Struct Quaternion 

#[repr(C)]
pub struct Quaternion {
    pub x: f32,
    pub y: f32,
    pub z: f32,
    pub w: f32,
}

A unit quaternion used for 3D rotations.

C aliases Quaternion to Vector4 (typedef Vector4 Quaternion); raylib-rs uses a distinct #[repr(C)] struct so the two types have their own method namespaces. The layout is identical (x, y, z, w as f32), and zero-cost conversions are provided:

• Quaternion::from(v: Vector4) — convert from a raw four-component vector.
• Vector4::from(q: Quaternion) — convert back.

Build a Quaternion with one of the constructor functions: from_axis_angle, from_euler, from_matrix, or identity.

Fields

x: f32

y: f32

z: f32

w: f32

Implementations

impl Quaternion

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

impl Quaternion

pub fn identity() -> Self

Identity quaternion (0, 0, 0, 1). (raymath QuaternionIdentity)

pub fn add_value(self, add: f32) -> Self

Add scalar to each component. (raymath QuaternionAddValue)

pub fn sub_value(self, sub: f32) -> Self

Subtract scalar from each component. (raymath QuaternionSubtractValue)

pub fn length(self) -> f32

Quaternion length. (raymath QuaternionLength)

pub fn normalize(self) -> Self

Normalize quaternion. (raymath QuaternionNormalize)

pub fn invert(self) -> Self

Invert quaternion. (raymath QuaternionInvert)

pub fn lerp(self, other: Quaternion, amount: f32) -> Self

Linear interpolation. (raymath QuaternionLerp)

pub fn nlerp(self, other: Quaternion, amount: f32) -> Self

Normalized linear interpolation. (raymath QuaternionNlerp)

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

Spherical linear interpolation. (raymath QuaternionSlerp)

pub fn cubic_hermite_spline( self, out_tangent1: Quaternion, q2: Quaternion, in_tangent2: Quaternion, t: f32, ) -> Self

Cubic Hermite spline interpolation. (raymath QuaternionCubicHermiteSpline)

pub fn from_vector3_to_vector3(from: Vector3, to: Vector3) -> Self

Quaternion for rotation from one vector to another. (raymath QuaternionFromVector3ToVector3)

pub fn from_matrix(mat: Matrix) -> Self

Quaternion from rotation matrix. (raymath QuaternionFromMatrix)

pub fn to_matrix(self) -> Matrix

Rotation matrix from quaternion. (raymath QuaternionToMatrix)

pub fn from_axis_angle(axis: Vector3, angle: f32) -> Self

Quaternion from axis and angle (radians). (raymath QuaternionFromAxisAngle)

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

Quaternion from Euler angles (pitch, yaw, roll in radians). (raymath QuaternionFromEuler)

pub fn to_euler(self) -> Vector3

Convert quaternion to Euler angles (roll, pitch, yaw in radians). (raymath QuaternionToEuler)

pub fn transform(self, mat: Matrix) -> Self

Transform quaternion by matrix. (raymath QuaternionTransform)

pub fn equals(self, other: Quaternion) -> bool

Approximate equality (uses raymath epsilon). (raymath QuaternionEquals)

Trait Implementations

impl Add for Quaternion

type Output = Quaternion

The resulting type after applying the + operator.

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

Performs the + operation.

impl AddAssign for Quaternion

fn add_assign(&mut self, rhs: Quaternion)

Performs the += operation.

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 Copy for Quaternion

impl Debug for Quaternion

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

Formats the value using the given formatter.

impl Default for Quaternion

fn default() -> Quaternion

Returns the “default value” for a type.

impl Div for Quaternion

type Output = Quaternion

The resulting type after applying the / operator.

fn div(self, rhs: Quaternion) -> Quaternion

Performs the / operation.

impl DivAssign for Quaternion

fn div_assign(&mut self, rhs: Quaternion)

Performs the /= operation.

impl From<Quaternion> for Vector4

fn from(q: Quaternion) -> Self

Converts to this type from the input type.

impl From<Vector4> for Quaternion

fn from(v: Vector4) -> Self

Converts to this type from the input type.

impl Mul for Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<f32> for Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

fn mul(self, rhs: f32) -> Quaternion

Performs the * operation.

impl MulAssign for Quaternion

fn mul_assign(&mut self, rhs: Quaternion)

Performs the *= operation.

impl MulAssign<f32> for Quaternion

fn mul_assign(&mut self, rhs: f32)

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 StructuralPartialEq for Quaternion

impl Sub for Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

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

Performs the - operation.

impl SubAssign for Quaternion

fn sub_assign(&mut self, rhs: Quaternion)

Performs the -= operation.