Struct tray_rust::linalg::quaternion::Quaternion

pub struct Quaternion {
    pub v: Vector,
    pub w: f32,
}

Quaternions describe a rotation in 3d space but can be properly interpolated unlike rotation matrices. The quaternion also provides methods to compute the corresponding rotation transform so that it can be composed with scaling and translation

Fields

v: Vector

w: f32

Methods

impl Quaternion

pub fn identity() -> Quaternion

Construct an identity quaternion

pub fn from_matrix(m: &Matrix4) -> Quaternion

Construct a quaternion from the rotation matrix Based on Shoemake 1991

pub fn from_transform(t: &Transform) -> Quaternion

Construct the quaternion from the transform

pub fn to_matrix(&self) -> Matrix4

Get the rotation transform described by this quaternion

pub fn to_transform(&self) -> Transform

Get the rotation transform described by this quaternion

pub fn normalized(&self) -> Quaternion

Get the normalized quaternion for this rotation

Trait Implementations

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 Copy for Quaternion

impl Debug 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) -> Quaternion

Divide the quaternion by a scalar

impl Sub<Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

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

Subtract two quaternions

impl Add<Quaternion> for Quaternion

type Output = Quaternion

The resulting type after applying the + operator.

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

Add two quaternions

impl Mul<f32> for Quaternion

type Output = Quaternion

The resulting type after applying the * operator.

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

Multiply the quaternion by a scalar

impl Mul<Quaternion> for f32

type Output = Quaternion

The resulting type after applying the * operator.

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

Multiply the quaternion by a scalar

impl Neg for Quaternion

type Output = Quaternion

The resulting type after applying the - operator.

fn neg(self) -> Quaternion

Negate the quaternion