Struct graphene::Quaternion

#[repr(transparent)]
pub struct Quaternion { /* private fields */ }

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 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) -> Self

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 from_angle_vec3(angle: f32, axis: &Vec3) -> Self

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 from_angles(deg_x: f32, deg_y: f32, deg_z: f32) -> Self

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

See also: 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 from_euler(e: &Euler) -> Self

Initializes a Quaternion using the given Euler.

e

a Euler

Returns

the initialized Quaternion

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

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

m

a Matrix

Returns

the initialized quaternion

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

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

See also: 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 from_vec4(src: &Vec4) -> Self

Initializes a Quaternion with the values from src.

src

a Vec4

Returns

the initialized quaternion

pub fn new_identity() -> Self

Initializes a Quaternion using the identity transformation.

Returns

the initialized quaternion

pub fn x(&self) -> f32

pub fn y(&self) -> f32

pub fn z(&self) -> f32

pub fn w(&self) -> f32

Trait Implementations

impl Clone for Quaternion

fn clone(&self) -> Self

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 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 !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StaticType for Quaternion

fn static_type() -> Type

Returns the type identifier of Self.

impl Copy for Quaternion

impl Eq for Quaternion