Crates.io | num-quaternion |
lib.rs | num-quaternion |
version | 0.2.14 |
source | src |
created_at | 2024-05-24 22:52:16.344274 |
updated_at | 2024-07-12 23:23:57.953228 |
description | Quaternion numbers implementation for Rust |
homepage | https://github.com/ralphtandetzky/num-quaternion |
repository | https://github.com/ralphtandetzky/num-quaternion |
max_upload_size | |
id | 1251607 |
size | 169,121 |
Quaternions for Rust.
num-quaternion
is a Rust library designed for robust, efficient and easy to
use quaternion arithmetic and operations.
Quaternions are used extensively in
computer graphics, robotics, and physics for representing rotations and
orientations.
Add num-quaternion
to your Cargo.toml
:
[dependencies]
num-quaternion = "0.2.15"
For #![no_std]
environments, disable the default std
feature and enable
libm
to benefit from the advanced mathematical functions of num-quaternion
:
[dependencies]
num-quaternion = { version = "0.2.15", default-features = false, features = ["libm"] }
Then, include it in your crate:
use num_quaternion::{Quaternion, UnitQuaternion, Q32, Q64, UQ32, UQ64};
// Create a quaternion with explicit components
let q1 = Q32::new(1.0, 2.0, 3.0, 4.0); // = 1 + 2i + 3j + 4k
// Create a quaternion using shorthand notation
let q2 = 1.0 + Q32::I; // = 1 + i
let q3 = q1 + q2; // Quaternion addition
let q4 = q1 * q2; // Quaternion multiplication
let q_conj = q1.conj(); // Quaternion conjugation
let uq1 = q1.normalize().expect("Normalization failed"); // Normalize quaternion
let uq2 = UQ32::I; // Unit quaternion representing the imaginary unit
// From Euler angles
let (roll, pitch, yaw) = (1.5, 1.0, 3.0);
let uq = UnitQuaternion::from_euler_angles(roll, pitch, yaw);
// To Euler angles
let euler_angles = uq.to_euler_angles();
// From rotation vector
let rotation_vector = [1.0, 0.0, 0.0]; // x axis rotation, 1 radian
let uq = UnitQuaternion::from_rotation_vector(&rotation_vector);
// To rotation vector
let rotation_vector = uq.to_rotation_vector();
let uq1 = UQ32::ONE; // Create a unit quaternion
let uq2 = UQ32::I; // Create another unit quaternion
let interpolated = uq1.slerp(&uq2, 0.3); // Perform SLERP with t=0.3
Comprehensive documentation with examples can be found on docs.rs.
Detailed release notes are provided in RELEASES.md.
Contributions are welcome! Please fork the repository and submit pull requests. By contributing, you agree that your contributions will be dual-licensed under the Apache-2.0 and MIT licenses.
If you have any questions or need help, feel free to open an issue on GitHub.
Further instructions can be found in the CONTRIBUTING.md guidelines.
Licensed under either of
at your option.
Special thanks to @cuviper for the
num-complex
crate which served
as a model for this crate. num-quaternion
is designed to integrate seamlessly
with the rust-num
family of crates.