Struct Quat

#[repr(C)]
pub struct Quat {
    pub x: f32,
    pub y: f32,
    pub z: f32,
    pub w: f32,
}

Quaternion stored as vector part (x,y,z) followed by scalar part w.

Fields

x: f32

y: f32

z: f32

w: f32

Implementations

impl Quat

pub const IDENTITY: Self

pub const NAN: Self

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

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

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

pub const fn from_vec4(v: Vec4) -> Self

pub const fn to_vec4(self) -> Vec4

pub const fn xyz(self) -> Vec3

pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self

Finite nonzero axes are normalized. A zero axis returns NaNs.

pub fn from_rotation_x(angle: f32) -> Self

pub fn from_rotation_y(angle: f32) -> Self

pub fn from_rotation_z(angle: f32) -> Self

pub fn from_euler(order: EulerRot, a: f32, b: f32, c: f32) -> Self

pub fn from_scaled_axis(axis: Vec3) -> Self

pub fn from_rotation_arc(from: Vec3, to: Vec3) -> Self

Shortest rotation between two finite nonzero directions.

pub fn to_axis_angle(self) -> (Vec3, f32)

pub fn to_scaled_axis(self) -> Vec3

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

pub fn length_squared(self) -> f32

pub fn length(self) -> f32

pub fn is_finite(self) -> bool

pub fn is_nan(self) -> bool

pub fn is_normalized(self) -> bool

pub fn try_normalize(self) -> Option<Self>

pub fn normalize(self) -> Self

pub const fn conjugate(self) -> Self

pub fn try_inverse(self) -> Option<Self>

Algebraic inverse, also correct for finite non-unit quaternions.

pub fn inverse(self) -> Self

pub fn mul_vec3(self, v: Vec3) -> Vec3

Applies a unit quaternion rotation. Non-unit quaternions must be normalized first.

pub fn mul_quat(self, rhs: Self) -> Self

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

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

Spherical interpolation follows the shortest rotation and normalizes endpoints.

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

pub fn abs_diff_eq(self, rhs: Self, tolerance: f32) -> bool

pub fn rotate_towards(self, rhs: Self, max_angle: f32) -> Self

Trait Implementations

impl Add for Quat

type Output = Quat

The resulting type after applying the + operator.

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

Performs the + operation.

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 Div<f32> for Quat

type Output = Quat

The resulting type after applying the / operator.

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

Performs the / operation.

impl From<[f32; 4]> for Quat

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

Converts to this type from the input type.

impl From<Quat> for [f32; 4]

fn from(v: Quat) -> Self

Converts to this type from the input type.

impl From<Quat> for Vec4

fn from(v: Quat) -> Self

Converts to this type from the input type.

impl Mul<Quat> for f32

type Output = Quat

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<Vec3> for Quat

type Output = Vec3

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<f32> for Quat

type Output = Quat

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul for Quat

type Output = Quat

The resulting type after applying the * operator.

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

Performs the * operation.

impl MulAssign for Quat

fn mul_assign(&mut self, rhs: Self)

Performs the *= operation.

impl Neg for Quat

type Output = Quat

The resulting type after applying the - operator.

fn neg(self) -> Self

Performs the unary - 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 Sub for Quat

type Output = Quat

The resulting type after applying the - operator.

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

Performs the - operation.

impl Copy for Quat

impl StructuralPartialEq for Quat