Add a quat_ perfix to all quaternion functions.

nalgebra-glm/README

@@ -7,4 +7,5 @@
 * Function overload: the vec version is suffixed by _vec
 * Function overload: the methods taking an epsilon as suffixed by _eps
 * L1Norm and L2Norm between two vectors have been renamed: l1_distance, l2_distance
-* Matrix columnwise comparisons suffixed by _columns, e.g., `equal` -> `equal_columns`
+* Matrix columnwise comparisons suffixed by _columns, e.g., `equal` -> `equal_columns`
+* All quaternion functions are prefixed by quat_

nalgebra-glm/src/ext/mod.rs

@@ -8,6 +8,11 @@ pub use self::scalar_common::*;
 pub use self::scalar_constants::*;
 pub use self::vector_common::*;
 pub use self::vector_relational::*;
+pub use self::quaternion_common::*;
+pub use self::quaternion_geometric::*;
+pub use self::quaternion_relational::*;
+pub use self::quaternion_transform::*;
+pub use self::quaternion_trigonometric::*;
 
 
 mod matrix_clip_space;
@@ -17,4 +22,9 @@ mod matrix_transform;
 mod scalar_common;
 mod scalar_constants;
 mod vector_common;
-mod vector_relational;
+mod vector_relational;
+mod quaternion_common;
+mod quaternion_geometric;
+mod quaternion_relational;
+mod quaternion_transform;
+mod quaternion_trigonometric;

nalgebra-glm/src/ext/quaternion_common.rs

@@ -3,33 +3,33 @@ use na::{self, Real, Unit};
 use aliases::Qua;
 
 /// The conjugate of `q`.
-pub fn conjugate<N: Real>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_conjugate<N: Real>(q: &Qua<N>) -> Qua<N> {
     q.conjugate()
 }
 
 /// The inverse of `q`.
-pub fn inverse<N: Real>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_inverse<N: Real>(q: &Qua<N>) -> Qua<N> {
     q.try_inverse().unwrap_or(na::zero())
 }
 
-//pub fn isinf<N: Real>(x: &Qua<N>) -> Vec<bool, U4> {
+//pub fn quat_isinf<N: Real>(x: &Qua<N>) -> Vec<bool, U4> {
 //    x.coords.map(|e| e.is_inf())
 //}
 
-//pub fn isnan<N: Real>(x: &Qua<N>) -> Vec<bool, U4> {
+//pub fn quat_isnan<N: Real>(x: &Qua<N>) -> Vec<bool, U4> {
 //    x.coords.map(|e| e.is_nan())
 //}
 
 /// Interpolate linearly between `x` and `y`.
-pub fn lerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_lerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     x.lerp(y, a)
 }
 
-//pub fn mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+//pub fn quat_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
 //    x * (N::one() - a) + y * a
 //}
 
 /// Interpolate spherically between `x` and `y`.
-pub fn slerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_slerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_normalize(*x).slerp(&Unit::new_normalize(*y), a).unwrap()
 }

nalgebra-glm/src/ext/quaternion_geometric.rs

@@ -3,26 +3,26 @@ use na::Real;
 use aliases::Qua;
 
 /// Multiplies two quaternions.
-pub fn cross<N: Real>(q1: &Qua<N>, q2: &Qua<N>) -> Qua<N> {
+pub fn quat_cross<N: Real>(q1: &Qua<N>, q2: &Qua<N>) -> Qua<N> {
     q1 * q2
 }
 
 /// The scalar product of two quaternions.
-pub fn dot<N: Real>(x: &Qua<N>, y: &Qua<N>) -> N {
+pub fn quat_dot<N: Real>(x: &Qua<N>, y: &Qua<N>) -> N {
     x.dot(y)
 }
 
 /// The magnitude of the quaternion `q`.
-pub fn length<N: Real>(q: &Qua<N>) -> N {
+pub fn quat_length<N: Real>(q: &Qua<N>) -> N {
     q.norm()
 }
 
 /// The magnitude of the quaternion `q`.
-pub fn magnitude<N: Real>(q: &Qua<N>) -> N {
+pub fn quat_magnitude<N: Real>(q: &Qua<N>) -> N {
     q.norm()
 }
 
 /// Normalizes the quaternion `q`.
-pub fn normalize<N: Real>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_normalize<N: Real>(q: &Qua<N>) -> Qua<N> {
     q.normalize()
 }

nalgebra-glm/src/ext/quaternion_relational.rs

@@ -4,21 +4,21 @@ use na::{Real, U4};
 use aliases::{Qua, Vec};
 
 /// Component-wise equality comparison between two quaternions.
-pub fn equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+pub fn quat_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::equal(&x.coords, &y.coords)
 }
 
 /// Component-wise approximate equality comparison between two quaternions.
-pub fn equal_eps<N: Real>(x: &Qua<N>, y: &Qua<N>, epsilon: N) -> Vec<bool, U4> {
+pub fn quat_equal_eps<N: Real>(x: &Qua<N>, y: &Qua<N>, epsilon: N) -> Vec<bool, U4> {
     ::equal_eps(&x.coords, &y.coords, epsilon)
 }
 
 /// Component-wise non-equality comparison between two quaternions.
-pub fn not_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+pub fn quat_not_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::not_equal(&x.coords, &y.coords)
 }
 
 /// Component-wise approximate non-equality comparison between two quaternions.
-pub fn not_equal_eps<N: Real>(x: &Qua<N>, y: &Qua<N>, epsilon: N) -> Vec<bool, U4> {
+pub fn quat_not_equal_eps<N: Real>(x: &Qua<N>, y: &Qua<N>, epsilon: N) -> Vec<bool, U4> {
     ::not_equal_eps(&x.coords, &y.coords, epsilon)
 }

nalgebra-glm/src/ext/quaternion_transform.rs

@@ -3,25 +3,25 @@ use na::{Real, U3, UnitQuaternion, Unit};
 use aliases::{Vec, Qua};
 
 /// Computes the quaternion exponential.
-pub fn exp<N: Real>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_exp<N: Real>(q: &Qua<N>) -> Qua<N> {
     q.exp()
 }
 
 /// Computes the quaternion logarithm.
-pub fn log<N: Real>(q: &Qua<N>) -> Qua<N> {
+pub fn quat_log<N: Real>(q: &Qua<N>) -> Qua<N> {
     q.ln()
 }
 
 /// Raises the quaternion `q` to the power `y`.
-pub fn pow<N: Real>(q: &Qua<N>, y: N) -> Qua<N> {
+pub fn quat_pow<N: Real>(q: &Qua<N>, y: N) -> Qua<N> {
     q.powf(y)
 }
 
 /// Builds a quaternion from an axis and an angle, and right-multiply it to the quaternion `q`.
-pub fn rotate<N: Real>(q: &Qua<N>, angle: N, axis: &Vec<N, U3>) -> Qua<N> {
+pub fn quat_rotate<N: Real>(q: &Qua<N>, angle: N, axis: &Vec<N, U3>) -> Qua<N> {
     q * UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).unwrap()
 }
 
-//pub fn sqrt<N: Real>(q: &Qua<N>) -> Qua<N> {
+//pub fn quat_sqrt<N: Real>(q: &Qua<N>) -> Qua<N> {
 //    unimplemented!()
 //}

nalgebra-glm/src/ext/quaternion_trigonometric.rs

@@ -3,17 +3,17 @@ use na::{Real, U3, Unit, UnitQuaternion, Vector3};
 use aliases::{Vec, Qua};
 
 /// The rotation angle of this quaternion assumed to be normalized.
-pub fn angle<N: Real>(x: &Qua<N>) -> N {
+pub fn quat_angle<N: Real>(x: &Qua<N>) -> N {
     UnitQuaternion::from_quaternion(*x).angle()
 }
 
 /// Creates a quaternion from an axis and an angle.
-pub fn angle_axis<N: Real>(angle: N, axis: &Vec<N, U3>) -> Qua<N> {
+pub fn quat_angle_axis<N: Real>(angle: N, axis: &Vec<N, U3>) -> Qua<N> {
     UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).unwrap()
 }
 
 /// The rotation axis of a quaternion assumed to be normalized.
-pub fn axis<N: Real>(x: &Qua<N>) -> Vec<N, U3> {
+pub fn quat_axis<N: Real>(x: &Qua<N>) -> Vec<N, U3> {
     if let Some(a) = UnitQuaternion::from_quaternion(*x).axis() {
         a.unwrap()
     } else {

nalgebra-glm/src/gtc/mod.rs

@@ -11,6 +11,7 @@ pub use self::matrix_inverse::*;
 //pub use self::round::*;
 pub use self::type_ptr::*;
 //pub use self::ulp::*;
+pub use self::quaternion::*;
 
 
 //mod bitfield;
@@ -23,4 +24,5 @@ mod matrix_inverse;
 //mod reciprocal;
 //mod round;
 mod type_ptr;
-//mod ulp;
+//mod ulp;
+mod quaternion;

nalgebra-glm/src/gtc/quaternion.rs

@@ -4,41 +4,41 @@ use aliases::{Qua, Vec, Mat};
 
 
 /// Euler angles of the quaternion `q` as (pitch, yaw, roll).
-pub fn euler_angles<N: Real>(x: &Qua<N>) -> Vec<N, U3> {
+pub fn quat_euler_angles<N: Real>(x: &Qua<N>) -> Vec<N, U3> {
     let q = UnitQuaternion::new_unchecked(*x);
     let a = q.to_euler_angles();
     Vector3::new(a.2, a.1, a.0)
 }
 
 /// Component-wise `>` comparison between two quaternions.
-pub fn greater_than<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+pub fn quat_greater_than<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::greater_than(&x.coords, &y.coords)
 }
 
 /// Component-wise `>=` comparison between two quaternions.
-pub fn greater_than_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+pub fn quat_greater_than_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::greater_than_equal(&x.coords, &y.coords)
 }
 
 /// Component-wise `<` comparison between two quaternions.
-pub fn less_than<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+pub fn quat_less_than<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::less_than(&x.coords, &y.coords)
 }
 
 /// Component-wise `<=` comparison between two quaternions.
-pub fn less_than_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+pub fn quat_less_than_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::less_than_equal(&x.coords, &y.coords)
 }
 
 
 /// Convert a quaternion to a rotation matrix.
-pub fn mat3_cast<N: Real>(x: Qua<N>) -> Mat<N, U3, U3> {
+pub fn quat_mat3_cast<N: Real>(x: Qua<N>) -> Mat<N, U3, U3> {
     let q = UnitQuaternion::new_unchecked(x);
     q.to_rotation_matrix().unwrap()
 }
 
 /// Convert a quaternion to a rotation matrix in homogeneous coordinates.
-pub fn mat4_cast<N: Real>(x: Qua<N>) -> Mat<N, U4, U4> {
+pub fn quat_mat4_cast<N: Real>(x: Qua<N>) -> Mat<N, U4, U4> {
     let q = UnitQuaternion::new_unchecked(x);
     q.to_homogeneous()
 }
@@ -70,19 +70,19 @@ pub fn quat_look_at_rh<N: Real>(direction: &Vec<N, U3>, up: &Vec<N, U3>) -> Qua<
 }
 
 /// The "roll" euler angle of the quaternion `x` assumed to be normalized.
-pub fn roll<N: Real>(x: &Qua<N>) -> N {
+pub fn quat_roll<N: Real>(x: &Qua<N>) -> N {
     // FIXME: optimize this.
-    euler_angles(x).z
+    quat_euler_angles(x).z
 }
 
 /// The "yaw" euler angle of the quaternion `x` assumed to be normalized.
-pub fn yaw<N: Real>(x: &Qua<N>) -> N {
+pub fn quat_yaw<N: Real>(x: &Qua<N>) -> N {
     // FIXME: optimize this.
-    euler_angles(x).y
+    quat_euler_angles(x).y
 }
 
 /// The "pitch" euler angle of the quaternion `x` assumed to be normalized.
-pub fn pitch<N: Real>(x: &Qua<N>) -> N {
+pub fn quat_pitch<N: Real>(x: &Qua<N>) -> N {
     // FIXME: optimize this.
-    euler_angles(x).x
+    quat_euler_angles(x).x
 }

nalgebra-glm/src/gtx/mod.rs

@@ -17,6 +17,7 @@ pub use self::transform2::*;
 pub use self::transform2d::*;
 pub use self::vector_angle::*;
 pub use self::vector_query::*;
+pub use self::quaternion::*;
 
 
 
@@ -35,4 +36,5 @@ mod transform;
 mod transform2;
 mod transform2d;
 mod vector_angle;
-mod vector_query;
+mod vector_query;
+mod quaternion;

nalgebra-glm/src/gtx/quaternion.rs

@@ -3,77 +3,77 @@ use na::{Real, Unit, Rotation3, Vector4, UnitQuaternion, U3, U4};
 use aliases::{Qua, Vec, Mat};
 
 /// Rotate the vector `v` by the quaternion `q` assumed to be normalized.
-pub fn cross<N: Real>(q: &Qua<N>, v: &Vec<N, U3>) -> Vec<N, U3> {
+pub fn quat_cross<N: Real>(q: &Qua<N>, v: &Vec<N, U3>) -> Vec<N, U3> {
     UnitQuaternion::new_unchecked(*q) * v
 }
 
 /// Rotate the vector `v` by the inverse of the quaternion `q` assumed to be normalized.
-pub fn cross2<N: Real>(v: &Vec<N, U3>, q: &Qua<N>) -> Vec<N, U3> {
+pub fn quat_cross2<N: Real>(v: &Vec<N, U3>, q: &Qua<N>) -> Vec<N, U3> {
     UnitQuaternion::new_unchecked(*q).inverse() * v
 }
 
 /// The quaternion `w` component.
-pub fn extract_real_component<N: Real>(q: &Qua<N>) -> N {
+pub fn quat_extract_real_component<N: Real>(q: &Qua<N>) -> N {
     q.w
 }
 
 /// Normalized linear interpolation between two quaternions.
-pub fn fast_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_fast_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_unchecked(*x).nlerp(&Unit::new_unchecked(*y), a).unwrap()
 }
 
-//pub fn intermediate<N: Real>(prev: &Qua<N>, curr: &Qua<N>, next: &Qua<N>) -> Qua<N> {
+//pub fn quat_intermediate<N: Real>(prev: &Qua<N>, curr: &Qua<N>, next: &Qua<N>) -> Qua<N> {
 //    unimplemented!()
 //}
 
 /// The squared magnitude of a quaternion `q`.
-pub fn length2<N: Real>(q: &Qua<N>) -> N {
+pub fn quat_length2<N: Real>(q: &Qua<N>) -> N {
     q.norm_squared()
 }
 
 /// The squared magnitude of a quaternion `q`.
-pub fn magnitude2<N: Real>(q: &Qua<N>) -> N {
+pub fn quat_magnitude2<N: Real>(q: &Qua<N>) -> N {
     q.norm_squared()
 }
 
 /// The quaternion representing the identity rotation.
-pub fn quat_identity<N: Real>() -> Qua<N> {
+pub fn quat_quat_identity<N: Real>() -> Qua<N> {
     UnitQuaternion::identity().unwrap()
 }
 
 /// Rotates a vector by a quaternion assumed to be normalized.
-pub fn rotate<N: Real>(q: &Qua<N>, v: &Vec<N, U3>) -> Vec<N, U3> {
+pub fn quat_rotate<N: Real>(q: &Qua<N>, v: &Vec<N, U3>) -> Vec<N, U3> {
     UnitQuaternion::new_unchecked(*q) * v
 }
 
 /// Rotates a vector in homogeneous coordinates by a quaternion assumed to be normalized.
-pub fn rotate2<N: Real>(q: &Qua<N>, v: &Vec<N, U4>) -> Vec<N, U4> {
+pub fn quat_rotate2<N: Real>(q: &Qua<N>, v: &Vec<N, U4>) -> Vec<N, U4> {
 //    UnitQuaternion::new_unchecked(*q) * v
     let rotated = Unit::new_unchecked(*q) * v.fixed_rows::<U3>(0);
     Vector4::new(rotated.x, rotated.y, rotated.z, v.w)
 }
 
 /// The rotation required to align `orig` to `dest`.
-pub fn rotation<N: Real>(orig: &Vec<N, U3>, dest: &Vec<N, U3>) -> Qua<N> {
+pub fn quat_rotation<N: Real>(orig: &Vec<N, U3>, dest: &Vec<N, U3>) -> Qua<N> {
     UnitQuaternion::rotation_between(orig, dest).unwrap_or(UnitQuaternion::identity()).unwrap()
 }
 
 /// The spherical linear interpolation between two quaternions.
-pub fn short_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+pub fn quat_short_mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
     Unit::new_normalize(*x).slerp(&Unit::new_normalize(*y), a).unwrap()
 }
 
-//pub fn squad<N: Real>(q1: &Qua<N>, q2: &Qua<N>, s1: &Qua<N>, s2: &Qua<N>, h: N) -> Qua<N> {
+//pub fn quat_squad<N: Real>(q1: &Qua<N>, q2: &Qua<N>, s1: &Qua<N>, s2: &Qua<N>, h: N) -> Qua<N> {
 //    unimplemented!()
 //}
 
 /// Converts a quaternion to a rotation matrix.
-pub fn to_mat3<N: Real>(x: &Qua<N>) -> Mat<N, U3, U3> {
+pub fn quat_to_mat3<N: Real>(x: &Qua<N>) -> Mat<N, U3, U3> {
     UnitQuaternion::new_unchecked(*x).to_rotation_matrix().unwrap()
 }
 
 /// Converts a quaternion to a rotation matrix in homogenous coordinates.
-pub fn to_mat4<N: Real>(x: &Qua<N>) -> Mat<N, U4, U4> {
+pub fn quat_to_mat4<N: Real>(x: &Qua<N>) -> Mat<N, U4, U4> {
     UnitQuaternion::new_unchecked(*x).to_homogeneous()
 }
 

nalgebra-glm/src/gtx/rotate_normalized_axis.rs

@@ -1,6 +1,6 @@
-use na::{Real, Rotation3, Unit, U3, U4};
+use na::{Real, Rotation3, Unit, UnitQuaternion, U3, U4};
 
-use aliases::{Vec, Mat};
+use aliases::{Vec, Mat, Qua};
 
 /// Builds a rotation 4 * 4 matrix created from a normalized axis and an angle.
 ///
@@ -10,4 +10,14 @@ use aliases::{Vec, Mat};
 ///     * `axis` - Rotation axis, must be normalized.
 pub fn rotate_normalized_axis<N: Real>(m: &Mat<N, U4, U4>, angle: N, axis: &Vec<N, U3>) -> Mat<N, U4, U4> {
     m * Rotation3::from_axis_angle(&Unit::new_unchecked(*axis), angle).to_homogeneous()
+}
+
+/// Rotates a quaternion from a vector of 3 components normalized axis and an angle.
+///
+/// # Parameters
+///     * `q` - Source orientation
+///     * `angle` - Angle expressed in radians.
+///     * `axis` - Normalized axis of the rotation, must be normalized.
+pub fn quat_rotate_normalized_axis<N: Real>(q: &Qua<N>, angle: N, axis: &Vec<N, U3>) -> Qua<N> {
+    q * UnitQuaternion::from_axis_angle(&Unit::new_unchecked(*axis), angle).unwrap()
 }

nalgebra-glm/src/lib.rs

@@ -37,5 +37,4 @@ mod exponential;
 
 pub mod ext;
 pub mod gtc;
-pub mod gtx;
+pub mod gtx;
-pub mod quat;

nalgebra-glm/src/quat/gtx_rotate_normalized_axis.rs

@@ -1,13 +0,0 @@
-use na::{Real, Unit, UnitQuaternion, U3};
-
-use aliases::{Vec, Qua};
-
-/// Rotates a quaternion from a vector of 3 components normalized axis and an angle.
-///
-/// # Parameters
-///     * `q` - Source orientation
-///     * `angle` - Angle expressed in radians.
-///     * `axis` - Normalized axis of the rotation, must be normalized.
-pub fn rotate_normalized_axis<N: Real>(q: &Qua<N>, angle: N, axis: &Vec<N, U3>) -> Qua<N> {
-    q * UnitQuaternion::from_axis_angle(&Unit::new_unchecked(*axis), angle).unwrap()
-}

nalgebra-glm/src/quat/mod.rs

@@ -1,19 +0,0 @@
-//! Definition and operations on quaternions.
-
-pub use self::gtc_quaternion::*;
-pub use self::gtx_quaternion::*;
-pub use self::gtx_rotate_normalized_axis::*;
-pub use self::quaternion_common::*;
-pub use self::quaternion_geometric::*;
-pub use self::quaternion_relational::*;
-pub use self::quaternion_transform::*;
-pub use self::quaternion_trigonometric::*;
-
-mod gtc_quaternion;
-mod gtx_quaternion;
-mod gtx_rotate_normalized_axis;
-mod quaternion_common;
-mod quaternion_geometric;
-mod quaternion_relational;
-mod quaternion_transform;
-mod quaternion_trigonometric;