T>) -> Quaternion<T>

self ∘ b + c

fn dot(self, b: Quaternion<T>) -> T

fn norm(self) -> T

fn negate(self) -> Quaternion<T>

-self

fn mul(self, rhs: Quaternion<T>) -> Quaternion<T>

self * rhs

fn inv(self) -> Quaternion<T>

fn exp(self) -> Quaternion<T>