Struct DualQuaternion

#[repr(C)]
pub struct DualQuaternion { /* private fields */ }

A dual-quaternion represents both translations and rotations in a combined format.

Implementations

impl DualQuaternion

pub const fn new(real: Quaternion, dual: Quaternion) -> Self

Creates a new dual quaternion from a real and dual quaternion.

Parameters

• real - The real part of the dual quaternion.
• dual - The dual part of the dual quaternion.

pub const fn identity() -> Self

Constructs a new dual quaternion with the identity rotation and no translation.

pub const fn from_rotation(rotation: Quaternion) -> Self

Constructs this dual quaternion from a rotation quaternion.

Parameters

• rotation - The rotation quaternion to construct the dual quaternion from.

pub fn from_yaw<A: Angle>(angle: A) -> Self

Constructs this dual quaternion from the yaw angle

Parameters

• angle - The yaw angle.

pub fn from_pitch<A: Angle>(angle: A) -> Self

Constructs this dual quaternion from the pitch angle

Parameters

• angle - The pitch angle.

pub fn from_roll<A: Angle>(angle: A) -> Self

Constructs this dual quaternion from the roll angle

Parameters

• angle - The roll angle.

pub fn from_translation(translation: &Vec3) -> Self

Constructs this dual quaternion from a translation vector.

Parameters

• translation - The translation vector to construct the dual quaternion from.

impl DualQuaternion

pub fn to_matrix4(&self) -> Matrix4

Returns the transform matrix representation of the quaternion.

impl DualQuaternion

pub const fn real(&self) -> &Quaternion

Returns the real part of the dual quaternion.

pub const fn dual(&self) -> &Quaternion

Returns the dual part of the dual quaternion.

pub fn translation(&self) -> Vector3

Returns the translation component in local-space.

pub fn world_translation(&self) -> Vector3

Returns the translation of the dual quaternion in world-space.

pub const fn rotation(&self) -> &Quaternion

Returns the rotation component of the dual quaternion.

pub fn normalized(&self) -> DualQuaternion

Returns a normalized DualQuaternion.

pub fn conjugate(&self) -> DualQuaternion

Returns the conjugate of the dual quaternion.

impl DualQuaternion

pub fn normalize(&mut self)

Normalizes the dual quaternion.

pub fn translate_world(&mut self, translation: &Vec3)

Translates the dual quaternion by the given vector in world space.

Parameters

• translation - The translation vector to apply to the dual quaternion.

pub fn translate(&mut self, translation: &Vec3)

Translates the dual quaternion by the given vector in local space.

This will translate relative to the orientation of the dual quaternion.

Parameters

• translation - The translation vector to apply to the dual quaternion.

pub fn rotate(&mut self, rotation: &Quaternion)

Rotates the dual quaternion by the given angle.

pub fn rotate_yaw<A: Angle>(&mut self, angle: A)

Rotates the dual quaternion by the given angle around the x-axis.

pub fn rotate_pitch<A: Angle>(&mut self, angle: A)

Rotates the dual quaternion by the given angle around the y-axis.

pub fn rotate_roll<A: Angle>(&mut self, angle: A)

Rotates the dual quaternion by the given angle around the z-axis.

Trait Implementations

impl Add for DualQuaternion

type Output = DualQuaternion

The resulting type after applying the + operator.

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

Performs the + operation.

impl Clone for DualQuaternion

fn clone(&self) -> DualQuaternion

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for DualQuaternion

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

Formats the value using the given formatter.

impl Mul for DualQuaternion

type Output = DualQuaternion

The resulting type after applying the * operator.

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

Performs the * operation.

impl PartialEq for DualQuaternion

fn eq(&self, other: &DualQuaternion) -> 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 Copy for DualQuaternion

impl StructuralPartialEq for DualQuaternion