Struct Quaternion 

pub struct Quaternion {
    pub w: f64,
    pub x: f64,
    pub y: f64,
    pub z: f64,
}

A quaternion for 3D rotations.

Fields

w: f64

The real component.

x: f64

The i component.

y: f64

The j component.

z: f64

The k component.

Implementations

impl Quaternion

pub const fn new(w: f64, x: f64, y: f64, z: f64) -> Self

Creates a new quaternion.

pub const fn identity() -> Self

Creates an identity quaternion (no rotation).

pub fn from_axis_angle(axis: &Vector3D, angle: f64) -> Self

Creates a quaternion from an axis-angle representation.

pub fn from_euler(roll: f64, pitch: f64, yaw: f64) -> Self

Creates a quaternion from Euler angles (ZYX order).

pub fn magnitude(&self) -> f64

Returns the magnitude of the quaternion.

pub fn normalize(&self) -> Self

Normalizes the quaternion.

pub const fn conjugate(&self) -> Self

Returns the conjugate of the quaternion.

pub fn inverse(&self) -> Self

Returns the inverse of the quaternion.

pub fn multiply(&self, other: &Self) -> Self

Multiplies two quaternions.

pub fn rotate_vector(&self, v: &Vector3D) -> Vector3D

Rotates a vector by this quaternion.

pub fn to_matrix(&self) -> Matrix<f64>

Converts the quaternion to a 4x4 rotation matrix.

pub fn slerp(&self, other: &Self, t: f64) -> Self

Spherical linear interpolation between two quaternions.

Trait Implementations

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 Debug for Quaternion

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for Quaternion

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

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 Serialize for Quaternion

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for Quaternion

impl StructuralPartialEq for Quaternion