Struct rfw_math::f64::DQuat [−][src]
#[repr(transparent)]pub struct DQuat(_);
Expand description
A quaternion representing an orientation.
This quaternion is intended to be of unit length but may denormalize due to floating point “error creep” which can occur when successive quaternion operations are applied.
Implementations
Creates a new rotation quaternion.
This should generally not be called manually unless you know what you are doing.
Use one of the other constructors instead such as identity
or from_axis_angle
.
from_xyzw
is mostly used by unit tests and serde
deserialization.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
Creates a rotation quaternion from an array.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
Creates a new rotation quaternion from a 4D vector.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
Creates a rotation quaternion from a slice.
Preconditions
This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.
Panics
Panics if slice
length is less than 4.
Create a quaternion for a normalized rotation axis
and angle
(in radians).
The axis must be normalized (unit-length).
Panics
Will panic if axis
is not normalized when glam_assert
is enabled.
Create a quaternion that rotates v.length()
radians around v.normalize()
.
from_scaled_axis(Vec3::ZERO)
results in the identity quaternion.
Creates a quaternion from the angle
(in radians) around the x axis.
Creates a quaternion from the angle
(in radians) around the y axis.
Creates a quaternion from the angle
(in radians) around the z axis.
Creates a quaternion from the given euler rotation sequence and the angles (in radians).
Creates a quaternion from a 3x3 rotation matrix inside a homogeneous 4x4 matrix.
Gets the minimal rotation for transforming from
to to
. The rotation is in the
plane spanned by the two vectors. Will rotate at most 180 degrees.
The input vectors must be normalized (unit-length).
from_rotation_arc(from, to) * from ≈ to
.
For near-singular cases (from≈to and from≈-to) the current implementation
is only accurate to about 0.001 (for f32
).
Panics
Will panic if from
or to
are not normalized when glam_assert
is enabled.
Gets the minimal rotation for transforming from
to either to
or -to
. This means
that the resulting quaternion will rotate from
so that it is colinear with to
.
The rotation is in the plane spanned by the two vectors. Will rotate at most 90 degrees.
The input vectors must be normalized (unit-length).
to.dot(from_rotation_arc_colinear(from, to) * from).abs() ≈ 1
.
Panics
Will panic if from
or to
are not normalized when glam_assert
is enabled.
Returns the rotation axis and angle (in radians) of self
.
Returns the rotation axis scaled by the rotation in radians.
Returns the rotation angles for the given euler rotation sequence.
Returns the quaternion conjugate of self
. For a unit quaternion the
conjugate is also the inverse.
Returns the inverse of a normalized quaternion.
Typically quaternion inverse returns the conjugate of a normalized quaternion.
Because self
is assumed to already be unit length this method does not normalize
before returning the conjugate.
Panics
Will panic if self
is not normalized when glam_assert
is enabled.
Computes the dot product of self
and other
. The dot product is
equal to the the cosine of the angle between two quaternion rotations.
Computes the squared length of self
.
This is generally faster than length()
as it avoids a square
root operation.
Computes 1.0 / length()
.
For valid results, self
must not be of length zero.
Returns self
normalized to length 1.0.
For valid results, self
must not be of length zero.
Panics
Will panic if self
is zero length when glam_assert
is enabled.
Returns true
if, and only if, all elements are finite.
If any element is either NaN
, positive or negative infinity, this will return false
.
Returns whether self
of length 1.0
or not.
Uses a precision threshold of 1e-6
.
Returns the angle (in radians) for the minimal rotation for transforming this quaternion into another.
Both quaternions must be normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
Returns true if the absolute difference of all elements between self
and other
is less than or equal to max_abs_diff
.
This can be used to compare if two quaternions contain similar elements. It works
best when comparing with a known value. The max_abs_diff
that should be used used
depends on the values being compared against.
For more see comparing floating point numbers.
Performs a linear interpolation between self
and other
based on
the value s
.
When s
is 0.0
, the result will be equal to self
. When s
is 1.0
, the result will be equal to other
.
Panics
Will panic if self
or end
are not normalized when glam_assert
is enabled.
Performs a spherical linear interpolation between self
and end
based on the value s
.
When s
is 0.0
, the result will be equal to self
. When s
is 1.0
, the result will be equal to end
.
Note that a rotation can be represented by two quaternions: q
and
-q
. The slerp path between q
and end
will be different from the
path between -q
and end
. One path will take the long way around and
one will take the short way. In order to correct for this, the dot
product between self
and end
should be positive. If the dot
product is negative, slerp between -self
and end
.
Panics
Will panic if self
or end
are not normalized when glam_assert
is enabled.
Multiplies a quaternion and a 3D vector, returning the rotated vector.
Panics
Will panic if self
is not normalized when glam_assert
is enabled.
Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.
Note that due to floating point rounding the result may not be perfectly normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.
Trait Implementations
Adds two quaternions.
The sum is not guaranteed to be normalized.
Note that addition is not the same as combining the rotations represented by the two quaternions! That corresponds to multiplication.
Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.
Note that due to floating point rounding the result may not be perfectly normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.
Note that due to floating point rounding the result may not be perfectly normalized.
Panics
Will panic if self
or other
are not normalized when glam_assert
is enabled.
Auto Trait Implementations
impl RefUnwindSafe for DQuat
impl UnwindSafe for DQuat
Blanket Implementations
Mutably borrows from an owned value. Read more