Struct graphene::Quaternion

pub struct Quaternion(_);

A quaternion.

The contents of the Quaternion structure are private and should never be accessed directly.

Implementations

impl Quaternion

pub fn add(&self, b: &Quaternion) -> Quaternion

Adds two Quaternion self and b.

b

a Quaternion

Returns

res

the result of the operation

pub fn dot(&self, b: &Quaternion) -> f32

Computes the dot product of two Quaternion.

b

a Quaternion

Returns

the value of the dot products

pub fn init(&mut self, x: f32, y: f32, z: f32, w: f32)

Initializes a Quaternion using the given four values.

x

the first component of the quaternion

y

the second component of the quaternion

z

the third component of the quaternion

w

the fourth component of the quaternion

Returns

the initialized quaternion

pub fn init_from_angle_vec3(&mut self, angle: f32, axis: &Vec3)

Initializes a Quaternion using an angle on a specific axis.

angle

the rotation on a given axis, in degrees

axis

the axis of rotation, expressed as a vector

Returns

the initialized quaternion

pub fn init_from_angles(&mut self, deg_x: f32, deg_y: f32, deg_z: f32)

Initializes a Quaternion using the values of the Euler angles on each axis.

See also: init_from_euler()

deg_x

rotation angle on the X axis (yaw), in degrees

deg_y

rotation angle on the Y axis (pitch), in degrees

deg_z

rotation angle on the Z axis (roll), in degrees

Returns

the initialized quaternion

pub fn init_from_euler(&mut self, e: &Euler)

Initializes a Quaternion using the given Euler.

e

a Euler

Returns

the initialized Quaternion

pub fn init_from_matrix(&mut self, m: &Matrix)

Initializes a Quaternion using the rotation components of a transformation matrix.

m

a Matrix

Returns

the initialized quaternion

pub fn init_from_quaternion(&mut self, src: &Quaternion)

Initializes a Quaternion with the values from src.

src

a Quaternion

Returns

the initialized quaternion

pub fn init_from_radians(&mut self, rad_x: f32, rad_y: f32, rad_z: f32)

Initializes a Quaternion using the values of the Euler angles on each axis.

See also: init_from_euler()

rad_x

rotation angle on the X axis (yaw), in radians

rad_y

rotation angle on the Y axis (pitch), in radians

rad_z

rotation angle on the Z axis (roll), in radians

Returns

the initialized quaternion

pub fn init_from_vec4(&mut self, src: &Vec4)

Initializes a Quaternion with the values from src.

src

a Vec4

Returns

the initialized quaternion

pub fn init_identity(&mut self)

Initializes a Quaternion using the identity transformation.

Returns

the initialized quaternion

pub fn invert(&self) -> Quaternion

Inverts a Quaternion, and returns the conjugate quaternion of self.

Returns

res

return location for the inverted quaternion

pub fn multiply(&self, b: &Quaternion) -> Quaternion

Multiplies two Quaternion self and b.

b

a Quaternion

Returns

res

the result of the operation

pub fn normalize(&self) -> Quaternion

Normalizes a Quaternion.

Returns

res

return location for the normalized quaternion

pub fn scale(&self, factor: f32) -> Quaternion

Scales all the elements of a Quaternion self using the given scalar factor.

factor

a scaling factor

Returns

res

the result of the operation

pub fn slerp(&self, b: &Quaternion, factor: f32) -> Quaternion

Interpolates between the two given quaternions using a spherical linear interpolation, or SLERP, using the given interpolation factor.

b

a Quaternion

factor

the linear interpolation factor

Returns

res

return location for the interpolated quaternion

pub fn to_angle_vec3(&self) -> (f32, Vec3)

Converts a quaternion into an angle, axis pair.

Returns

angle

return location for the angle, in degrees

axis

return location for the rotation axis

pub fn to_angles(&self) -> (f32, f32, f32)

Converts a Quaternion to its corresponding rotations on the Euler angles on each axis.

Returns

deg_x

return location for the rotation angle on the X axis (yaw), in degrees

deg_y

return location for the rotation angle on the Y axis (pitch), in degrees

deg_z

return location for the rotation angle on the Z axis (roll), in degrees

pub fn to_matrix(&self) -> Matrix

Converts a quaternion into a transformation matrix expressing the rotation defined by the Quaternion.

Returns

m

a Matrix

pub fn to_radians(&self) -> (f32, f32, f32)

Converts a Quaternion to its corresponding rotations on the Euler angles on each axis.

Returns

rad_x

return location for the rotation angle on the X axis (yaw), in radians

rad_y

return location for the rotation angle on the Y axis (pitch), in radians

rad_z

return location for the rotation angle on the Z axis (roll), in radians

pub fn to_vec4(&self) -> Vec4

Copies the components of a Quaternion into a Vec4.

Returns

res

return location for a Vec4

impl Quaternion

pub fn new(x: f32, y: f32, z: f32, w: f32) -> Quaternion

pub fn from_angle_vec3(angle: f32, axis: &Vec3) -> Quaternion

pub fn from_angles(deg_x: f32, deg_y: f32, deg_z: f32) -> Quaternion

pub fn from_euler(e: &Euler) -> Quaternion

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

pub fn from_quaternion(src: &Quaternion) -> Quaternion

pub fn from_radians(rad_x: f32, rad_y: f32, rad_z: f32) -> Quaternion

pub fn from_vec4(src: &Vec4) -> Quaternion

pub fn new_identity() -> Quaternion

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 Debug for Quaternion

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

Formats the value using the given formatter.

impl Hash for Quaternion

fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given Hasher.

fn hash_slice<H>(data: &[Self], state: &mut H) where
    H: Hasher, 

Feeds a slice of this type into the given Hasher.

impl Ord for Quaternion

fn cmp(&self, other: &Quaternion) -> Ordering

This method returns an Ordering between self and other.

fn max(self, other: Self) -> Self

Compares and returns the maximum of two values.

fn min(self, other: Self) -> Self

Compares and returns the minimum of two values.

fn clamp(self, min: Self, max: Self) -> Self

Restrict a value to a certain interval.

impl PartialEq<Quaternion> for Quaternion

fn eq(&self, other: &Self) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=.

impl PartialOrd<Quaternion> for Quaternion

fn partial_cmp(&self, other: &Quaternion) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

fn lt(&self, other: &Rhs) -> bool

This method tests less than (for self and other) and is used by the < operator.

fn le(&self, other: &Rhs) -> bool

This method tests less than or equal to (for self and other) and is used by the <= operator.

fn gt(&self, other: &Rhs) -> bool

This method tests greater than (for self and other) and is used by the > operator.

fn ge(&self, other: &Rhs) -> bool

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl StaticType for Quaternion

fn static_type() -> Type

Returns the type identifier of Self.

impl Eq for Quaternion