Struct Quaternion

pub struct Quaternion<T> { /* private fields */ }

Implementations

impl<T> Quaternion<T>

where T: Float,

pub fn new(a: T, b: T, c: T, d: T) -> Self

pub fn scalar_part(&self) -> T

pub fn vector_part(&self) -> (T, T, T)

pub fn conjugate(&self) -> Self

pub fn dot(&self, o: &Quaternion<T>) -> T

pub fn len(&self) -> T

pub fn norm(&self) -> T

pub fn inverse(&self) -> Self

pub fn normalize(&self) -> Self

Make it a unit quaternion

pub fn qm(&self, o: &Quaternion<T>) -> Self

Quaternion multiplication

pub fn rotation_around_axis(axis: (T, T, T), theta: T) -> Self

Create a quaternion ready to apply to vector for rotation.

pub fn rotate_around_x(theta: T) -> Self

pub fn rotate_around_y(theta: T) -> Self

pub fn rotate_around_z(theta: T) -> Self

pub fn apply_rotation(&self, v: (T, T, T)) -> (T, T, T)

Apply unit quaternion to 3d vector for rotation.

pub fn rotate_around_axis(axis: (T, T, T), theta: T, v: (T, T, T)) -> (T, T, T)

pub fn unit_exp(&self, t: T) -> Self

pub fn slerp(p: &Self, q: &Self, t: T) -> Self

Trait Implementations

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

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

Formats the value using the given formatter.

impl<T> Default for Quaternion<T>

where T: Float,

fn default() -> Self

Returns the “default value” for a type.

impl<T> Div<T> for Quaternion<T>

where T: Float,

type Output = Quaternion<T>

The resulting type after applying the / operator.

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

Performs the / operation.

impl<T: PartialEq> PartialEq for Quaternion<T>

fn eq(&self, other: &Quaternion<T>) -> 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<T> StructuralPartialEq for Quaternion<T>