Struct Quat 

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

A quaternion for representing rotations.

Stored as (x, y, z, w) where w is the scalar component.

Fields

x: Float

X component (vector part).

y: Float

Y component (vector part).

z: Float

Z component (vector part).

w: Float

W component (scalar part).

Implementations

impl Quat

pub const IDENTITY: Self

Identity quaternion (no rotation).

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

Creates a quaternion from components.

pub fn from_axis_angle(axis: Vec3, angle: Float) -> Self

Creates a quaternion from an axis and angle.

pub fn from_euler_xyz(x: Float, y: Float, z: Float) -> Self

Creates a quaternion from Euler angles (XYZ order).

pub fn from_mat4(m: &Mat4) -> Self

Creates a quaternion from a rotation matrix.

pub fn to_mat4(self) -> Mat4

Converts to a rotation matrix.

pub fn conjugate(self) -> Self

Returns the conjugate (inverse for unit quaternions).

pub fn dot(self, other: Self) -> Float

Computes the dot product.

pub fn length_squared(self) -> Float

Computes the squared length.

pub fn length(self) -> Float

Computes the length.

pub fn normalize(self) -> Self

Returns a normalized quaternion.

pub fn inverse(self) -> Self

Returns the inverse.

pub fn rotate(self, v: Vec3) -> Vec3

Rotates a vector by this quaternion.

pub fn lerp(self, other: Self, t: Float) -> Self

Linear interpolation between quaternions.

Note: For most cases, prefer slerp for smooth interpolation.

pub fn nlerp(self, other: Self, t: Float) -> Self

Normalized linear interpolation (faster than slerp, nearly as good).

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

Spherical linear interpolation between quaternions.

pub fn to_euler_xyz(self) -> (Float, Float, Float)

Converts to Euler angles (XYZ order) in radians.

pub fn to_axis_angle(self) -> (Vec3, Float)

Returns the axis and angle of this rotation.

pub fn approx_eq(self, other: Self) -> bool

Checks if this quaternion is approximately equal to another.

Trait Implementations

impl Clone for Quat

fn clone(&self) -> Quat

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Quat

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

Formats the value using the given formatter.

impl Default for Quat

fn default() -> Self

Returns the “default value” for a type.

impl Mul<Vec3> for Quat

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, v: Vec3) -> Vec3

Performs the * operation.

impl Mul for Quat

type Output = Quat

The resulting type after applying the * operator.

fn mul(self, other: Self) -> Self

Performs the * operation.

impl PartialEq for Quat

fn eq(&self, other: &Quat) -> 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 Copy for Quat

impl StructuralPartialEq for Quat