Struct rfw_math::DQuat

#[repr(transparent)]
pub struct DQuat(_);

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

impl DQuat

pub const IDENTITY: DQuat

The identity quaternion. Corresponds to no rotation.

pub fn from_xyzw(x: f64, y: f64, z: f64, w: f64) -> DQuat

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.

pub fn from_array(a: [f64; 4]) -> DQuat

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.

pub fn from_vec4(v: DVec4) -> DQuat

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.

pub fn from_slice(slice: &[f64]) -> DQuat

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.

pub fn write_to_slice(self, slice: &mut [f64])

Writes the quaternion to an unaligned slice.

Panics

Panics if slice length is less than 4.

pub fn from_axis_angle(axis: DVec3, angle: f64) -> DQuat

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.

pub fn from_scaled_axis(v: DVec3) -> DQuat

Create a quaternion that rotates v.length() radians around v.normalize().

from_scaled_axis(Vec3::ZERO) results in the identity quaternion.

pub fn from_rotation_x(angle: f64) -> DQuat

Creates a quaternion from the angle (in radians) around the x axis.

pub fn from_rotation_y(angle: f64) -> DQuat

Creates a quaternion from the angle (in radians) around the y axis.

pub fn from_rotation_z(angle: f64) -> DQuat

Creates a quaternion from the angle (in radians) around the z axis.

pub fn from_euler(euler: EulerRot, a: f64, b: f64, c: f64) -> DQuat

Creates a quaternion from the given euler rotation sequence and the angles (in radians).

pub fn from_mat3(mat: &DMat3) -> DQuat

Creates a quaternion from a 3x3 rotation matrix.

pub fn from_mat4(mat: &DMat4) -> DQuat

Creates a quaternion from a 3x3 rotation matrix inside a homogeneous 4x4 matrix.

pub fn from_rotation_arc(from: DVec3, to: DVec3) -> DQuat

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.

pub fn from_rotation_arc_colinear(from: DVec3, to: DVec3) -> DQuat

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.

pub fn to_axis_angle(self) -> (DVec3, f64)

Returns the rotation axis and angle (in radians) of self.

pub fn to_scaled_axis(self) -> DVec3

Returns the rotation axis scaled by the rotation in radians.

pub fn to_euler(self, euler: EulerRot) -> (f64, f64, f64)

Returns the rotation angles for the given euler rotation sequence.

pub fn conjugate(self) -> DQuat

Returns the quaternion conjugate of self. For a unit quaternion the conjugate is also the inverse.

pub fn inverse(self) -> DQuat

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.

pub fn dot(self, other: DQuat) -> f64

Computes the dot product of self and other. The dot product is equal to the the cosine of the angle between two quaternion rotations.

pub fn length(self) -> f64

Computes the length of self.

pub fn length_squared(self) -> f64

Computes the squared length of self.

This is generally faster than length() as it avoids a square root operation.

pub fn length_recip(self) -> f64

Computes 1.0 / length().

For valid results, self must not be of length zero.

pub fn normalize(self) -> DQuat

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.

pub fn is_finite(self) -> bool

Returns true if, and only if, all elements are finite. If any element is either NaN, positive or negative infinity, this will return false.

pub fn is_nan(self) -> bool

pub fn is_normalized(self) -> bool

Returns whether self of length 1.0 or not.

Uses a precision threshold of 1e-6.

pub fn is_near_identity(self) -> bool

pub fn angle_between(self, other: DQuat) -> f64

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.

pub fn abs_diff_eq(self, other: DQuat, max_abs_diff: f64) -> bool

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.

pub fn lerp(self, end: DQuat, s: f64) -> DQuat

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.

pub fn slerp(self, end: DQuat, s: f64) -> DQuat

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.

pub fn mul_vec3(self, other: DVec3) -> DVec3

Multiplies a quaternion and a 3D vector, returning the rotated vector.

Panics

Will panic if self is not normalized when glam_assert is enabled.

pub fn mul_quat(self, other: DQuat) -> DQuat

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.

pub fn as_f32(self) -> Quat

pub fn from_affine3(mat: &DAffine3) -> DQuat

Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.

Trait Implementations

impl Add<DQuat> for DQuat

pub fn add(self, other: DQuat) -> DQuat

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.

type Output = DQuat

The resulting type after applying the + operator.

impl AsMut<[f64; 4]> for DQuat

pub fn as_mut(&mut self) -> &mut [f64; 4]

Performs the conversion.

impl AsRef<[f64; 4]> for DQuat

pub fn as_ref(&self) -> &[f64; 4]

Performs the conversion.

impl Clone for DQuat

pub fn clone(&self) -> DQuat

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for DQuat

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

Formats the value using the given formatter.

impl Default for DQuat

pub fn default() -> DQuat

Returns the “default value” for a type.

impl Deref for DQuat

type Target = XYZW<f64>

The resulting type after dereferencing.

pub fn deref(&self) -> &<DQuat as Deref>::Target

Dereferences the value.

impl Display for DQuat

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

Formats the value using the given formatter.

impl Div<f64> for DQuat

pub fn div(self, other: f64) -> DQuat

Divides a quaternion by a scalar value. The quotient is not guaranteed to be normalized.

type Output = DQuat

The resulting type after applying the / operator.

impl From<DQuat> for XYZW<f64>

pub fn from(q: DQuat) -> XYZW<f64>

Performs the conversion.

impl From<DQuat> for DVec4

pub fn from(q: DQuat) -> DVec4

Performs the conversion.

impl Mul<DQuat> for DQuat

pub fn mul(self, other: DQuat) -> DQuat

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.

type Output = DQuat

The resulting type after applying the * operator.

impl Mul<DVec3> for DQuat

pub fn mul(self, other: DVec3) -> <DQuat as Mul<DVec3>>::Output

Multiplies a quaternion and a 3D vector, returning the rotated vector.

Panics

Will panic if self is not normalized when glam_assert is enabled.

type Output = DVec3

The resulting type after applying the * operator.

impl Mul<f64> for DQuat

pub fn mul(self, other: f64) -> DQuat

Multiplies a quaternion by a scalar value.

The product is not guaranteed to be normalized.

type Output = DQuat

The resulting type after applying the * operator.

impl MulAssign<DQuat> for DQuat

pub fn mul_assign(&mut self, other: DQuat)

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.

impl Neg for DQuat

type Output = DQuat

The resulting type after applying the - operator.

pub fn neg(self) -> DQuat

Performs the unary - operation.

impl PartialEq<DQuat> for DQuat

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

This method tests for self and other values to be equal, and is used by ==.

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

This method tests for !=.

impl<'a> Product<&'a DQuat> for DQuat

pub fn product<I>(iter: I) -> DQuat where
    I: Iterator<Item = &'a DQuat>, 

Method which takes an iterator and generates Self from the elements by multiplying the items.

impl Sub<DQuat> for DQuat

pub fn sub(self, other: DQuat) -> DQuat

Subtracts the other quaternion from self.

The difference is not guaranteed to be normalized.

type Output = DQuat

The resulting type after applying the - operator.

impl<'a> Sum<&'a DQuat> for DQuat

pub fn sum<I>(iter: I) -> DQuat where
    I: Iterator<Item = &'a DQuat>, 

Method which takes an iterator and generates Self from the elements by “summing up” the items.

impl Copy for DQuat