Struct DQuat

#[repr(C)]
pub struct DQuat {
    pub x: f64,
    pub y: f64,
    pub z: f64,
    pub w: f64,
}

A quaternion representing an orientation.

This quaternion is intended to be of unit length but may denormalize due to floating point “error creep” which can occur when successive quaternion operations are applied.

Fields

x: f64

y: f64

z: f64

w: f64

Implementations

impl DQuat

pub const IDENTITY: DQuat = _

The identity quaternion. Corresponds to no rotation.

pub const NAN: DQuat = _

All NANs.

pub const fn from_xyzw(x: f64, y: f64, z: f64, w: f64) -> DQuat

Creates a new rotation quaternion.

This should generally not be called manually unless you know what you are doing. Use one of the other constructors instead such as identity or from_axis_angle.

from_xyzw is mostly used by unit tests and serde deserialization.

Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

pub const fn from_array(a: [f64; 4]) -> DQuat

Creates a rotation quaternion from an array.

Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

pub const fn from_vec4(v: DVec4) -> DQuat

Creates a new rotation quaternion from a 4D vector.

Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

pub fn from_slice(slice: &[f64]) -> DQuat

Creates a rotation quaternion from a slice.

Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

Panics

Panics if slice length is less than 4.

pub fn write_to_slice(self, slice: &mut [f64])

Writes the quaternion to an unaligned slice.

Panics

Panics if slice length is less than 4.

pub fn from_axis_angle(axis: DVec3, angle: f64) -> DQuat

Create a quaternion for a normalized rotation axis and angle (in radians).

The axis must be a unit vector.

Panics

Will panic if axis is not normalized when glam_assert is enabled.

pub fn from_scaled_axis(v: DVec3) -> DQuat

Create a quaternion that rotates v.length() radians around v.normalize().

from_scaled_axis(Vec3::ZERO) results in the identity quaternion.

pub fn from_rotation_x(angle: f64) -> DQuat

Creates a quaternion from the angle (in radians) around the x axis.

pub fn from_rotation_y(angle: f64) -> DQuat

Creates a quaternion from the angle (in radians) around the y axis.

pub fn from_rotation_z(angle: f64) -> DQuat

Creates a quaternion from the angle (in radians) around the z axis.

pub fn from_euler(euler: EulerRot, a: f64, b: f64, c: f64) -> DQuat

Creates a quaternion from the given Euler rotation sequence and the angles (in radians).

pub fn from_mat3(mat: &DMat3) -> DQuat

Creates a quaternion from a 3x3 rotation matrix.

Note if the input matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any input matrix column is not normalized when glam_assert is enabled.

pub fn from_mat4(mat: &DMat4) -> DQuat

Creates a quaternion from the upper 3x3 rotation matrix inside a homogeneous 4x4 matrix.

Note if the upper 3x3 matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any column of the upper 3x3 rotation matrix is not normalized when glam_assert is enabled.

pub fn from_rotation_arc(from: DVec3, to: DVec3) -> DQuat

Gets the minimal rotation for transforming from to to. The rotation is in the plane spanned by the two vectors. Will rotate at most 180 degrees.

The inputs must be unit vectors.

from_rotation_arc(from, to) * from ≈ to.

For near-singular cases (from≈to and from≈-to) the current implementation is only accurate to about 0.001 (for f32).

Panics

Will panic if from or to are not normalized when glam_assert is enabled.

pub fn from_rotation_arc_colinear(from: DVec3, to: DVec3) -> DQuat

Gets the minimal rotation for transforming from to either to or -to. This means that the resulting quaternion will rotate from so that it is colinear with to.

The rotation is in the plane spanned by the two vectors. Will rotate at most 90 degrees.

The inputs must be unit vectors.

to.dot(from_rotation_arc_colinear(from, to) * from).abs() ≈ 1.

Panics

Will panic if from or to are not normalized when glam_assert is enabled.

pub fn from_rotation_arc_2d(from: DVec2, to: DVec2) -> DQuat

Gets the minimal rotation for transforming from to to. The resulting rotation is around the z axis. Will rotate at most 180 degrees.

The inputs must be unit vectors.

from_rotation_arc_2d(from, to) * from ≈ to.

For near-singular cases (from≈to and from≈-to) the current implementation is only accurate to about 0.001 (for f32).

Panics

Will panic if from or to are not normalized when glam_assert is enabled.

pub fn to_axis_angle(self) -> (DVec3, f64)

Returns the rotation axis (normalized) and angle (in radians) of self.

pub fn to_scaled_axis(self) -> DVec3

Returns the rotation axis scaled by the rotation in radians.

pub fn to_euler(self, order: EulerRot) -> (f64, f64, f64)

Returns the rotation angles for the given euler rotation sequence.

pub fn to_array(&self) -> [f64; 4]

[x, y, z, w]

pub fn xyz(self) -> DVec3

Returns the vector part of the quaternion.

pub fn conjugate(self) -> DQuat

Returns the quaternion conjugate of self. For a unit quaternion the conjugate is also the inverse.

pub fn inverse(self) -> DQuat

Returns the inverse of a normalized quaternion.

Typically quaternion inverse returns the conjugate of a normalized quaternion. Because self is assumed to already be unit length this method does not normalize before returning the conjugate.

Panics

Will panic if self is not normalized when glam_assert is enabled.

pub fn dot(self, rhs: DQuat) -> f64

Computes the dot product of self and rhs. The dot product is equal to the cosine of the angle between two quaternion rotations.

pub fn length(self) -> f64

Computes the length of self.

pub fn length_squared(self) -> f64

Computes the squared length of self.

This is generally faster than length() as it avoids a square root operation.

pub fn length_recip(self) -> f64

Computes 1.0 / length().

For valid results, self must not be of length zero.

pub fn normalize(self) -> DQuat

Returns self normalized to length 1.0.

For valid results, self must not be of length zero.

Panics

Will panic if self is zero length when glam_assert is enabled.

pub fn is_finite(self) -> bool

Returns true if, and only if, all elements are finite. If any element is either NaN, positive or negative infinity, this will return false.

pub fn is_nan(self) -> bool

Returns true if any elements are NAN.

pub fn is_normalized(self) -> bool

Returns whether self of length 1.0 or not.

Uses a precision threshold of 1e-6.

pub fn is_near_identity(self) -> bool

pub fn angle_between(self, rhs: DQuat) -> f64

Returns the angle (in radians) for the minimal rotation for transforming this quaternion into another.

Both quaternions must be normalized.

Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

pub fn rotate_towards(&self, rhs: DQuat, max_angle: f64) -> DQuat

Rotates towards rhs up to max_angle (in radians).

When max_angle is 0.0, the result will be equal to self. When max_angle is equal to self.angle_between(rhs), the result will be equal to rhs. If max_angle is negative, rotates towards the exact opposite of rhs. Will not go past the target.

Both quaternions must be normalized.

Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

pub fn abs_diff_eq(self, rhs: DQuat, max_abs_diff: f64) -> bool

Returns true if the absolute difference of all elements between self and rhs is less than or equal to max_abs_diff.

This can be used to compare if two quaternions contain similar elements. It works best when comparing with a known value. The max_abs_diff that should be used used depends on the values being compared against.

For more see comparing floating point numbers.

pub fn lerp(self, end: DQuat, s: f64) -> DQuat

Performs a linear interpolation between self and rhs based on the value s.

When s is 0.0, the result will be equal to self. When s is 1.0, the result will be equal to rhs.

Panics

Will panic if self or end are not normalized when glam_assert is enabled.

pub fn slerp(self, end: DQuat, s: f64) -> DQuat

Performs a spherical linear interpolation between self and end based on the value s.

When s is 0.0, the result will be equal to self. When s is 1.0, the result will be equal to end.

Panics

Will panic if self or end are not normalized when glam_assert is enabled.

pub fn mul_vec3(self, rhs: DVec3) -> DVec3

Multiplies a quaternion and a 3D vector, returning the rotated vector.

Panics

Will panic if self is not normalized when glam_assert is enabled.

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

Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.

Note that due to floating point rounding the result may not be perfectly normalized.

Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

pub fn from_affine3(a: &DAffine3) -> DQuat

Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.

Note if the input affine matrix contain scales, shears, or other non-rotation transformations then the resulting quaternion will be ill-defined.

Panics

Will panic if any input affine matrix column is not normalized when glam_assert is enabled.

pub fn as_quat(self) -> Quat

Trait Implementations

impl Add for DQuat

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

Adds two quaternions.

The sum is not guaranteed to be normalized.

Note that addition is not the same as combining the rotations represented by the two quaternions! That corresponds to multiplication.

type Output = DQuat

The resulting type after applying the + operator.

impl AsRef<[f64; 4]> for DQuat

Available on non-target_arch="spirv" only.

fn as_ref(&self) -> &[f64; 4]

Converts this type into a shared reference of the (usually inferred) input type.

impl Clone for DQuat

fn clone(&self) -> DQuat

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for DQuat

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

Formats the value using the given formatter.

impl Default for DQuat

fn default() -> DQuat

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for DQuat

Deserialize expects a sequence of 4 values.

fn deserialize<D>( deserializer: D, ) -> Result<DQuat, <D as Deserializer<'de>>::Error>

where D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Display for DQuat

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

Formats the value using the given formatter.

impl Div<f64> for DQuat

fn div(self, rhs: f64) -> DQuat

Divides a quaternion by a scalar value. The quotient is not guaranteed to be normalized.

type Output = DQuat

The resulting type after applying the / operator.

impl From<DQuat> for DVec4

fn from(q: DQuat) -> DVec4

Converts to this type from the input type.

impl FromReflect for DQuat

where DQuat: Any + Send + Sync, f64: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn from_reflect(reflect: &(dyn PartialReflect + 'static)) -> Option<DQuat>

Constructs a concrete instance of Self from a reflected value.

fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails.

impl GetTypeRegistration for DQuat

where DQuat: Any + Send + Sync, f64: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.

fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type.

impl Mul<DVec3> for DQuat

fn mul(self, rhs: DVec3) -> <DQuat as Mul<DVec3>>::Output

Multiplies a quaternion and a 3D vector, returning the rotated vector.

Panics

Will panic if self is not normalized when glam_assert is enabled.

type Output = DVec3

The resulting type after applying the * operator.

impl Mul<f64> for DQuat

fn mul(self, rhs: f64) -> DQuat

Multiplies a quaternion by a scalar value.

The product is not guaranteed to be normalized.

type Output = DQuat

The resulting type after applying the * operator.

impl Mul for DQuat

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

Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.

Note that due to floating point rounding the result may not be perfectly normalized.

Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

type Output = DQuat

The resulting type after applying the * operator.

impl MulAssign for DQuat

fn mul_assign(&mut self, rhs: DQuat)

Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.

Note that due to floating point rounding the result may not be perfectly normalized.

Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

impl Neg for DQuat

type Output = DQuat

The resulting type after applying the - operator.

fn neg(self) -> DQuat

Performs the unary - operation.

impl PartialEq for DQuat

fn eq(&self, rhs: &DQuat) -> 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 PartialReflect for DQuat

where DQuat: Any + Send + Sync, f64: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

Returns the TypeInfo of the type represented by this value.

fn clone_value(&self) -> Box<dyn PartialReflect>

Clones the value as a Reflect trait object.

fn try_apply( &mut self, value: &(dyn PartialReflect + 'static), ) -> Result<(), ApplyError>

Tries to apply a reflected value to this value.

fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type.

fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type.

fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type.

fn reflect_owned(self: Box<DQuat>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type.

fn try_into_reflect( self: Box<DQuat>, ) -> Result<Box<dyn Reflect>, Box<dyn PartialReflect>>

Attempts to cast this type to a boxed, fully-reflected value.

fn try_as_reflect(&self) -> Option<&(dyn Reflect + 'static)>

Attempts to cast this type to a fully-reflected value.

fn try_as_reflect_mut(&mut self) -> Option<&mut (dyn Reflect + 'static)>

Attempts to cast this type to a mutable, fully-reflected value.

fn into_partial_reflect(self: Box<DQuat>) -> Box<dyn PartialReflect>

Casts this type to a boxed, reflected value.

fn as_partial_reflect(&self) -> &(dyn PartialReflect + 'static)

Casts this type to a reflected value.

fn as_partial_reflect_mut(&mut self) -> &mut (dyn PartialReflect + 'static)

Casts this type to a mutable, reflected value.

fn reflect_partial_eq( &self, value: &(dyn PartialReflect + 'static), ) -> Option<bool>

Returns a “partial equality” comparison result.

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

Debug formatter for the value.

fn apply(&mut self, value: &(dyn PartialReflect + 'static))

Applies a reflected value to this value.

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type).

fn serializable(&self) -> Option<Serializable<'_>>

Returns a serializable version of the value.

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl<'a> Product<&'a DQuat> for DQuat

fn product<I>(iter: I) -> DQuat

where I: Iterator<Item = &'a DQuat>,

Takes an iterator and generates Self from the elements by multiplying the items.

impl Product for DQuat

fn product<I>(iter: I) -> DQuat

where I: Iterator<Item = DQuat>,

Takes an iterator and generates Self from the elements by multiplying the items.

impl Reflect for DQuat

where DQuat: Any + Send + Sync, f64: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn into_any(self: Box<DQuat>) -> Box<dyn Any>

Returns the value as a Box<dyn Any>.

fn as_any(&self) -> &(dyn Any + 'static)

Returns the value as a &dyn Any.

fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Returns the value as a &mut dyn Any.

fn into_reflect(self: Box<DQuat>) -> Box<dyn Reflect>

Casts this type to a boxed, fully-reflected value.

fn as_reflect(&self) -> &(dyn Reflect + 'static)

Casts this type to a fully-reflected value.

fn as_reflect_mut(&mut self) -> &mut (dyn Reflect + 'static)

Casts this type to a mutable, fully-reflected value.

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value.

impl Serialize for DQuat

Serialize as a sequence of 4 values.

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 Struct for DQuat

where DQuat: Any + Send + Sync, f64: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn field(&self, name: &str) -> Option<&(dyn PartialReflect + 'static)>

Returns a reference to the value of the field named name as a &dyn PartialReflect.

fn field_mut( &mut self, name: &str, ) -> Option<&mut (dyn PartialReflect + 'static)>

Returns a mutable reference to the value of the field named name as a &mut dyn PartialReflect.

fn field_at(&self, index: usize) -> Option<&(dyn PartialReflect + 'static)>

Returns a reference to the value of the field with index index as a &dyn PartialReflect.

fn field_at_mut( &mut self, index: usize, ) -> Option<&mut (dyn PartialReflect + 'static)>

Returns a mutable reference to the value of the field with index index as a &mut dyn PartialReflect.

fn name_at(&self, index: usize) -> Option<&str>

Returns the name of the field with index index.

fn field_len(&self) -> usize

Returns the number of fields in the struct.

fn iter_fields(&self) -> FieldIter<'_>

Returns an iterator over the values of the reflectable fields for this struct.

fn clone_dynamic(&self) -> DynamicStruct

Clones the struct into a DynamicStruct.

fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

Will return None if TypeInfo is not available.

impl Sub for DQuat

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

Subtracts the rhs quaternion from self.

The difference is not guaranteed to be normalized.

type Output = DQuat

The resulting type after applying the - operator.

impl<'a> Sum<&'a DQuat> for DQuat

fn sum<I>(iter: I) -> DQuat

where I: Iterator<Item = &'a DQuat>,

Takes an iterator and generates Self from the elements by “summing up” the items.

impl Sum for DQuat

fn sum<I>(iter: I) -> DQuat

where I: Iterator<Item = DQuat>,

Takes an iterator and generates Self from the elements by “summing up” the items.

impl TypePath for DQuat

where DQuat: Any + Send + Sync,

fn type_path() -> &'static str

Returns the fully qualified path of the underlying type.

fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type.

fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous.

fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous.

fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous.

impl Typed for DQuat

where DQuat: Any + Send + Sync, f64: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Zeroable for DQuat

fn zeroed() -> Self

Calls zeroed.

impl Copy for DQuat

impl Pod for DQuat