Struct slender_math::Quaternion

#[repr(C, align(16))]
pub struct Quaternion(_);

A quaternion

Implementations

impl Quaternion

pub const IDENTITY: Self = _

A quaternion representing no rotation

pub const fn x(&self) -> f32

The x component of the quaternion

pub fn x_mut(&mut self) -> &mut f32

The x component of the quaternion

pub const fn y(&self) -> f32

The y component of the quaternion

pub fn y_mut(&mut self) -> &mut f32

The y component of the quaternion

pub const fn z(&self) -> f32

The z component of the quaternion

pub fn z_mut(&mut self) -> &mut f32

The z component of the quaternion

pub const fn w(&self) -> f32

The w component of the quaternion

pub fn w_mut(&mut self) -> &mut f32

The w component of the quaternion

pub const fn new(x: f32, y: f32, z: f32, w: f32) -> Self

Creates a new quaternion from the given components

pub const fn from_array(array: [f32; 4]) -> Self

Creates a new quaternion from the given array

pub const fn to_array(&self) -> [f32; 4]

Converts the quaternion into an array

pub const fn as_array(&self) -> &[f32; 4]

Returns an array reference to the quaternion

pub fn as_mut_array(&mut self) -> &mut [f32; 4]

Returns a mutable array reference to the quaternion

pub fn from_axis_angle(axis: Vector3f, angle: f32) -> Self

Creates a quaternion representing a rotation around an arbitrary axis

The axis vector must be normalized

pub fn from_angle_x(angle: f32) -> Self

Creates a quaternion representing a rotation around the X axis

pub fn from_angle_y(angle: f32) -> Self

Creates a quaternion representing a rotation around the Y axis

pub fn from_angle_z(angle: f32) -> Self

Creates a quaternion representing a rotation around the Z axis

pub fn from_yaw_pitch_roll(yaw: f32, pitch: f32, roll: f32) -> Self

Creates a quaternion representing a rotation specified by yaw, pitch and roll angles

pub fn to_axis_angle(&self) -> (Vector3f, f32)

Converts the quaternion into an equivalent rotation around an axis

pub fn normalized(self) -> Self

Normalizes the quaternion

pub fn conjugate(self) -> Self

Returns the conjugate of this quaternion

pub fn inverse(self) -> Self

Returns the inverse of this quaternion

pub fn lerp(self, rhs: Self, t: f32) -> Self

Linearily interpolates between this quaternion and rhs

pub fn slerp(self, rhs: Self, t: f32) -> Self

Spherically interpolates between this quaternion and rhs

impl Quaternion

pub fn xx(&self) -> Vector2f

pub fn xy(&self) -> Vector2f

pub fn xz(&self) -> Vector2f

pub fn xw(&self) -> Vector2f

pub fn yx(&self) -> Vector2f

pub fn yy(&self) -> Vector2f

pub fn yz(&self) -> Vector2f

pub fn yw(&self) -> Vector2f

pub fn zx(&self) -> Vector2f

pub fn zy(&self) -> Vector2f

pub fn zz(&self) -> Vector2f

pub fn zw(&self) -> Vector2f

pub fn wx(&self) -> Vector2f

pub fn wy(&self) -> Vector2f

pub fn wz(&self) -> Vector2f

pub fn ww(&self) -> Vector2f

pub fn xxx(&self) -> Vector3f

pub fn xxy(&self) -> Vector3f

pub fn xxz(&self) -> Vector3f

pub fn xxw(&self) -> Vector3f

pub fn xyx(&self) -> Vector3f

pub fn xyy(&self) -> Vector3f

pub fn xyz(&self) -> Vector3f

pub fn xyw(&self) -> Vector3f

pub fn xzx(&self) -> Vector3f

pub fn xzy(&self) -> Vector3f

pub fn xzz(&self) -> Vector3f

pub fn xzw(&self) -> Vector3f

pub fn xwx(&self) -> Vector3f

pub fn xwy(&self) -> Vector3f

pub fn xwz(&self) -> Vector3f

pub fn xww(&self) -> Vector3f

pub fn yxx(&self) -> Vector3f

pub fn yxy(&self) -> Vector3f

pub fn yxz(&self) -> Vector3f

pub fn yxw(&self) -> Vector3f

pub fn yyx(&self) -> Vector3f

pub fn yyy(&self) -> Vector3f

pub fn yyz(&self) -> Vector3f

pub fn yyw(&self) -> Vector3f

pub fn yzx(&self) -> Vector3f

pub fn yzy(&self) -> Vector3f

pub fn yzz(&self) -> Vector3f

pub fn yzw(&self) -> Vector3f

pub fn ywx(&self) -> Vector3f

pub fn ywy(&self) -> Vector3f

pub fn ywz(&self) -> Vector3f

pub fn yww(&self) -> Vector3f

pub fn zxx(&self) -> Vector3f

pub fn zxy(&self) -> Vector3f

pub fn zxz(&self) -> Vector3f

pub fn zxw(&self) -> Vector3f

pub fn zyx(&self) -> Vector3f

pub fn zyy(&self) -> Vector3f

pub fn zyz(&self) -> Vector3f

pub fn zyw(&self) -> Vector3f

pub fn zzx(&self) -> Vector3f

pub fn zzy(&self) -> Vector3f

pub fn zzz(&self) -> Vector3f

pub fn zzw(&self) -> Vector3f

pub fn zwx(&self) -> Vector3f

pub fn zwy(&self) -> Vector3f

pub fn zwz(&self) -> Vector3f

pub fn zww(&self) -> Vector3f

pub fn wxx(&self) -> Vector3f

pub fn wxy(&self) -> Vector3f

pub fn wxz(&self) -> Vector3f

pub fn wxw(&self) -> Vector3f

pub fn wyx(&self) -> Vector3f

pub fn wyy(&self) -> Vector3f

pub fn wyz(&self) -> Vector3f

pub fn wyw(&self) -> Vector3f

pub fn wzx(&self) -> Vector3f

pub fn wzy(&self) -> Vector3f

pub fn wzz(&self) -> Vector3f

pub fn wzw(&self) -> Vector3f

pub fn wwx(&self) -> Vector3f

pub fn wwy(&self) -> Vector3f

pub fn wwz(&self) -> Vector3f

pub fn www(&self) -> Vector3f

pub fn xxxx(&self) -> Vector4f

pub fn xxxy(&self) -> Vector4f

pub fn xxxz(&self) -> Vector4f

pub fn xxxw(&self) -> Vector4f

pub fn xxyx(&self) -> Vector4f

pub fn xxyy(&self) -> Vector4f

pub fn xxyz(&self) -> Vector4f

pub fn xxyw(&self) -> Vector4f

pub fn xxzx(&self) -> Vector4f

pub fn xxzy(&self) -> Vector4f

pub fn xxzz(&self) -> Vector4f

pub fn xxzw(&self) -> Vector4f

pub fn xxwx(&self) -> Vector4f

pub fn xxwy(&self) -> Vector4f

pub fn xxwz(&self) -> Vector4f

pub fn xxww(&self) -> Vector4f

pub fn xyxx(&self) -> Vector4f

pub fn xyxy(&self) -> Vector4f

pub fn xyxz(&self) -> Vector4f

pub fn xyxw(&self) -> Vector4f

pub fn xyyx(&self) -> Vector4f

pub fn xyyy(&self) -> Vector4f

pub fn xyyz(&self) -> Vector4f

pub fn xyyw(&self) -> Vector4f

pub fn xyzx(&self) -> Vector4f

pub fn xyzy(&self) -> Vector4f

pub fn xyzz(&self) -> Vector4f

pub fn xyzw(&self) -> Vector4f

pub fn xywx(&self) -> Vector4f

pub fn xywy(&self) -> Vector4f

pub fn xywz(&self) -> Vector4f

pub fn xyww(&self) -> Vector4f

pub fn xzxx(&self) -> Vector4f

pub fn xzxy(&self) -> Vector4f

pub fn xzxz(&self) -> Vector4f

pub fn xzxw(&self) -> Vector4f

pub fn xzyx(&self) -> Vector4f

pub fn xzyy(&self) -> Vector4f

pub fn xzyz(&self) -> Vector4f

pub fn xzyw(&self) -> Vector4f

pub fn xzzx(&self) -> Vector4f

pub fn xzzy(&self) -> Vector4f

pub fn xzzz(&self) -> Vector4f

pub fn xzzw(&self) -> Vector4f

pub fn xzwx(&self) -> Vector4f

pub fn xzwy(&self) -> Vector4f

pub fn xzwz(&self) -> Vector4f

pub fn xzww(&self) -> Vector4f

pub fn xwxx(&self) -> Vector4f

pub fn xwxy(&self) -> Vector4f

pub fn xwxz(&self) -> Vector4f

pub fn xwxw(&self) -> Vector4f

pub fn xwyx(&self) -> Vector4f

pub fn xwyy(&self) -> Vector4f

pub fn xwyz(&self) -> Vector4f

pub fn xwyw(&self) -> Vector4f

pub fn xwzx(&self) -> Vector4f

pub fn xwzy(&self) -> Vector4f

pub fn xwzz(&self) -> Vector4f

pub fn xwzw(&self) -> Vector4f

pub fn xwwx(&self) -> Vector4f

pub fn xwwy(&self) -> Vector4f

pub fn xwwz(&self) -> Vector4f

pub fn xwww(&self) -> Vector4f

pub fn yxxx(&self) -> Vector4f

pub fn yxxy(&self) -> Vector4f

pub fn yxxz(&self) -> Vector4f

pub fn yxxw(&self) -> Vector4f

pub fn yxyx(&self) -> Vector4f

pub fn yxyy(&self) -> Vector4f

pub fn yxyz(&self) -> Vector4f

pub fn yxyw(&self) -> Vector4f

pub fn yxzx(&self) -> Vector4f

pub fn yxzy(&self) -> Vector4f

pub fn yxzz(&self) -> Vector4f

pub fn yxzw(&self) -> Vector4f

pub fn yxwx(&self) -> Vector4f

pub fn yxwy(&self) -> Vector4f

pub fn yxwz(&self) -> Vector4f

pub fn yxww(&self) -> Vector4f

pub fn yyxx(&self) -> Vector4f

pub fn yyxy(&self) -> Vector4f

pub fn yyxz(&self) -> Vector4f

pub fn yyxw(&self) -> Vector4f

pub fn yyyx(&self) -> Vector4f

pub fn yyyy(&self) -> Vector4f

pub fn yyyz(&self) -> Vector4f

pub fn yyyw(&self) -> Vector4f

pub fn yyzx(&self) -> Vector4f

pub fn yyzy(&self) -> Vector4f

pub fn yyzz(&self) -> Vector4f

pub fn yyzw(&self) -> Vector4f

pub fn yywx(&self) -> Vector4f

pub fn yywy(&self) -> Vector4f

pub fn yywz(&self) -> Vector4f

pub fn yyww(&self) -> Vector4f

pub fn yzxx(&self) -> Vector4f

pub fn yzxy(&self) -> Vector4f

pub fn yzxz(&self) -> Vector4f

pub fn yzxw(&self) -> Vector4f

pub fn yzyx(&self) -> Vector4f

pub fn yzyy(&self) -> Vector4f

pub fn yzyz(&self) -> Vector4f

pub fn yzyw(&self) -> Vector4f

pub fn yzzx(&self) -> Vector4f

pub fn yzzy(&self) -> Vector4f

pub fn yzzz(&self) -> Vector4f

pub fn yzzw(&self) -> Vector4f

pub fn yzwx(&self) -> Vector4f

pub fn yzwy(&self) -> Vector4f

pub fn yzwz(&self) -> Vector4f

pub fn yzww(&self) -> Vector4f

pub fn ywxx(&self) -> Vector4f

pub fn ywxy(&self) -> Vector4f

pub fn ywxz(&self) -> Vector4f

pub fn ywxw(&self) -> Vector4f

pub fn ywyx(&self) -> Vector4f

pub fn ywyy(&self) -> Vector4f

pub fn ywyz(&self) -> Vector4f

pub fn ywyw(&self) -> Vector4f

pub fn ywzx(&self) -> Vector4f

pub fn ywzy(&self) -> Vector4f

pub fn ywzz(&self) -> Vector4f

pub fn ywzw(&self) -> Vector4f

pub fn ywwx(&self) -> Vector4f

pub fn ywwy(&self) -> Vector4f

pub fn ywwz(&self) -> Vector4f

pub fn ywww(&self) -> Vector4f

pub fn zxxx(&self) -> Vector4f

pub fn zxxy(&self) -> Vector4f

pub fn zxxz(&self) -> Vector4f

pub fn zxxw(&self) -> Vector4f

pub fn zxyx(&self) -> Vector4f

pub fn zxyy(&self) -> Vector4f

pub fn zxyz(&self) -> Vector4f

pub fn zxyw(&self) -> Vector4f

pub fn zxzx(&self) -> Vector4f

pub fn zxzy(&self) -> Vector4f

pub fn zxzz(&self) -> Vector4f

pub fn zxzw(&self) -> Vector4f

pub fn zxwx(&self) -> Vector4f

pub fn zxwy(&self) -> Vector4f

pub fn zxwz(&self) -> Vector4f

pub fn zxww(&self) -> Vector4f

pub fn zyxx(&self) -> Vector4f

pub fn zyxy(&self) -> Vector4f

pub fn zyxz(&self) -> Vector4f

pub fn zyxw(&self) -> Vector4f

pub fn zyyx(&self) -> Vector4f

pub fn zyyy(&self) -> Vector4f

pub fn zyyz(&self) -> Vector4f

pub fn zyyw(&self) -> Vector4f

pub fn zyzx(&self) -> Vector4f

pub fn zyzy(&self) -> Vector4f

pub fn zyzz(&self) -> Vector4f

pub fn zyzw(&self) -> Vector4f

pub fn zywx(&self) -> Vector4f

pub fn zywy(&self) -> Vector4f

pub fn zywz(&self) -> Vector4f

pub fn zyww(&self) -> Vector4f

pub fn zzxx(&self) -> Vector4f

pub fn zzxy(&self) -> Vector4f

pub fn zzxz(&self) -> Vector4f

pub fn zzxw(&self) -> Vector4f

pub fn zzyx(&self) -> Vector4f

pub fn zzyy(&self) -> Vector4f

pub fn zzyz(&self) -> Vector4f

pub fn zzyw(&self) -> Vector4f

pub fn zzzx(&self) -> Vector4f

pub fn zzzy(&self) -> Vector4f

pub fn zzzz(&self) -> Vector4f

pub fn zzzw(&self) -> Vector4f

pub fn zzwx(&self) -> Vector4f

pub fn zzwy(&self) -> Vector4f

pub fn zzwz(&self) -> Vector4f

pub fn zzww(&self) -> Vector4f

pub fn zwxx(&self) -> Vector4f

pub fn zwxy(&self) -> Vector4f

pub fn zwxz(&self) -> Vector4f

pub fn zwxw(&self) -> Vector4f

pub fn zwyx(&self) -> Vector4f

pub fn zwyy(&self) -> Vector4f

pub fn zwyz(&self) -> Vector4f

pub fn zwyw(&self) -> Vector4f

pub fn zwzx(&self) -> Vector4f

pub fn zwzy(&self) -> Vector4f

pub fn zwzz(&self) -> Vector4f

pub fn zwzw(&self) -> Vector4f

pub fn zwwx(&self) -> Vector4f

pub fn zwwy(&self) -> Vector4f

pub fn zwwz(&self) -> Vector4f

pub fn zwww(&self) -> Vector4f

pub fn wxxx(&self) -> Vector4f

pub fn wxxy(&self) -> Vector4f

pub fn wxxz(&self) -> Vector4f

pub fn wxxw(&self) -> Vector4f

pub fn wxyx(&self) -> Vector4f

pub fn wxyy(&self) -> Vector4f

pub fn wxyz(&self) -> Vector4f

pub fn wxyw(&self) -> Vector4f

pub fn wxzx(&self) -> Vector4f

pub fn wxzy(&self) -> Vector4f

pub fn wxzz(&self) -> Vector4f

pub fn wxzw(&self) -> Vector4f

pub fn wxwx(&self) -> Vector4f

pub fn wxwy(&self) -> Vector4f

pub fn wxwz(&self) -> Vector4f

pub fn wxww(&self) -> Vector4f

pub fn wyxx(&self) -> Vector4f

pub fn wyxy(&self) -> Vector4f

pub fn wyxz(&self) -> Vector4f

pub fn wyxw(&self) -> Vector4f

pub fn wyyx(&self) -> Vector4f

pub fn wyyy(&self) -> Vector4f

pub fn wyyz(&self) -> Vector4f

pub fn wyyw(&self) -> Vector4f

pub fn wyzx(&self) -> Vector4f

pub fn wyzy(&self) -> Vector4f

pub fn wyzz(&self) -> Vector4f

pub fn wyzw(&self) -> Vector4f

pub fn wywx(&self) -> Vector4f

pub fn wywy(&self) -> Vector4f

pub fn wywz(&self) -> Vector4f

pub fn wyww(&self) -> Vector4f

pub fn wzxx(&self) -> Vector4f

pub fn wzxy(&self) -> Vector4f

pub fn wzxz(&self) -> Vector4f

pub fn wzxw(&self) -> Vector4f

pub fn wzyx(&self) -> Vector4f

pub fn wzyy(&self) -> Vector4f

pub fn wzyz(&self) -> Vector4f

pub fn wzyw(&self) -> Vector4f

pub fn wzzx(&self) -> Vector4f

pub fn wzzy(&self) -> Vector4f

pub fn wzzz(&self) -> Vector4f

pub fn wzzw(&self) -> Vector4f

pub fn wzwx(&self) -> Vector4f

pub fn wzwy(&self) -> Vector4f

pub fn wzwz(&self) -> Vector4f

pub fn wzww(&self) -> Vector4f

pub fn wwxx(&self) -> Vector4f

pub fn wwxy(&self) -> Vector4f

pub fn wwxz(&self) -> Vector4f

pub fn wwxw(&self) -> Vector4f

pub fn wwyx(&self) -> Vector4f

pub fn wwyy(&self) -> Vector4f

pub fn wwyz(&self) -> Vector4f

pub fn wwyw(&self) -> Vector4f

pub fn wwzx(&self) -> Vector4f

pub fn wwzy(&self) -> Vector4f

pub fn wwzz(&self) -> Vector4f

pub fn wwzw(&self) -> Vector4f

pub fn wwwx(&self) -> Vector4f

pub fn wwwy(&self) -> Vector4f

pub fn wwwz(&self) -> Vector4f

pub fn wwww(&self) -> Vector4f

Trait Implementations

impl Add<Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the + operator.

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

Performs the + operation.

impl AddAssign<Quaternion> for Quaternion

fn add_assign(&mut self, rhs: Self)

Performs the += operation.

impl AsMut<[f32; 4]> for Quaternion

fn as_mut(&mut self) -> &mut [f32; 4]

Converts this type into a mutable reference of the (usually inferred) input type.

impl AsRef<[f32; 4]> for Quaternion

fn as_ref(&self) -> &[f32; 4]

Converts this type into a shared reference of the (usually inferred) input type.

impl Borrow<[f32; 4]> for Quaternion

fn borrow(&self) -> &[f32; 4]

Immutably borrows from an owned value.

impl BorrowMut<[f32; 4]> for Quaternion

fn borrow_mut(&mut self) -> &mut [f32; 4]

Mutably borrows from an owned value.

impl Clone for Quaternion

fn clone(&self) -> Quaternion

Returns a copy 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<f32> for Quaternion

type Output = Quaternion

The resulting type after applying the / operator.

fn div(self, rhs: f32) -> Self::Output

Performs the / operation.

impl DivAssign<f32> for Quaternion

fn div_assign(&mut self, rhs: f32)

Performs the /= operation.

impl From<[f32; 4]> for Quaternion

fn from(a: [f32; 4]) -> Self

Converts to this type from the input type.

impl Index<usize> for Quaternion

type Output = f32

The returned type after indexing.

fn index(&self, index: usize) -> &Self::Output

Performs the indexing (container[index]) operation.

impl IndexMut<usize> for Quaternion

fn index_mut(&mut self, index: usize) -> &mut Self::Output

Performs the mutable indexing (container[index]) operation.

impl Into<[f32; 4]> for Quaternion

fn into(self) -> [f32; 4]

Converts this type into the (usually inferred) input type.

impl Mul<Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<Vector3f> for Quaternion

type Output = Vector3f

The resulting type after applying the * operator.

fn mul(self, rhs: Vector3f) -> Self::Output

Performs the * operation.

impl Mul<f32> for Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

fn mul(self, rhs: f32) -> Self::Output

Performs the * operation.

impl MulAssign<Quaternion> for Quaternion

fn mul_assign(&mut self, rhs: Self)

Performs the *= operation.

impl MulAssign<f32> for Quaternion

fn mul_assign(&mut self, rhs: f32)

Performs the *= operation.

impl Neg for Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

fn neg(self) -> Self::Output

Performs the unary - operation.

impl PartialEq<Quaternion> for Quaternion

fn eq(&self, other: &Quaternion) -> 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 !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Sub<Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

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

Performs the - operation.

impl SubAssign<Quaternion> for Quaternion

fn sub_assign(&mut self, rhs: Self)

Performs the -= operation.

impl Zeroable for Quaternion

fn zeroed() -> Self

Calls zeroed.

impl Copy for Quaternion

impl Pod for Quaternion

impl StructuralPartialEq for Quaternion