Struct rfw::prelude::Quat [−][src]
#[repr(align(16))]pub struct Quat(_);
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.
This type is 16 byte aligned.
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.
Multiplies a quaternion and a 3D vector, returning the rotated vector.
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.
pub fn deserialize<D>(
deserializer: D
) -> Result<Quat, <D as Deserializer<'de>>::Error> where
D: Deserializer<'de>,
pub fn deserialize<D>(
deserializer: D
) -> Result<Quat, <D as Deserializer<'de>>::Error> where
D: Deserializer<'de>, Deserialize this value from the given Serde deserializer. Read more
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.
pub fn serialize<S>(
&self,
serializer: S
) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error> where
S: Serializer,
pub fn serialize<S>(
&self,
serializer: S
) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error> where
S: Serializer, Serialize this value into the given Serde serializer. Read more
Auto Trait Implementations
impl RefUnwindSafe for Quatimpl UnwindSafe for QuatBlanket Implementations
Mutably borrows from an owned value. Read more
Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can
then be further downcast into Box<ConcreteType> where ConcreteType implements Trait. Read more
Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be
further downcast into Rc<ConcreteType> where ConcreteType implements Trait. Read more
Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot
generate &Any’s vtable from &Trait’s. Read more
Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot
generate &mut Any’s vtable from &mut Trait’s. Read more
fn fmt_binary(self) -> FmtBinary<Self> where
Self: Binary,
fn fmt_binary(self) -> FmtBinary<Self> where
Self: Binary, Causes self to use its Binary implementation when Debug-formatted.
fn fmt_display(self) -> FmtDisplay<Self> where
Self: Display,
fn fmt_display(self) -> FmtDisplay<Self> where
Self: Display, Causes self to use its Display implementation when
Debug-formatted. Read more
fn fmt_lower_exp(self) -> FmtLowerExp<Self> where
Self: LowerExp,
fn fmt_lower_exp(self) -> FmtLowerExp<Self> where
Self: LowerExp, Causes self to use its LowerExp implementation when
Debug-formatted. Read more
fn fmt_lower_hex(self) -> FmtLowerHex<Self> where
Self: LowerHex,
fn fmt_lower_hex(self) -> FmtLowerHex<Self> where
Self: LowerHex, Causes self to use its LowerHex implementation when
Debug-formatted. Read more
Causes self to use its Octal implementation when Debug-formatted.
fn fmt_pointer(self) -> FmtPointer<Self> where
Self: Pointer,
fn fmt_pointer(self) -> FmtPointer<Self> where
Self: Pointer, Causes self to use its Pointer implementation when
Debug-formatted. Read more
fn fmt_upper_exp(self) -> FmtUpperExp<Self> where
Self: UpperExp,
fn fmt_upper_exp(self) -> FmtUpperExp<Self> where
Self: UpperExp, Causes self to use its UpperExp implementation when
Debug-formatted. Read more
fn fmt_upper_hex(self) -> FmtUpperHex<Self> where
Self: UpperHex,
fn fmt_upper_hex(self) -> FmtUpperHex<Self> where
Self: UpperHex, Causes self to use its UpperHex implementation when
Debug-formatted. Read more
Creates Self using data from the given World
Instruments this type with the provided Span, returning an
Instrumented wrapper. Read more
impl<T> Pipe for T where
T: ?Sized,
impl<T> Pipe for T where
T: ?Sized, Pipes by value. This is generally the method you want to use. Read more
Borrows self and passes that borrow into the pipe function. Read more
fn pipe_ref_mut<'a, R>(&'a mut self, func: impl FnOnce(&'a mut Self) -> R) -> R where
R: 'a,
fn pipe_ref_mut<'a, R>(&'a mut self, func: impl FnOnce(&'a mut Self) -> R) -> R where
R: 'a, Mutably borrows self and passes that borrow into the pipe function. Read more
fn pipe_borrow<'a, B, R>(&'a self, func: impl FnOnce(&'a B) -> R) -> R where
Self: Borrow<B>,
B: 'a + ?Sized,
R: 'a,
fn pipe_borrow<'a, B, R>(&'a self, func: impl FnOnce(&'a B) -> R) -> R where
Self: Borrow<B>,
B: 'a + ?Sized,
R: 'a, Borrows self, then passes self.borrow() into the pipe function. Read more
fn pipe_borrow_mut<'a, B, R>(
&'a mut self,
func: impl FnOnce(&'a mut B) -> R
) -> R where
Self: BorrowMut<B>,
B: 'a + ?Sized,
R: 'a,
fn pipe_borrow_mut<'a, B, R>(
&'a mut self,
func: impl FnOnce(&'a mut B) -> R
) -> R where
Self: BorrowMut<B>,
B: 'a + ?Sized,
R: 'a, Mutably borrows self, then passes self.borrow_mut() into the pipe
function. Read more
fn pipe_as_ref<'a, U, R>(&'a self, func: impl FnOnce(&'a U) -> R) -> R where
Self: AsRef<U>,
R: 'a,
U: 'a + ?Sized,
fn pipe_as_ref<'a, U, R>(&'a self, func: impl FnOnce(&'a U) -> R) -> R where
Self: AsRef<U>,
R: 'a,
U: 'a + ?Sized, Borrows self, then passes self.as_ref() into the pipe function.
fn pipe_as_mut<'a, U, R>(&'a mut self, func: impl FnOnce(&'a mut U) -> R) -> R where
Self: AsMut<U>,
R: 'a,
U: 'a + ?Sized,
fn pipe_as_mut<'a, U, R>(&'a mut self, func: impl FnOnce(&'a mut U) -> R) -> R where
Self: AsMut<U>,
R: 'a,
U: 'a + ?Sized, Mutably borrows self, then passes self.as_mut() into the pipe
function. Read more
fn pipe_deref<'a, T, R>(&'a self, func: impl FnOnce(&'a T) -> R) -> R where
Self: Deref<Target = T>,
T: 'a + ?Sized,
R: 'a,
fn pipe_deref<'a, T, R>(&'a self, func: impl FnOnce(&'a T) -> R) -> R where
Self: Deref<Target = T>,
T: 'a + ?Sized,
R: 'a, Borrows self, then passes self.deref() into the pipe function.
fn tap_borrow<B>(self, func: impl FnOnce(&B)) -> Self where
Self: Borrow<B>,
B: ?Sized,
fn tap_borrow<B>(self, func: impl FnOnce(&B)) -> Self where
Self: Borrow<B>,
B: ?Sized, Immutable access to the Borrow<B> of a value. Read more
fn tap_borrow_mut<B>(self, func: impl FnOnce(&mut B)) -> Self where
Self: BorrowMut<B>,
B: ?Sized,
fn tap_borrow_mut<B>(self, func: impl FnOnce(&mut B)) -> Self where
Self: BorrowMut<B>,
B: ?Sized, Mutable access to the BorrowMut<B> of a value. Read more
Immutable access to the AsRef<R> view of a value. Read more
fn tap_ref_mut<R>(self, func: impl FnOnce(&mut R)) -> Self where
Self: AsMut<R>,
R: ?Sized,
fn tap_ref_mut<R>(self, func: impl FnOnce(&mut R)) -> Self where
Self: AsMut<R>,
R: ?Sized, Mutable access to the AsMut<R> view of a value. Read more
Immutable access to the Deref::Target of a value. Read more
Mutable access to the Deref::Target of a value. Read more
Calls .tap() only in debug builds, and is erased in release builds.
fn tap_mut_dbg(self, func: impl FnOnce(&mut Self)) -> Self
fn tap_mut_dbg(self, func: impl FnOnce(&mut Self)) -> SelfCalls .tap_mut() only in debug builds, and is erased in release
builds. Read more
fn tap_borrow_dbg<B>(self, func: impl FnOnce(&B)) -> Self where
Self: Borrow<B>,
B: ?Sized,
fn tap_borrow_dbg<B>(self, func: impl FnOnce(&B)) -> Self where
Self: Borrow<B>,
B: ?Sized, Calls .tap_borrow() only in debug builds, and is erased in release
builds. Read more
fn tap_borrow_mut_dbg<B>(self, func: impl FnOnce(&mut B)) -> Self where
Self: BorrowMut<B>,
B: ?Sized,
fn tap_borrow_mut_dbg<B>(self, func: impl FnOnce(&mut B)) -> Self where
Self: BorrowMut<B>,
B: ?Sized, Calls .tap_borrow_mut() only in debug builds, and is erased in release
builds. Read more
fn tap_ref_dbg<R>(self, func: impl FnOnce(&R)) -> Self where
Self: AsRef<R>,
R: ?Sized,
fn tap_ref_dbg<R>(self, func: impl FnOnce(&R)) -> Self where
Self: AsRef<R>,
R: ?Sized, Calls .tap_ref() only in debug builds, and is erased in release
builds. Read more
fn tap_ref_mut_dbg<R>(self, func: impl FnOnce(&mut R)) -> Self where
Self: AsMut<R>,
R: ?Sized,
fn tap_ref_mut_dbg<R>(self, func: impl FnOnce(&mut R)) -> Self where
Self: AsMut<R>,
R: ?Sized, Calls .tap_ref_mut() only in debug builds, and is erased in release
builds. Read more
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>pub fn vzip(self) -> V