Struct Quaternion 

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

Fields

w: f64

x: f64

y: f64

z: f64

Implementations

impl Quaternion

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

pub fn identity() -> Self

pub fn zero() -> Self

pub fn pure(x: f64, y: f64, z: f64) -> Self

pub fn from_axis_angle(axis: [f64; 3], angle: f64) -> Self

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

pub fn to_axis_angle(&self) -> ([f64; 3], f64)

pub fn to_rotation_matrix(&self) -> [[f64; 3]; 3]

pub fn conj(&self) -> Self

pub fn norm_sq(&self) -> f64

pub fn norm(&self) -> f64

pub fn normalize(&self) -> Self

pub fn inv(&self) -> Self

pub fn rotate_vector(&self, v: [f64; 3]) -> [f64; 3]

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

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

pub fn scale(&self, s: f64) -> Self

pub fn exp(&self) -> Self

pub fn ln(&self) -> Self

Trait Implementations

impl Add for Quaternion

type Output = Quaternion

The resulting type after applying the + operator.

fn add(self, rhs: Self) -> Self

Performs the + operation.

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 Display for Quaternion

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

Formats the value using the given formatter.

impl Div for Quaternion

type Output = Quaternion

The resulting type after applying the / operator.

fn div(self, rhs: Self) -> Self

Performs the / operation.

impl Mul for Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

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

Performs the * operation.

impl Neg for Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

fn neg(self) -> Self

Performs the unary - operation.

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 Sub for Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

fn sub(self, rhs: Self) -> Self

Performs the - operation.

impl Copy for Quaternion

impl StructuralPartialEq for Quaternion