Struct static_math::quaternion::Quaternion

pub struct Quaternion<T> {
    pub q0: T,
    pub q: V3<T>,
}

Quaternion type

Fields

q0: T

Scalar part

q: V3<T>

Imaginary part

Implementations

impl<T> Quaternion<T>

pub fn new(q0: T, q: V3<T>) -> Self

pub fn new_from(q0: T, q1: T, q2: T, q3: T) -> Self

impl<T: Num + Copy> Quaternion<T>

pub fn dot(&self, rhs: Self) -> T

impl<T: Num + Copy + Signed> Quaternion<T>

pub fn conj(&self) -> Self

impl<T: Float> Quaternion<T>

pub fn normalize(&self) -> Option<Self>

normalize the Quaternion

pub fn rotation(theta: T, v: V3<T>) -> Self

generate a Quaternion that represents a rotation of a angle theta around the axis(normalized) v

pub fn rotation_norm_encoded(v: V3<T>) -> Self

generate a Quaternion that represents a rotation of a angle theta around the axis(normalized) v, the angle theta is encoded in the norm of the vector v

pub fn get_angle(&self) -> T

pub fn get_axis(&self) -> Option<V3<T>>

Trait Implementations

impl<T: Num + Copy> Add<Quaternion<T>> for Quaternion<T>

type Output = Self

The resulting type after applying the + operator.

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

Performs the + operation.

impl<T: Clone> Clone for Quaternion<T>

fn clone(&self) -> Quaternion<T>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<T: Copy> Copy for Quaternion<T>

impl<T: Debug> Debug for Quaternion<T>

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

Formats the value using the given formatter.

impl<T: Num + Copy> Div<T> for Quaternion<T>

type Output = Self

The resulting type after applying the / operator.

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

Performs the / operation.

impl<T: Num + Copy> Mul<Quaternion<T>> for Quaternion<T>

type Output = Self

The resulting type after applying the * operator.

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

Performs the * operation.

impl<T: Num + Copy + Signed> Mul<V3<T>> for Quaternion<T>

type Output = V3<T>

The resulting type after applying the * operator.

fn mul(self, rhs: V3<T>) -> Self::Output

Performs the * operation.

impl<T: Num + Copy + Signed> Neg for Quaternion<T>

type Output = Self

The resulting type after applying the - operator.

fn neg(self) -> Self

Performs the unary - operation.

impl<T: Num + Copy> Sub<Quaternion<T>> for Quaternion<T>

type Output = Self

The resulting type after applying the - operator.

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

Performs the - operation.