Struct Quat 

pub struct Quat<T>
where
    T: Real,
{
    pub x: T,
    pub y: T,
    pub z: T,
    pub w: T,
}

Unit quaternion representing a 3D rotation.

Fields

x: T

X component.

y: T

Y component.

z: T

Z component.

w: T

W (scalar) component.

Implementations

impl<T> Quat<T>

where T: Real,

pub const fn new(x: T, y: T, z: T, w: T) -> Quat<T>

Creates a quaternion from components.

impl Quat<f32>

pub fn identity() -> Quat<f32>

Identity rotation for f32.

pub fn normalize(self) -> Quat<f32>

Normalizes the quaternion.

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

Creates a quaternion from an axis-angle representation.

pub fn to_mat3(self) -> Mat3<f32>

Converts the quaternion to a rotation matrix.

pub fn mul(self, other: Quat<f32>) -> Quat<f32>

Hamilton product.

impl Quat<f64>

pub fn identity() -> Quat<f64>

Identity rotation for f64.

pub fn normalize(self) -> Quat<f64>

Normalizes the quaternion.

pub fn to_mat3(self) -> Mat3<f64>

Converts the quaternion to a rotation matrix.

Trait Implementations

impl<T> Clone for Quat<T>

where T: Clone + Real,

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T> Debug for Quat<T>

where T: Debug + Real,

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

Formats the value using the given formatter.

impl<'de, T> Deserialize<'de> for Quat<T>

where T: Real + Deserialize<'de>,

fn deserialize<__D>( __deserializer: __D, ) -> Result<Quat<T>, <__D as Deserializer<'de>>::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<T> PartialEq for Quat<T>

where T: PartialEq + Real,

fn eq(&self, other: &Quat<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> Serialize for Quat<T>

where T: Real + Serialize,

fn serialize<__S>( &self, __serializer: __S, ) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<T> Copy for Quat<T>

where T: Copy + Real,

impl<T> StructuralPartialEq for Quat<T>

where T: Real,