Struct bevy::math::f32::Quat

pub struct Quat(/* private fields */);

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.

SIMD vector types are used for storage on supported platforms.

This type is 16 byte aligned.

Implementations

impl Quat

pub const IDENTITY: Quat = _

The identity quaternion. Corresponds to no rotation.

pub const NAN: Quat = _

All NANs.

pub const fn from_xyzw(x: f32, y: f32, z: f32, w: f32) -> Quat

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.

Examples found in repository

examples/3d/parallax_mapping.rs (line 165)

const CAMERA_POSITIONS: &[Transform] = &[
    Transform {
        translation: Vec3::new(1.5, 1.5, 1.5),
        rotation: Quat::from_xyzw(-0.279, 0.364, 0.115, 0.880),
        scale: Vec3::ONE,
    },
    Transform {
        translation: Vec3::new(2.4, 0.0, 0.2),
        rotation: Quat::from_xyzw(0.094, 0.676, 0.116, 0.721),
        scale: Vec3::ONE,
    },
    Transform {
        translation: Vec3::new(2.4, 2.6, -4.3),
        rotation: Quat::from_xyzw(0.170, 0.908, 0.308, 0.225),
        scale: Vec3::ONE,
    },
    Transform {
        translation: Vec3::new(-1.0, 0.8, -1.2),
        rotation: Quat::from_xyzw(-0.004, 0.909, 0.247, -0.335),
        scale: Vec3::ONE,
    },
];

pub const fn from_array(a: [f32; 4]) -> Quat

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: Vec4) -> Quat

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: &[f32]) -> Quat

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 [f32])

Writes the quaternion to an unaligned slice.

Panics

Panics if slice length is less than 4.

pub fn from_axis_angle(axis: Vec3, angle: f32) -> Quat

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.

Examples found in repository

examples/ui/overflow_debug.rs (line 71)

    fn update(&self, t: f32, transform: &mut Transform) {
        transform.rotation = Quat::from_axis_angle(Vec3::Z, ((t * TAU).cos() * 45.0).to_radians());
    }

examples/gizmos/axes.rs (line 199)

fn random_rotation(rng: &mut impl Rng) -> Quat {
    let dir = random_direction(rng);
    let angle = rng.gen::<f32>() * 2. * PI;

    Quat::from_axis_angle(dir, angle)
}

examples/shader/shader_material_screenspace_texture.rs (line 63)

fn rotate_camera(mut camera: Query<&mut Transform, With<MainCamera>>, time: Res<Time>) {
    let cam_transform = camera.single_mut().into_inner();

    cam_transform.rotate_around(
        Vec3::ZERO,
        Quat::from_axis_angle(Vec3::Y, 45f32.to_radians() * time.delta_seconds()),
    );
    cam_transform.look_at(Vec3::ZERO, Vec3::Y);
}

examples/3d/split_screen.rs (line 217)

fn button_system(
    interaction_query: Query<
        (&Interaction, &TargetCamera, &RotateCamera),
        (Changed<Interaction>, With<Button>),
    >,
    mut camera_query: Query<&mut Transform, With<Camera>>,
) {
    for (interaction, target_camera, RotateCamera(direction)) in &interaction_query {
        if let Interaction::Pressed = *interaction {
            // Since TargetCamera propagates to the children, we can use it to find
            // which side of the screen the button is on.
            if let Ok(mut camera_transform) = camera_query.get_mut(target_camera.entity()) {
                let angle = match direction {
                    Direction::Left => -0.1,
                    Direction::Right => 0.1,
                };
                camera_transform.rotate_around(Vec3::ZERO, Quat::from_axis_angle(Vec3::Y, angle));
            }
        }
    }
}

examples/animation/animated_transform.rs (line 79)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
    mut animations: ResMut<Assets<AnimationClip>>,
    mut graphs: ResMut<Assets<AnimationGraph>>,
) {
    // Camera
    commands.spawn(Camera3dBundle {
        transform: Transform::from_xyz(-2.0, 2.5, 5.0).looking_at(Vec3::ZERO, Vec3::Y),
        ..default()
    });

    // Light
    commands.spawn(PointLightBundle {
        point_light: PointLight {
            intensity: 500_000.0,
            ..default()
        },
        transform: Transform::from_xyz(0.0, 2.5, 0.0),
        ..default()
    });

    // Let's use the `Name` component to target entities. We can use anything we
    // like, but names are convenient.
    let planet = Name::new("planet");
    let orbit_controller = Name::new("orbit_controller");
    let satellite = Name::new("satellite");

    // Creating the animation
    let mut animation = AnimationClip::default();
    // A curve can modify a single part of a transform, here the translation
    let planet_animation_target_id = AnimationTargetId::from_name(&planet);
    animation.add_curve_to_target(
        planet_animation_target_id,
        VariableCurve {
            keyframe_timestamps: vec![0.0, 1.0, 2.0, 3.0, 4.0],
            keyframes: Keyframes::Translation(vec![
                Vec3::new(1.0, 0.0, 1.0),
                Vec3::new(-1.0, 0.0, 1.0),
                Vec3::new(-1.0, 0.0, -1.0),
                Vec3::new(1.0, 0.0, -1.0),
                // in case seamless looping is wanted, the last keyframe should
                // be the same as the first one
                Vec3::new(1.0, 0.0, 1.0),
            ]),
            interpolation: Interpolation::Linear,
        },
    );
    // Or it can modify the rotation of the transform.
    // To find the entity to modify, the hierarchy will be traversed looking for
    // an entity with the right name at each level
    let orbit_controller_animation_target_id =
        AnimationTargetId::from_names([planet.clone(), orbit_controller.clone()].iter());
    animation.add_curve_to_target(
        orbit_controller_animation_target_id,
        VariableCurve {
            keyframe_timestamps: vec![0.0, 1.0, 2.0, 3.0, 4.0],
            keyframes: Keyframes::Rotation(vec![
                Quat::IDENTITY,
                Quat::from_axis_angle(Vec3::Y, PI / 2.),
                Quat::from_axis_angle(Vec3::Y, PI / 2. * 2.),
                Quat::from_axis_angle(Vec3::Y, PI / 2. * 3.),
                Quat::IDENTITY,
            ]),
            interpolation: Interpolation::Linear,
        },
    );
    // If a curve in an animation is shorter than the other, it will not repeat
    // until all other curves are finished. In that case, another animation should
    // be created for each part that would have a different duration / period
    let satellite_animation_target_id = AnimationTargetId::from_names(
        [planet.clone(), orbit_controller.clone(), satellite.clone()].iter(),
    );
    animation.add_curve_to_target(
        satellite_animation_target_id,
        VariableCurve {
            keyframe_timestamps: vec![0.0, 0.5, 1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0],
            keyframes: Keyframes::Scale(vec![
                Vec3::splat(0.8),
                Vec3::splat(1.2),
                Vec3::splat(0.8),
                Vec3::splat(1.2),
                Vec3::splat(0.8),
                Vec3::splat(1.2),
                Vec3::splat(0.8),
                Vec3::splat(1.2),
                Vec3::splat(0.8),
            ]),
            interpolation: Interpolation::Linear,
        },
    );
    // There can be more than one curve targeting the same entity path
    animation.add_curve_to_target(
        AnimationTargetId::from_names(
            [planet.clone(), orbit_controller.clone(), satellite.clone()].iter(),
        ),
        VariableCurve {
            keyframe_timestamps: vec![0.0, 1.0, 2.0, 3.0, 4.0],
            keyframes: Keyframes::Rotation(vec![
                Quat::IDENTITY,
                Quat::from_axis_angle(Vec3::Y, PI / 2.),
                Quat::from_axis_angle(Vec3::Y, PI / 2. * 2.),
                Quat::from_axis_angle(Vec3::Y, PI / 2. * 3.),
                Quat::IDENTITY,
            ]),
            interpolation: Interpolation::Linear,
        },
    );

    // Create the animation graph
    let (graph, animation_index) = AnimationGraph::from_clip(animations.add(animation));

    // Create the animation player, and set it to repeat
    let mut player = AnimationPlayer::default();
    player.play(animation_index).repeat();

    // Create the scene that will be animated
    // First entity is the planet
    let planet_entity = commands
        .spawn((
            PbrBundle {
                mesh: meshes.add(Sphere::default()),
                material: materials.add(Color::srgb(0.8, 0.7, 0.6)),
                ..default()
            },
            // Add the animation graph and player
            planet,
            graphs.add(graph),
            player,
        ))
        .id();
    commands
        .entity(planet_entity)
        .insert(AnimationTarget {
            id: planet_animation_target_id,
            player: planet_entity,
        })
        .with_children(|p| {
            // This entity is just used for animation, but doesn't display anything
            p.spawn((
                SpatialBundle::INHERITED_IDENTITY,
                orbit_controller,
                AnimationTarget {
                    id: orbit_controller_animation_target_id,
                    player: planet_entity,
                },
            ))
            .with_children(|p| {
                // The satellite, placed at a distance of the planet
                p.spawn((
                    PbrBundle {
                        transform: Transform::from_xyz(1.5, 0.0, 0.0),
                        mesh: meshes.add(Cuboid::new(0.5, 0.5, 0.5)),
                        material: materials.add(Color::srgb(0.3, 0.9, 0.3)),
                        ..default()
                    },
                    AnimationTarget {
                        id: satellite_animation_target_id,
                        player: planet_entity,
                    },
                    satellite,
                ));
            });
        });
}

pub fn from_scaled_axis(v: Vec3) -> Quat

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: f32) -> Quat

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

Examples found in repository

examples/3d/3d_scene.rs (line 22)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    // circular base
    commands.spawn(PbrBundle {
        mesh: meshes.add(Circle::new(4.0)),
        material: materials.add(Color::WHITE),
        transform: Transform::from_rotation(Quat::from_rotation_x(-std::f32::consts::FRAC_PI_2)),
        ..default()
    });
    // cube
    commands.spawn(PbrBundle {
        mesh: meshes.add(Cuboid::new(1.0, 1.0, 1.0)),
        material: materials.add(Color::srgb_u8(124, 144, 255)),
        transform: Transform::from_xyz(0.0, 0.5, 0.0),
        ..default()
    });
    // light
    commands.spawn(PointLightBundle {
        point_light: PointLight {
            shadows_enabled: true,
            ..default()
        },
        transform: Transform::from_xyz(4.0, 8.0, 4.0),
        ..default()
    });
    // camera
    commands.spawn(Camera3dBundle {
        transform: Transform::from_xyz(-2.5, 4.5, 9.0).looking_at(Vec3::ZERO, Vec3::Y),
        ..default()
    });
}

examples/animation/animation_graph.rs (line 249)

fn setup_scene(
    mut commands: Commands,
    asset_server: Res<AssetServer>,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    commands.spawn(Camera3dBundle {
        transform: Transform::from_xyz(-10.0, 5.0, 13.0).looking_at(Vec3::new(0., 1., 0.), Vec3::Y),
        ..default()
    });

    commands.spawn(PointLightBundle {
        point_light: PointLight {
            intensity: 10_000_000.0,
            shadows_enabled: true,
            ..default()
        },
        transform: Transform::from_xyz(-4.0, 8.0, 13.0),
        ..default()
    });

    commands.spawn(SceneBundle {
        scene: asset_server.load("models/animated/Fox.glb#Scene0"),
        transform: Transform::from_scale(Vec3::splat(0.07)),
        ..default()
    });

    // Ground

    commands.spawn(PbrBundle {
        mesh: meshes.add(Circle::new(7.0)),
        material: materials.add(Color::srgb(0.3, 0.5, 0.3)),
        transform: Transform::from_rotation(Quat::from_rotation_x(-std::f32::consts::FRAC_PI_2)),
        ..default()
    });
}

examples/3d/skybox.rs (line 69)

fn setup(mut commands: Commands, asset_server: Res<AssetServer>) {
    // directional 'sun' light
    commands.spawn(DirectionalLightBundle {
        directional_light: DirectionalLight {
            illuminance: 32000.0,
            ..default()
        },
        transform: Transform::from_xyz(0.0, 2.0, 0.0)
            .with_rotation(Quat::from_rotation_x(-PI / 4.)),
        ..default()
    });

    let skybox_handle = asset_server.load(CUBEMAPS[0].0);
    // camera
    commands.spawn((
        Camera3dBundle {
            transform: Transform::from_xyz(0.0, 0.0, 8.0).looking_at(Vec3::ZERO, Vec3::Y),
            ..default()
        },
        CameraController::default(),
        Skybox {
            image: skybox_handle.clone(),
            brightness: 1000.0,
        },
    ));

    // ambient light
    // NOTE: The ambient light is used to scale how bright the environment map is so with a bright
    // environment map, use an appropriate color and brightness to match
    commands.insert_resource(AmbientLight {
        color: Color::srgb_u8(210, 220, 240),
        brightness: 1.0,
    });

    commands.insert_resource(Cubemap {
        is_loaded: false,
        index: 0,
        image_handle: skybox_handle,
    });
}

examples/gizmos/3d_gizmos.rs (line 91)

fn draw_example_collection(
    mut gizmos: Gizmos,
    mut my_gizmos: Gizmos<MyRoundGizmos>,
    time: Res<Time>,
) {
    gizmos.grid(
        Vec3::ZERO,
        Quat::from_rotation_x(PI / 2.),
        UVec2::splat(20),
        Vec2::new(2., 2.),
        // Light gray
        LinearRgba::gray(0.65),
    );

    gizmos.cuboid(
        Transform::from_translation(Vec3::Y * 0.5).with_scale(Vec3::splat(1.25)),
        BLACK,
    );
    gizmos.rect(
        Vec3::new(time.elapsed_seconds().cos() * 2.5, 1., 0.),
        Quat::from_rotation_y(PI / 2.),
        Vec2::splat(2.),
        LIME,
    );

    my_gizmos.sphere(Vec3::new(1., 0.5, 0.), Quat::IDENTITY, 0.5, RED);

    for y in [0., 0.5, 1.] {
        gizmos.ray(
            Vec3::new(1., y, 0.),
            Vec3::new(-3., (time.elapsed_seconds() * 3.).sin(), 0.),
            BLUE,
        );
    }

    my_gizmos
        .arc_3d(
            180.0_f32.to_radians(),
            0.2,
            Vec3::ONE,
            Quat::from_rotation_arc(Vec3::Y, Vec3::ONE.normalize()),
            ORANGE,
        )
        .segments(10);

    // Circles have 32 line-segments by default.
    my_gizmos.circle(Vec3::ZERO, Dir3::Y, 3., BLACK);
    // You may want to increase this for larger circles or spheres.
    my_gizmos
        .circle(Vec3::ZERO, Dir3::Y, 3.1, NAVY)
        .segments(64);
    my_gizmos
        .sphere(Vec3::ZERO, Quat::IDENTITY, 3.2, BLACK)
        .circle_segments(64);

    gizmos.arrow(Vec3::ZERO, Vec3::ONE * 1.5, YELLOW);

    // You can create more complex arrows using the arrow builder.
    gizmos
        .arrow(Vec3::new(2., 0., 2.), Vec3::new(2., 2., 2.), ORANGE_RED)
        .with_double_end()
        .with_tip_length(0.5);
}

examples/3d/3d_shapes.rs (line 61)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut images: ResMut<Assets<Image>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    let debug_material = materials.add(StandardMaterial {
        base_color_texture: Some(images.add(uv_debug_texture())),
        ..default()
    });

    let shapes = [
        meshes.add(Cuboid::default()),
        meshes.add(Capsule3d::default()),
        meshes.add(Torus::default()),
        meshes.add(Cylinder::default()),
        meshes.add(Sphere::default().mesh().ico(5).unwrap()),
        meshes.add(Sphere::default().mesh().uv(32, 18)),
    ];

    let num_shapes = shapes.len();

    for (i, shape) in shapes.into_iter().enumerate() {
        commands.spawn((
            PbrBundle {
                mesh: shape,
                material: debug_material.clone(),
                transform: Transform::from_xyz(
                    -X_EXTENT / 2. + i as f32 / (num_shapes - 1) as f32 * X_EXTENT,
                    2.0,
                    0.0,
                )
                .with_rotation(Quat::from_rotation_x(-PI / 4.)),
                ..default()
            },
            Shape,
        ));
    }

    commands.spawn(PointLightBundle {
        point_light: PointLight {
            shadows_enabled: true,
            intensity: 10_000_000.,
            range: 100.0,
            shadow_depth_bias: 0.2,
            ..default()
        },
        transform: Transform::from_xyz(8.0, 16.0, 8.0),
        ..default()
    });

    // ground plane
    commands.spawn(PbrBundle {
        mesh: meshes.add(Plane3d::default().mesh().size(50.0, 50.0)),
        material: materials.add(Color::from(SILVER)),
        ..default()
    });

    commands.spawn(Camera3dBundle {
        transform: Transform::from_xyz(0.0, 6., 12.0).looking_at(Vec3::new(0., 1., 0.), Vec3::Y),
        ..default()
    });
}

examples/3d/texture.rs (line 60)

fn setup(
    mut commands: Commands,
    asset_server: Res<AssetServer>,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    // load a texture and retrieve its aspect ratio
    let texture_handle = asset_server.load("branding/bevy_logo_dark_big.png");
    let aspect = 0.25;

    // create a new quad mesh. this is what we will apply the texture to
    let quad_width = 8.0;
    let quad_handle = meshes.add(Rectangle::new(quad_width, quad_width * aspect));

    // this material renders the texture normally
    let material_handle = materials.add(StandardMaterial {
        base_color_texture: Some(texture_handle.clone()),
        alpha_mode: AlphaMode::Blend,
        unlit: true,
        ..default()
    });

    // this material modulates the texture to make it red (and slightly transparent)
    let red_material_handle = materials.add(StandardMaterial {
        base_color: Color::srgba(1.0, 0.0, 0.0, 0.5),
        base_color_texture: Some(texture_handle.clone()),
        alpha_mode: AlphaMode::Blend,
        unlit: true,
        ..default()
    });

    // and lets make this one blue! (and also slightly transparent)
    let blue_material_handle = materials.add(StandardMaterial {
        base_color: Color::srgba(0.0, 0.0, 1.0, 0.5),
        base_color_texture: Some(texture_handle),
        alpha_mode: AlphaMode::Blend,
        unlit: true,
        ..default()
    });

    // textured quad - normal
    commands.spawn(PbrBundle {
        mesh: quad_handle.clone(),
        material: material_handle,
        transform: Transform::from_xyz(0.0, 0.0, 1.5)
            .with_rotation(Quat::from_rotation_x(-PI / 5.0)),
        ..default()
    });
    // textured quad - modulated
    commands.spawn(PbrBundle {
        mesh: quad_handle.clone(),
        material: red_material_handle,
        transform: Transform::from_rotation(Quat::from_rotation_x(-PI / 5.0)),
        ..default()
    });
    // textured quad - modulated
    commands.spawn(PbrBundle {
        mesh: quad_handle,
        material: blue_material_handle,
        transform: Transform::from_xyz(0.0, 0.0, -1.5)
            .with_rotation(Quat::from_rotation_x(-PI / 5.0)),
        ..default()
    });
    // camera
    commands.spawn(Camera3dBundle {
        transform: Transform::from_xyz(3.0, 5.0, 8.0).looking_at(Vec3::ZERO, Vec3::Y),
        ..default()
    });
}

Additional examples can be found in:

• examples/ui/render_ui_to_texture.rs
• examples/3d/render_to_texture.rs
• examples/gizmos/light_gizmos.rs
• examples/3d/lighting.rs

pub fn from_rotation_y(angle: f32) -> Quat

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

Examples found in repository

examples/gizmos/3d_gizmos.rs (line 81)

fn rotate_camera(mut query: Query<&mut Transform, With<Camera>>, time: Res<Time>) {
    let mut transform = query.single_mut();

    transform.rotate_around(Vec3::ZERO, Quat::from_rotation_y(time.delta_seconds() / 2.));
}

fn draw_example_collection(
    mut gizmos: Gizmos,
    mut my_gizmos: Gizmos<MyRoundGizmos>,
    time: Res<Time>,
) {
    gizmos.grid(
        Vec3::ZERO,
        Quat::from_rotation_x(PI / 2.),
        UVec2::splat(20),
        Vec2::new(2., 2.),
        // Light gray
        LinearRgba::gray(0.65),
    );

    gizmos.cuboid(
        Transform::from_translation(Vec3::Y * 0.5).with_scale(Vec3::splat(1.25)),
        BLACK,
    );
    gizmos.rect(
        Vec3::new(time.elapsed_seconds().cos() * 2.5, 1., 0.),
        Quat::from_rotation_y(PI / 2.),
        Vec2::splat(2.),
        LIME,
    );

    my_gizmos.sphere(Vec3::new(1., 0.5, 0.), Quat::IDENTITY, 0.5, RED);

    for y in [0., 0.5, 1.] {
        gizmos.ray(
            Vec3::new(1., y, 0.),
            Vec3::new(-3., (time.elapsed_seconds() * 3.).sin(), 0.),
            BLUE,
        );
    }

    my_gizmos
        .arc_3d(
            180.0_f32.to_radians(),
            0.2,
            Vec3::ONE,
            Quat::from_rotation_arc(Vec3::Y, Vec3::ONE.normalize()),
            ORANGE,
        )
        .segments(10);

    // Circles have 32 line-segments by default.
    my_gizmos.circle(Vec3::ZERO, Dir3::Y, 3., BLACK);
    // You may want to increase this for larger circles or spheres.
    my_gizmos
        .circle(Vec3::ZERO, Dir3::Y, 3.1, NAVY)
        .segments(64);
    my_gizmos
        .sphere(Vec3::ZERO, Quat::IDENTITY, 3.2, BLACK)
        .circle_segments(64);

    gizmos.arrow(Vec3::ZERO, Vec3::ONE * 1.5, YELLOW);

    // You can create more complex arrows using the arrow builder.
    gizmos
        .arrow(Vec3::new(2., 0., 2.), Vec3::new(2., 2., 2.), ORANGE_RED)
        .with_double_end()
        .with_tip_length(0.5);
}

examples/gizmos/light_gizmos.rs (line 153)

fn rotate_camera(mut query: Query<&mut Transform, With<Camera>>, time: Res<Time>) {
    let mut transform = query.single_mut();

    transform.rotate_around(Vec3::ZERO, Quat::from_rotation_y(time.delta_seconds() / 2.));
}

examples/3d/spotlight.rs (line 216)

fn rotation(
    mut query: Query<&mut Transform, With<Camera>>,
    input: Res<ButtonInput<KeyCode>>,
    time: Res<Time>,
) {
    let mut transform = query.single_mut();
    let delta = time.delta_seconds();

    if input.pressed(KeyCode::ArrowLeft) {
        transform.rotate_around(Vec3::ZERO, Quat::from_rotation_y(delta));
    } else if input.pressed(KeyCode::ArrowRight) {
        transform.rotate_around(Vec3::ZERO, Quat::from_rotation_y(-delta));
    }
}

examples/transforms/align.rs (line 236)

fn handle_mouse(
    mut button_events: EventReader<MouseButtonInput>,
    mut motion_events: EventReader<MouseMotion>,
    mut camera: Query<&mut Transform, With<Camera>>,
    mut mouse_pressed: ResMut<MousePressed>,
) {
    // Store left-pressed state in the MousePressed resource
    for button_event in button_events.read() {
        if button_event.button != MouseButton::Left {
            continue;
        }
        *mouse_pressed = MousePressed(button_event.state.is_pressed());
    }

    // If the mouse is not pressed, just ignore motion events
    if !mouse_pressed.0 {
        return;
    }
    let displacement = motion_events
        .read()
        .fold(0., |acc, mouse_motion| acc + mouse_motion.delta.x);
    let mut camera_transform = camera.single_mut();
    camera_transform.rotate_around(Vec3::ZERO, Quat::from_rotation_y(-displacement / 75.));
}

examples/transforms/scale.rs (line 47)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    // Spawn a cube to scale.
    commands.spawn((
        PbrBundle {
            mesh: meshes.add(Cuboid::default()),
            material: materials.add(Color::WHITE),
            transform: Transform::from_rotation(Quat::from_rotation_y(PI / 4.0)),
            ..default()
        },
        Scaling::new(),
    ));

    // Spawn a camera looking at the entities to show what's happening in this example.
    commands.spawn(Camera3dBundle {
        transform: Transform::from_xyz(0.0, 10.0, 20.0).looking_at(Vec3::ZERO, Vec3::Y),
        ..default()
    });

    // Add a light source for better 3d visibility.
    commands.spawn(DirectionalLightBundle {
        transform: Transform::from_xyz(3.0, 3.0, 3.0).looking_at(Vec3::ZERO, Vec3::Y),
        ..default()
    });
}

examples/transforms/transform.rs (line 67)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    // Add an object (sphere) for visualizing scaling.
    commands.spawn((
        PbrBundle {
            mesh: meshes.add(Sphere::new(3.0).mesh().ico(32).unwrap()),
            material: materials.add(Color::from(YELLOW)),
            transform: Transform::from_translation(Vec3::ZERO),
            ..default()
        },
        Center {
            max_size: 1.0,
            min_size: 0.1,
            scale_factor: 0.05,
        },
    ));

    // Add the cube to visualize rotation and translation.
    // This cube will circle around the center_sphere
    // by changing its rotation each frame and moving forward.
    // Define a start transform for an orbiting cube, that's away from our central object (sphere)
    // and rotate it so it will be able to move around the sphere and not towards it.
    let cube_spawn =
        Transform::from_translation(Vec3::Z * -10.0).with_rotation(Quat::from_rotation_y(PI / 2.));
    commands.spawn((
        PbrBundle {
            mesh: meshes.add(Cuboid::default()),
            material: materials.add(Color::WHITE),
            transform: cube_spawn,
            ..default()
        },
        CubeState {
            start_pos: cube_spawn.translation,
            move_speed: 2.0,
            turn_speed: 0.2,
        },
    ));

    // Spawn a camera looking at the entities to show what's happening in this example.
    commands.spawn(Camera3dBundle {
        transform: Transform::from_xyz(0.0, 10.0, 20.0).looking_at(Vec3::ZERO, Vec3::Y),
        ..default()
    });

    // Add a light source for better 3d visibility.
    commands.spawn(DirectionalLightBundle {
        transform: Transform::from_xyz(3.0, 3.0, 3.0).looking_at(Vec3::ZERO, Vec3::Y),
        ..default()
    });
}

Additional examples can be found in:

• examples/3d/blend_modes.rs
• examples/games/alien_cake_addict.rs
• examples/3d/meshlet.rs
• examples/3d/tonemapping.rs
• examples/stress_tests/many_foxes.rs

pub fn from_rotation_z(angle: f32) -> Quat

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

Examples found in repository

examples/tools/gamepad_viewer.rs (line 105)

    pub fn with_rotation(mut self, angle: f32) -> Self {
        self.mesh_bundle.transform.rotation = Quat::from_rotation_z(angle);
        self
    }

examples/2d/bounding_2d.rs (line 37)

fn spin(time: Res<Time>, mut query: Query<&mut Transform, With<Spin>>) {
    for mut transform in query.iter_mut() {
        transform.rotation *= Quat::from_rotation_z(time.delta_seconds() / 5.);
    }
}

examples/animation/custom_skinned_mesh.rs (line 170)

fn joint_animation(time: Res<Time>, mut query: Query<&mut Transform, With<AnimatedJoint>>) {
    for mut transform in &mut query {
        transform.rotation = Quat::from_rotation_z(FRAC_PI_2 * time.elapsed_seconds().sin());
    }
}

examples/2d/text2d.rs (line 181)

fn animate_rotation(
    time: Res<Time>,
    mut query: Query<&mut Transform, (With<Text>, With<AnimateRotation>)>,
) {
    for mut transform in &mut query {
        transform.rotation = Quat::from_rotation_z(time.elapsed_seconds().cos());
    }
}

examples/shader/shader_prepass.rs (line 192)

fn rotate(mut q: Query<&mut Transform, With<Rotates>>, time: Res<Time>) {
    for mut t in q.iter_mut() {
        let rot = (time.elapsed_seconds().sin() * 0.5 + 0.5) * std::f32::consts::PI * 2.0;
        t.rotation = Quat::from_rotation_z(rot);
    }
}

examples/animation/morph_targets.rs (line 47)

fn setup(asset_server: Res<AssetServer>, mut commands: Commands) {
    commands.insert_resource(MorphData {
        the_wave: asset_server.load("models/animated/MorphStressTest.gltf#Animation2"),
        mesh: asset_server.load("models/animated/MorphStressTest.gltf#Mesh0/Primitive0"),
    });
    commands.spawn(SceneBundle {
        scene: asset_server.load("models/animated/MorphStressTest.gltf#Scene0"),
        ..default()
    });
    commands.spawn(DirectionalLightBundle {
        transform: Transform::from_rotation(Quat::from_rotation_z(PI / 2.0)),
        ..default()
    });
    commands.spawn(Camera3dBundle {
        transform: Transform::from_xyz(3.0, 2.1, 10.2).looking_at(Vec3::ZERO, Vec3::Y),
        ..default()
    });
}

Additional examples can be found in:

• examples/animation/gltf_skinned_mesh.rs
• examples/stress_tests/many_sprites.rs
• examples/stress_tests/many_animated_sprites.rs
• examples/3d/motion_blur.rs
• examples/3d/pbr.rs

pub fn from_euler(euler: EulerRot, a: f32, b: f32, c: f32) -> Quat

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

Examples found in repository

examples/3d/load_gltf.rs (lines 60-65)

fn animate_light_direction(
    time: Res<Time>,
    mut query: Query<&mut Transform, With<DirectionalLight>>,
) {
    for mut transform in &mut query {
        transform.rotation = Quat::from_euler(
            EulerRot::ZYX,
            0.0,
            time.elapsed_seconds() * PI / 5.0,
            -FRAC_PI_4,
        );
    }
}

examples/3d/spotlight.rs (lines 158-163)

fn light_sway(time: Res<Time>, mut query: Query<(&mut Transform, &mut SpotLight)>) {
    for (mut transform, mut angles) in query.iter_mut() {
        transform.rotation = Quat::from_euler(
            EulerRot::XYZ,
            -FRAC_PI_2 + (time.elapsed_seconds() * 0.67 * 3.0).sin() * 0.5,
            (time.elapsed_seconds() * 3.0).sin() * 0.5,
            0.0,
        );
        let angle = ((time.elapsed_seconds() * 1.2).sin() + 1.0) * (FRAC_PI_4 - 0.1);
        angles.inner_angle = angle * 0.8;
        angles.outer_angle = angle;
    }
}

examples/tools/scene_viewer/scene_viewer_plugin.rs (lines 160-165)

fn update_lights(
    key_input: Res<ButtonInput<KeyCode>>,
    time: Res<Time>,
    mut query: Query<(&mut Transform, &mut DirectionalLight)>,
    mut animate_directional_light: Local<bool>,
) {
    for (_, mut light) in &mut query {
        if key_input.just_pressed(KeyCode::KeyU) {
            light.shadows_enabled = !light.shadows_enabled;
        }
    }

    if key_input.just_pressed(KeyCode::KeyL) {
        *animate_directional_light = !*animate_directional_light;
    }
    if *animate_directional_light {
        for (mut transform, _) in &mut query {
            transform.rotation = Quat::from_euler(
                EulerRot::ZYX,
                0.0,
                time.elapsed_seconds() * PI / 15.0,
                -FRAC_PI_4,
            );
        }
    }
}

examples/animation/animated_fox.rs (line 78)

fn setup(
    mut commands: Commands,
    asset_server: Res<AssetServer>,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
    mut graphs: ResMut<Assets<AnimationGraph>>,
) {
    // Build the animation graph
    let mut graph = AnimationGraph::new();
    let animations = graph
        .add_clips(
            [
                "models/animated/Fox.glb#Animation2",
                "models/animated/Fox.glb#Animation1",
                "models/animated/Fox.glb#Animation0",
            ]
            .into_iter()
            .map(|path| asset_server.load(path)),
            1.0,
            graph.root,
        )
        .collect();

    // Insert a resource with the current scene information
    let graph = graphs.add(graph);
    commands.insert_resource(Animations {
        animations,
        graph: graph.clone(),
    });

    // Camera
    commands.spawn(Camera3dBundle {
        transform: Transform::from_xyz(100.0, 100.0, 150.0)
            .looking_at(Vec3::new(0.0, 20.0, 0.0), Vec3::Y),
        ..default()
    });

    // Plane
    commands.spawn(PbrBundle {
        mesh: meshes.add(Plane3d::default().mesh().size(500000.0, 500000.0)),
        material: materials.add(Color::srgb(0.3, 0.5, 0.3)),
        ..default()
    });

    // Light
    commands.spawn(DirectionalLightBundle {
        transform: Transform::from_rotation(Quat::from_euler(EulerRot::ZYX, 0.0, 1.0, -PI / 4.)),
        directional_light: DirectionalLight {
            shadows_enabled: true,
            ..default()
        },
        cascade_shadow_config: CascadeShadowConfigBuilder {
            first_cascade_far_bound: 200.0,
            maximum_distance: 400.0,
            ..default()
        }
        .into(),
        ..default()
    });

    // Fox
    commands.spawn(SceneBundle {
        scene: asset_server.load("models/animated/Fox.glb#Scene0"),
        ..default()
    });

    println!("Animation controls:");
    println!("  - spacebar: play / pause");
    println!("  - arrow up / down: speed up / slow down animation playback");
    println!("  - arrow left / right: seek backward / forward");
    println!("  - digit 1 / 3 / 5: play the animation <digit> times");
    println!("  - L: loop the animation forever");
    println!("  - return: change animation");
}

examples/3d/ssao.rs (lines 87-92)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
    asset_server: Res<AssetServer>,
) {
    commands
        .spawn(Camera3dBundle {
            camera: Camera {
                hdr: true,
                ..default()
            },
            transform: Transform::from_xyz(-2.0, 2.0, -2.0).looking_at(Vec3::ZERO, Vec3::Y),
            ..default()
        })
        .insert(ScreenSpaceAmbientOcclusionBundle::default())
        .insert(TemporalAntiAliasBundle::default());

    let material = materials.add(StandardMaterial {
        base_color: Color::srgb(0.5, 0.5, 0.5),
        perceptual_roughness: 1.0,
        reflectance: 0.0,
        ..default()
    });
    commands.spawn(PbrBundle {
        mesh: meshes.add(Cuboid::default()),
        material: material.clone(),
        transform: Transform::from_xyz(0.0, 0.0, 1.0),
        ..default()
    });
    commands.spawn(PbrBundle {
        mesh: meshes.add(Cuboid::default()),
        material: material.clone(),
        transform: Transform::from_xyz(0.0, -1.0, 0.0),
        ..default()
    });
    commands.spawn(PbrBundle {
        mesh: meshes.add(Cuboid::default()),
        material,
        transform: Transform::from_xyz(1.0, 0.0, 0.0),
        ..default()
    });
    commands.spawn((
        PbrBundle {
            mesh: meshes.add(Sphere::new(0.4).mesh().uv(72, 36)),
            material: materials.add(StandardMaterial {
                base_color: Color::srgb(0.4, 0.4, 0.4),
                perceptual_roughness: 1.0,
                reflectance: 0.0,
                ..default()
            }),
            ..default()
        },
        SphereMarker,
    ));

    commands.spawn(DirectionalLightBundle {
        directional_light: DirectionalLight {
            shadows_enabled: true,
            ..default()
        },
        transform: Transform::from_rotation(Quat::from_euler(
            EulerRot::ZYX,
            0.0,
            PI * -0.15,
            PI * -0.15,
        )),
        ..default()
    });

    commands.spawn(
        TextBundle::from_section(
            "",
            TextStyle {
                font: asset_server.load("fonts/FiraMono-Medium.ttf"),
                font_size: 26.0,
                ..default()
            },
        )
        .with_style(Style {
            position_type: PositionType::Absolute,
            bottom: Val::Px(10.0),
            left: Val::Px(10.0),
            ..default()
        }),
    );
}

examples/3d/shadow_caster_receiver.rs (lines 100-105)

fn setup(
    mut commands: Commands,
    mut meshes: ResMut<Assets<Mesh>>,
    mut materials: ResMut<Assets<StandardMaterial>>,
) {
    let spawn_plane_depth = 500.0f32;
    let spawn_height = 2.0;
    let sphere_radius = 0.25;

    let white_handle = materials.add(StandardMaterial {
        base_color: Color::WHITE,
        perceptual_roughness: 1.0,
        ..default()
    });
    let sphere_handle = meshes.add(Sphere::new(sphere_radius));

    // sphere - initially a caster
    commands.spawn(PbrBundle {
        mesh: sphere_handle.clone(),
        material: materials.add(Color::from(RED)),
        transform: Transform::from_xyz(-1.0, spawn_height, 0.0),
        ..default()
    });

    // sphere - initially not a caster
    commands.spawn((
        PbrBundle {
            mesh: sphere_handle,
            material: materials.add(Color::from(BLUE)),
            transform: Transform::from_xyz(1.0, spawn_height, 0.0),
            ..default()
        },
        NotShadowCaster,
    ));

    // floating plane - initially not a shadow receiver and not a caster
    commands.spawn((
        PbrBundle {
            mesh: meshes.add(Plane3d::default().mesh().size(20.0, 20.0)),
            material: materials.add(Color::from(LIME)),
            transform: Transform::from_xyz(0.0, 1.0, -10.0),
            ..default()
        },
        NotShadowCaster,
        NotShadowReceiver,
    ));

    // lower ground plane - initially a shadow receiver
    commands.spawn(PbrBundle {
        mesh: meshes.add(Plane3d::default().mesh().size(20.0, 20.0)),
        material: white_handle,
        ..default()
    });

    println!("Using DirectionalLight");

    commands.spawn(PointLightBundle {
        transform: Transform::from_xyz(5.0, 5.0, 0.0),
        point_light: PointLight {
            intensity: 0.0,
            range: spawn_plane_depth,
            color: Color::WHITE,
            shadows_enabled: true,
            ..default()
        },
        ..default()
    });

    commands.spawn(DirectionalLightBundle {
        directional_light: DirectionalLight {
            illuminance: light_consts::lux::OVERCAST_DAY,
            shadows_enabled: true,
            ..default()
        },
        transform: Transform::from_rotation(Quat::from_euler(
            EulerRot::ZYX,
            0.0,
            PI / 2.,
            -PI / 4.,
        )),
        cascade_shadow_config: CascadeShadowConfigBuilder {
            first_cascade_far_bound: 7.0,
            maximum_distance: 25.0,
            ..default()
        }
        .into(),
        ..default()
    });

    // camera
    commands.spawn(Camera3dBundle {
        transform: Transform::from_xyz(-5.0, 5.0, 5.0)
            .looking_at(Vec3::new(-1.0, 1.0, 0.0), Vec3::Y),
        ..default()
    });
}

Additional examples can be found in:

• examples/3d/anti_aliasing.rs
• examples/3d/meshlet.rs
• examples/3d/tonemapping.rs
• examples/stress_tests/many_foxes.rs
• examples/3d/../helpers/camera_controller.rs
• examples/3d/split_screen.rs
• examples/3d/deferred_rendering.rs
• examples/3d/transmission.rs

pub fn from_mat3(mat: &Mat3) -> Quat

Creates a quaternion from a 3x3 rotation matrix.

Examples found in repository

examples/math/render_primitives.rs (line 565)

fn rotate_primitive_2d_meshes(
    mut primitives_2d: Query<
        (&mut Transform, &ViewVisibility),
        (With<PrimitiveData>, With<MeshDim2>),
    >,
    time: Res<Time>,
) {
    let rotation_2d = Quat::from_mat3(&Mat3::from_angle(time.elapsed_seconds()));
    primitives_2d
        .iter_mut()
        .filter(|(_, vis)| vis.get())
        .for_each(|(mut transform, _)| {
            transform.rotation = rotation_2d;
        });
}

pub fn from_mat3a(mat: &Mat3A) -> Quat

Creates a quaternion from a 3x3 SIMD aligned rotation matrix.

pub fn from_mat4(mat: &Mat4) -> Quat

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

pub fn from_rotation_arc(from: Vec3, to: Vec3) -> Quat

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.

Examples found in repository

examples/math/render_primitives.rs (lines 581-590)

fn rotate_primitive_3d_meshes(
    mut primitives_3d: Query<
        (&mut Transform, &ViewVisibility),
        (With<PrimitiveData>, With<MeshDim3>),
    >,
    time: Res<Time>,
) {
    let rotation_3d = Quat::from_rotation_arc(
        Vec3::Z,
        Vec3::new(
            time.elapsed_seconds().sin(),
            time.elapsed_seconds().cos(),
            time.elapsed_seconds().sin() * 0.5,
        )
        .try_normalize()
        .unwrap_or(Vec3::Z),
    );
    primitives_3d
        .iter_mut()
        .filter(|(_, vis)| vis.get())
        .for_each(|(mut transform, _)| {
            transform.rotation = rotation_3d;
        });
}

fn draw_gizmos_3d(mut gizmos: Gizmos, state: Res<State<PrimitiveSelected>>, time: Res<Time>) {
    const POSITION: Vec3 = Vec3::new(LEFT_RIGHT_OFFSET_3D, 0.0, 0.0);
    let rotation = Quat::from_rotation_arc(
        Vec3::Z,
        Vec3::new(
            time.elapsed_seconds().sin(),
            time.elapsed_seconds().cos(),
            time.elapsed_seconds().sin() * 0.5,
        )
        .try_normalize()
        .unwrap_or(Vec3::Z),
    );
    let color = Color::WHITE;
    let segments = 10;

    match state.get() {
        PrimitiveSelected::RectangleAndCuboid => {
            gizmos.primitive_3d(CUBOID, POSITION, rotation, color);
        }
        PrimitiveSelected::CircleAndSphere => drop(
            gizmos
                .primitive_3d(SPHERE, POSITION, rotation, color)
                .segments(segments),
        ),
        PrimitiveSelected::Ellipse => {}
        PrimitiveSelected::Triangle => {}
        PrimitiveSelected::Plane => drop(gizmos.primitive_3d(PLANE_3D, POSITION, rotation, color)),
        PrimitiveSelected::Line => gizmos.primitive_3d(LINE3D, POSITION, rotation, color),
        PrimitiveSelected::Segment => gizmos.primitive_3d(SEGMENT_3D, POSITION, rotation, color),
        PrimitiveSelected::Polyline => gizmos.primitive_3d(POLYLINE_3D, POSITION, rotation, color),
        PrimitiveSelected::Polygon => {}
        PrimitiveSelected::RegularPolygon => {}
        PrimitiveSelected::Capsule => drop(
            gizmos
                .primitive_3d(CAPSULE_3D, POSITION, rotation, color)
                .segments(segments),
        ),
        PrimitiveSelected::Cylinder => drop(
            gizmos
                .primitive_3d(CYLINDER, POSITION, rotation, color)
                .segments(segments),
        ),
        PrimitiveSelected::Cone => drop(
            gizmos
                .primitive_3d(CONE, POSITION, rotation, color)
                .segments(segments),
        ),
        PrimitiveSelected::ConicalFrustum => {
            gizmos.primitive_3d(CONICAL_FRUSTUM, POSITION, rotation, color);
        }

        PrimitiveSelected::Torus => drop(
            gizmos
                .primitive_3d(TORUS, POSITION, rotation, color)
                .minor_segments(segments)
                .major_segments(segments),
        ),
    }
}

examples/2d/rotation.rs (line 173)

fn snap_to_player_system(
    mut query: Query<&mut Transform, (With<SnapToPlayer>, Without<Player>)>,
    player_query: Query<&Transform, With<Player>>,
) {
    let player_transform = player_query.single();
    // get the player translation in 2D
    let player_translation = player_transform.translation.xy();

    for mut enemy_transform in &mut query {
        // get the vector from the enemy ship to the player ship in 2D and normalize it.
        let to_player = (player_translation - enemy_transform.translation.xy()).normalize();

        // get the quaternion to rotate from the initial enemy facing direction to the direction
        // facing the player
        let rotate_to_player = Quat::from_rotation_arc(Vec3::Y, to_player.extend(0.));

        // rotate the enemy to face the player
        enemy_transform.rotation = rotate_to_player;
    }
}

examples/gizmos/3d_gizmos.rs (line 124)

fn draw_example_collection(
    mut gizmos: Gizmos,
    mut my_gizmos: Gizmos<MyRoundGizmos>,
    time: Res<Time>,
) {
    gizmos.grid(
        Vec3::ZERO,
        Quat::from_rotation_x(PI / 2.),
        UVec2::splat(20),
        Vec2::new(2., 2.),
        // Light gray
        LinearRgba::gray(0.65),
    );

    gizmos.cuboid(
        Transform::from_translation(Vec3::Y * 0.5).with_scale(Vec3::splat(1.25)),
        BLACK,
    );
    gizmos.rect(
        Vec3::new(time.elapsed_seconds().cos() * 2.5, 1., 0.),
        Quat::from_rotation_y(PI / 2.),
        Vec2::splat(2.),
        LIME,
    );

    my_gizmos.sphere(Vec3::new(1., 0.5, 0.), Quat::IDENTITY, 0.5, RED);

    for y in [0., 0.5, 1.] {
        gizmos.ray(
            Vec3::new(1., y, 0.),
            Vec3::new(-3., (time.elapsed_seconds() * 3.).sin(), 0.),
            BLUE,
        );
    }

    my_gizmos
        .arc_3d(
            180.0_f32.to_radians(),
            0.2,
            Vec3::ONE,
            Quat::from_rotation_arc(Vec3::Y, Vec3::ONE.normalize()),
            ORANGE,
        )
        .segments(10);

    // Circles have 32 line-segments by default.
    my_gizmos.circle(Vec3::ZERO, Dir3::Y, 3., BLACK);
    // You may want to increase this for larger circles or spheres.
    my_gizmos
        .circle(Vec3::ZERO, Dir3::Y, 3.1, NAVY)
        .segments(64);
    my_gizmos
        .sphere(Vec3::ZERO, Quat::IDENTITY, 3.2, BLACK)
        .circle_segments(64);

    gizmos.arrow(Vec3::ZERO, Vec3::ONE * 1.5, YELLOW);

    // You can create more complex arrows using the arrow builder.
    gizmos
        .arrow(Vec3::new(2., 0., 2.), Vec3::new(2., 2., 2.), ORANGE_RED)
        .with_double_end()
        .with_tip_length(0.5);
}

pub fn from_rotation_arc_colinear(from: Vec3, to: Vec3) -> Quat

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: Vec2, to: Vec2) -> Quat

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) -> (Vec3, f32)

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

pub fn to_scaled_axis(self) -> Vec3

Returns the rotation axis scaled by the rotation in radians.

pub fn to_euler(self, euler: EulerRot) -> (f32, f32, f32)

Returns the rotation angles for the given euler rotation sequence.

Examples found in repository

examples/2d/bounding_2d.rs (line 103)

fn render_shapes(mut gizmos: Gizmos, query: Query<(&Shape, &Transform)>) {
    let color = GRAY;
    for (shape, transform) in query.iter() {
        let translation = transform.translation.xy();
        let rotation = transform.rotation.to_euler(EulerRot::YXZ).2;
        match shape {
            Shape::Rectangle(r) => {
                gizmos.primitive_2d(*r, translation, rotation, color);
            }
            Shape::Circle(c) => {
                gizmos.primitive_2d(*c, translation, rotation, color);
            }
            Shape::Triangle(t) => {
                gizmos.primitive_2d(*t, translation, rotation, color);
            }
            Shape::Line(l) => {
                gizmos.primitive_2d(*l, translation, rotation, color);
            }
            Shape::Capsule(c) => {
                gizmos.primitive_2d(*c, translation, rotation, color);
            }
            Shape::Polygon(p) => {
                gizmos.primitive_2d(*p, translation, rotation, color);
            }
        }
    }
}

#[derive(Component)]
enum DesiredVolume {
    Aabb,
    Circle,
}

#[derive(Component, Debug)]
enum CurrentVolume {
    Aabb(Aabb2d),
    Circle(BoundingCircle),
}

fn update_volumes(
    mut commands: Commands,
    query: Query<
        (Entity, &DesiredVolume, &Shape, &Transform),
        Or<(Changed<DesiredVolume>, Changed<Shape>, Changed<Transform>)>,
    >,
) {
    for (entity, desired_volume, shape, transform) in query.iter() {
        let translation = transform.translation.xy();
        let rotation = transform.rotation.to_euler(EulerRot::YXZ).2;
        match desired_volume {
            DesiredVolume::Aabb => {
                let aabb = match shape {
                    Shape::Rectangle(r) => r.aabb_2d(translation, rotation),
                    Shape::Circle(c) => c.aabb_2d(translation, rotation),
                    Shape::Triangle(t) => t.aabb_2d(translation, rotation),
                    Shape::Line(l) => l.aabb_2d(translation, rotation),
                    Shape::Capsule(c) => c.aabb_2d(translation, rotation),
                    Shape::Polygon(p) => p.aabb_2d(translation, rotation),
                };
                commands.entity(entity).insert(CurrentVolume::Aabb(aabb));
            }
            DesiredVolume::Circle => {
                let circle = match shape {
                    Shape::Rectangle(r) => r.bounding_circle(translation, rotation),
                    Shape::Circle(c) => c.bounding_circle(translation, rotation),
                    Shape::Triangle(t) => t.bounding_circle(translation, rotation),
                    Shape::Line(l) => l.bounding_circle(translation, rotation),
                    Shape::Capsule(c) => c.bounding_circle(translation, rotation),
                    Shape::Polygon(p) => p.bounding_circle(translation, rotation),
                };
                commands
                    .entity(entity)
                    .insert(CurrentVolume::Circle(circle));
            }
        }
    }
}

examples/3d/../helpers/camera_controller.rs (line 116)

fn run_camera_controller(
    time: Res<Time>,
    mut windows: Query<&mut Window>,
    mut mouse_events: EventReader<MouseMotion>,
    mut scroll_events: EventReader<MouseWheel>,
    mouse_button_input: Res<ButtonInput<MouseButton>>,
    key_input: Res<ButtonInput<KeyCode>>,
    mut toggle_cursor_grab: Local<bool>,
    mut mouse_cursor_grab: Local<bool>,
    mut query: Query<(&mut Transform, &mut CameraController), With<Camera>>,
) {
    let dt = time.delta_seconds();

    if let Ok((mut transform, mut controller)) = query.get_single_mut() {
        if !controller.initialized {
            let (yaw, pitch, _roll) = transform.rotation.to_euler(EulerRot::YXZ);
            controller.yaw = yaw;
            controller.pitch = pitch;
            controller.initialized = true;
            info!("{}", *controller);
        }
        if !controller.enabled {
            mouse_events.clear();
            return;
        }

        let mut scroll = 0.0;
        for scroll_event in scroll_events.read() {
            let amount = match scroll_event.unit {
                MouseScrollUnit::Line => scroll_event.y,
                MouseScrollUnit::Pixel => scroll_event.y / 16.0,
            };
            scroll += amount;
        }
        controller.walk_speed += scroll * controller.scroll_factor * controller.walk_speed;
        controller.run_speed = controller.walk_speed * 3.0;

        // Handle key input
        let mut axis_input = Vec3::ZERO;
        if key_input.pressed(controller.key_forward) {
            axis_input.z += 1.0;
        }
        if key_input.pressed(controller.key_back) {
            axis_input.z -= 1.0;
        }
        if key_input.pressed(controller.key_right) {
            axis_input.x += 1.0;
        }
        if key_input.pressed(controller.key_left) {
            axis_input.x -= 1.0;
        }
        if key_input.pressed(controller.key_up) {
            axis_input.y += 1.0;
        }
        if key_input.pressed(controller.key_down) {
            axis_input.y -= 1.0;
        }

        let mut cursor_grab_change = false;
        if key_input.just_pressed(controller.keyboard_key_toggle_cursor_grab) {
            *toggle_cursor_grab = !*toggle_cursor_grab;
            cursor_grab_change = true;
        }
        if mouse_button_input.just_pressed(controller.mouse_key_cursor_grab) {
            *mouse_cursor_grab = true;
            cursor_grab_change = true;
        }
        if mouse_button_input.just_released(controller.mouse_key_cursor_grab) {
            *mouse_cursor_grab = false;
            cursor_grab_change = true;
        }
        let cursor_grab = *mouse_cursor_grab || *toggle_cursor_grab;

        // Apply movement update
        if axis_input != Vec3::ZERO {
            let max_speed = if key_input.pressed(controller.key_run) {
                controller.run_speed
            } else {
                controller.walk_speed
            };
            controller.velocity = axis_input.normalize() * max_speed;
        } else {
            let friction = controller.friction.clamp(0.0, 1.0);
            controller.velocity *= 1.0 - friction;
            if controller.velocity.length_squared() < 1e-6 {
                controller.velocity = Vec3::ZERO;
            }
        }
        let forward = *transform.forward();
        let right = *transform.right();
        transform.translation += controller.velocity.x * dt * right
            + controller.velocity.y * dt * Vec3::Y
            + controller.velocity.z * dt * forward;

        // Handle cursor grab
        if cursor_grab_change {
            if cursor_grab {
                for mut window in &mut windows {
                    if !window.focused {
                        continue;
                    }

                    window.cursor.grab_mode = CursorGrabMode::Locked;
                    window.cursor.visible = false;
                }
            } else {
                for mut window in &mut windows {
                    window.cursor.grab_mode = CursorGrabMode::None;
                    window.cursor.visible = true;
                }
            }
        }

        // Handle mouse input
        let mut mouse_delta = Vec2::ZERO;
        if cursor_grab {
            for mouse_event in mouse_events.read() {
                mouse_delta += mouse_event.delta;
            }
        } else {
            mouse_events.clear();
        }

        if mouse_delta != Vec2::ZERO {
            // Apply look update
            controller.pitch = (controller.pitch
                - mouse_delta.y * RADIANS_PER_DOT * controller.sensitivity)
                .clamp(-PI / 2., PI / 2.);
            controller.yaw -= mouse_delta.x * RADIANS_PER_DOT * controller.sensitivity;
            transform.rotation =
                Quat::from_euler(EulerRot::ZYX, 0.0, controller.yaw, controller.pitch);
        }
    }
}

pub fn to_array(&self) -> [f32; 4]

[x, y, z, w]

pub fn xyz(self) -> Vec3

Returns the vector part of the quaternion.

pub fn conjugate(self) -> Quat

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

pub fn inverse(self) -> Quat

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: Quat) -> f32

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) -> f32

Computes the length of self.

pub fn length_squared(self) -> f32

Computes the squared length of self.

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

pub fn length_recip(self) -> f32

Computes 1.0 / length().

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

pub fn normalize(self) -> Quat

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

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: Quat) -> f32

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 abs_diff_eq(self, rhs: Quat, max_abs_diff: f32) -> 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: Quat, s: f32) -> Quat

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.

Examples found in repository

examples/ecs/iter_combinations.rs (line 166)

fn look_at_star(
    mut camera: Query<&mut Transform, (With<Camera>, Without<Star>)>,
    star: Query<&Transform, With<Star>>,
) {
    let mut camera = camera.single_mut();
    let star = star.single();
    let new_rotation = camera
        .looking_at(star.translation, Vec3::Y)
        .rotation
        .lerp(camera.rotation, 0.1);
    camera.rotation = new_rotation;
}

examples/transforms/transform.rs (line 126)

fn rotate_cube(
    mut cubes: Query<(&mut Transform, &mut CubeState), Without<Center>>,
    center_spheres: Query<&Transform, With<Center>>,
    timer: Res<Time>,
) {
    // Calculate the point to circle around. (The position of the center_sphere)
    let mut center: Vec3 = Vec3::ZERO;
    for sphere in &center_spheres {
        center += sphere.translation;
    }
    // Update the rotation of the cube(s).
    for (mut transform, cube) in &mut cubes {
        // Calculate the rotation of the cube if it would be looking at the sphere in the center.
        let look_at_sphere = transform.looking_at(center, *transform.local_y());
        // Interpolate between the current rotation and the fully turned rotation
        // when looking a the sphere,  with a given turn speed to get a smooth motion.
        // With higher speed the curvature of the orbit would be smaller.
        let incremental_turn_weight = cube.turn_speed * timer.delta_seconds();
        let old_rotation = transform.rotation;
        transform.rotation = old_rotation.lerp(look_at_sphere.rotation, incremental_turn_weight);
    }
}

pub fn slerp(self, end: Quat, s: f32) -> Quat

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.

Examples found in repository

examples/gizmos/axes.rs (line 220)

fn interpolate_transforms(t1: Transform, t2: Transform, t: f32) -> Transform {
    let translation = t1.translation.lerp(t2.translation, t);
    let rotation = t1.rotation.slerp(t2.rotation, t);
    let scale = elerp(t1.scale, t2.scale, t);

    Transform {
        translation,
        rotation,
        scale,
    }
}

examples/transforms/align.rs (line 166)

fn rotate_cube(mut cube: Query<(&mut Cube, &mut Transform)>) {
    let (mut cube, mut cube_transform) = cube.single_mut();

    if !cube.in_motion {
        return;
    }

    let start = cube.initial_transform.rotation;
    let end = cube.target_transform.rotation;

    let p: f32 = cube.progress.into();
    let t = p / 100.;

    *cube_transform = Transform::from_rotation(start.slerp(end, t));

    if cube.progress == 100 {
        cube.in_motion = false;
    } else {
        cube.progress += 1;
    }
}

examples/3d/parallax_mapping.rs (line 196)

fn move_camera(
    mut camera: Query<&mut Transform, With<CameraController>>,
    mut current_view: Local<usize>,
    button: Res<ButtonInput<MouseButton>>,
) {
    let mut camera = camera.single_mut();
    if button.just_pressed(MouseButton::Left) {
        *current_view = (*current_view + 1) % CAMERA_POSITIONS.len();
    }
    let target = CAMERA_POSITIONS[*current_view];
    camera.translation = camera.translation.lerp(target.translation, 0.2);
    camera.rotation = camera.rotation.slerp(target.rotation, 0.2);
}

pub fn mul_vec3(self, rhs: Vec3) -> Vec3

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: Quat) -> Quat

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: &Affine3A) -> Quat

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

pub fn mul_vec3a(self, rhs: Vec3A) -> Vec3A

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

pub fn as_dquat(self) -> DQuat

pub fn as_f64(self) -> DQuat

👎Deprecated since 0.24.2: Use as_dquat() instead

Trait Implementations

impl Add for Quat

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

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 = Quat

The resulting type after applying the + operator.

impl Animatable for Quat

fn interpolate(a: &Quat, b: &Quat, t: f32) -> Quat

Performs a slerp to smoothly interpolate between quaternions.

fn blend(inputs: impl Iterator<Item = BlendInput<Quat>>) -> Quat

Blends one or more values together.

fn post_process(&mut self, _world: &World)

Post-processes the value using resources in the World. Most animatable types do not need to implement this.

impl AsRef<[f32; 4]> for Quat

Available on non-target_arch="spirv" only.

fn as_ref(&self) -> &[f32; 4]

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

impl Clone for Quat

fn clone(&self) -> Quat

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Quat

Available on non-target_arch="spirv" only.

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

Formats the value using the given formatter.

impl Default for Quat

fn default() -> Quat

Returns the “default value” for a type.

impl Deref for Quat

type Target = Vec4<f32>

The resulting type after dereferencing.

fn deref(&self) -> &<Quat as Deref>::Target

Dereferences the value.

impl DerefMut for Quat

fn deref_mut(&mut self) -> &mut <Quat as Deref>::Target

Mutably dereferences the value.

impl<'de> Deserialize<'de> for Quat

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

where D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Display for Quat

Available on non-target_arch="spirv" only.

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

Formats the value using the given formatter.

impl Div<f32> for Quat

fn div(self, rhs: f32) -> Quat

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

type Output = Quat

The resulting type after applying the / operator.

impl From<Quat> for [f32; 4]

fn from(q: Quat) -> [f32; 4]

Converts to this type from the input type.

impl From<Quat> for (f32, f32, f32, f32)

fn from(q: Quat) -> (f32, f32, f32, f32)

Converts to this type from the input type.

impl From<Quat> for Vec4

fn from(q: Quat) -> Vec4

Converts to this type from the input type.

impl From<Quat> for __m128

fn from(q: Quat) -> __m128

Converts to this type from the input type.

impl FromReflect for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + RegisterForReflection,

fn from_reflect(reflect: &(dyn Reflect + 'static)) -> Option<Quat>

Constructs a concrete instance of Self from a reflected value.

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

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

impl FromRng for Quat

fn from_rng<R>(rng: &mut R) -> Self

where R: Rng + ?Sized,

Construct a value of this type uniformly at random using rng as the source of randomness.

impl GetTypeRegistration for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + 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<Dir3> for Quat

fn mul(self, direction: Dir3) -> <Quat as Mul<Dir3>>::Output

Rotates the Dir3 using a Quat.

type Output = Dir3

The resulting type after applying the * operator.

impl Mul<Dir3A> for Quat

fn mul(self, direction: Dir3A) -> <Quat as Mul<Dir3A>>::Output

Rotates the Dir3A using a Quat.

type Output = Dir3A

The resulting type after applying the * operator.

impl Mul<Vec3> for Quat

fn mul(self, rhs: Vec3) -> <Quat as Mul<Vec3>>::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 = Vec3

The resulting type after applying the * operator.

impl Mul<Vec3A> for Quat

type Output = Vec3A

The resulting type after applying the * operator.

fn mul(self, rhs: Vec3A) -> <Quat as Mul<Vec3A>>::Output

Performs the * operation.

impl Mul<f32> for Quat

fn mul(self, rhs: f32) -> Quat

Multiplies a quaternion by a scalar value.

The product is not guaranteed to be normalized.

type Output = Quat

The resulting type after applying the * operator.

impl Mul for Quat

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

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 = Quat

The resulting type after applying the * operator.

impl MulAssign for Quat

fn mul_assign(&mut self, rhs: Quat)

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 Quat

type Output = Quat

The resulting type after applying the - operator.

fn neg(self) -> Quat

Performs the unary - operation.

impl PartialEq for Quat

fn eq(&self, rhs: &Quat) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

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

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

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

Method which takes an iterator and generates Self from the elements by multiplying the items.

impl Product for Quat

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

where I: Iterator<Item = Quat>,

Method which takes an iterator and generates Self from the elements by multiplying the items.

impl Reflect for Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + RegisterForReflection,

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

Returns the TypeInfo of the type represented by this value.

fn into_any(self: Box<Quat>) -> 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<Quat>) -> Box<dyn Reflect>

Casts this type to a boxed reflected value.

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

Casts this type to a reflected value.

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

Casts this type to a mutable reflected value.

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

Clones the value as a Reflect trait object.

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

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

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

Applies 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<Quat>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type.

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

Returns a “partial equality” comparison result.

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

Debug formatter for the 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 Serialize for Quat

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 Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + RegisterForReflection,

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

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

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

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

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

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

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

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

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.

impl Sub for Quat

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

Subtracts the rhs quaternion from self.

The difference is not guaranteed to be normalized.

type Output = Quat

The resulting type after applying the - operator.

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

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

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

Method which takes an iterator and generates Self from the elements by “summing up” the items.

impl Sum for Quat

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

where I: Iterator<Item = Quat>,

Method which takes an iterator and generates Self from the elements by “summing up” the items.

impl TypePath for Quat

where Quat: 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 Quat

where Quat: Any + Send + Sync, f32: FromReflect + TypePath + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Zeroable for Quat

fn zeroed() -> Self

Calls zeroed.

impl Copy for Quat

impl Pod for Quat