76 lines
2.5 KiB
Rust
76 lines
2.5 KiB
Rust
use na::UnitQuaternion;
|
|
|
|
use crate::aliases::{Qua, TMat4, TVec, TVec3};
|
|
use crate::RealNumber;
|
|
|
|
/// Euler angles of the quaternion `q` as (pitch, yaw, roll).
|
|
pub fn quat_euler_angles<T: RealNumber>(x: &Qua<T>) -> TVec3<T> {
|
|
let q = UnitQuaternion::new_unchecked(*x);
|
|
let a = q.euler_angles();
|
|
TVec3::new(a.2, a.1, a.0)
|
|
}
|
|
|
|
/// Component-wise `>` comparison between two quaternions.
|
|
pub fn quat_greater_than<T: RealNumber>(x: &Qua<T>, y: &Qua<T>) -> TVec<bool, 4> {
|
|
crate::greater_than(&x.coords, &y.coords)
|
|
}
|
|
|
|
/// Component-wise `>=` comparison between two quaternions.
|
|
pub fn quat_greater_than_equal<T: RealNumber>(x: &Qua<T>, y: &Qua<T>) -> TVec<bool, 4> {
|
|
crate::greater_than_equal(&x.coords, &y.coords)
|
|
}
|
|
|
|
/// Component-wise `<` comparison between two quaternions.
|
|
pub fn quat_less_than<T: RealNumber>(x: &Qua<T>, y: &Qua<T>) -> TVec<bool, 4> {
|
|
crate::less_than(&x.coords, &y.coords)
|
|
}
|
|
|
|
/// Component-wise `<=` comparison between two quaternions.
|
|
pub fn quat_less_than_equal<T: RealNumber>(x: &Qua<T>, y: &Qua<T>) -> TVec<bool, 4> {
|
|
crate::less_than_equal(&x.coords, &y.coords)
|
|
}
|
|
|
|
/// Convert a quaternion to a rotation matrix in homogeneous coordinates.
|
|
pub fn quat_cast<T: RealNumber>(x: &Qua<T>) -> TMat4<T> {
|
|
crate::quat_to_mat4(x)
|
|
}
|
|
|
|
/// Computes a right hand look-at quaternion
|
|
///
|
|
/// # Parameters
|
|
///
|
|
/// * `direction` - Direction vector point at where to look
|
|
/// * `up` - Object up vector
|
|
///
|
|
pub fn quat_look_at<T: RealNumber>(direction: &TVec3<T>, up: &TVec3<T>) -> Qua<T> {
|
|
quat_look_at_rh(direction, up)
|
|
}
|
|
|
|
/// Computes a left-handed look-at quaternion (equivalent to a left-handed look-at matrix).
|
|
pub fn quat_look_at_lh<T: RealNumber>(direction: &TVec3<T>, up: &TVec3<T>) -> Qua<T> {
|
|
UnitQuaternion::look_at_lh(direction, up).into_inner()
|
|
}
|
|
|
|
/// Computes a right-handed look-at quaternion (equivalent to a right-handed look-at matrix).
|
|
pub fn quat_look_at_rh<T: RealNumber>(direction: &TVec3<T>, up: &TVec3<T>) -> Qua<T> {
|
|
UnitQuaternion::look_at_rh(direction, up).into_inner()
|
|
}
|
|
|
|
/// The "roll" Euler angle of the quaternion `x` assumed to be normalized.
|
|
pub fn quat_roll<T: RealNumber>(x: &Qua<T>) -> T {
|
|
// TODO: optimize this.
|
|
quat_euler_angles(x).z
|
|
}
|
|
|
|
/// The "yaw" Euler angle of the quaternion `x` assumed to be normalized.
|
|
pub fn quat_yaw<T: RealNumber>(x: &Qua<T>) -> T {
|
|
// TODO: optimize this.
|
|
quat_euler_angles(x).y
|
|
}
|
|
|
|
/// The "pitch" Euler angle of the quaternion `x` assumed to be normalized.
|
|
pub fn quat_pitch<T: RealNumber>(x: &Qua<T>) -> T {
|
|
// TODO: optimize this.
|
|
quat_euler_angles(x).x
|
|
}
|