README- TrDoubleConvert
- ::addQuaternion::add
- ::conjugateQuaternion::conjugate
- ::divQuaternion::div
- ::dotQuaternion::dot
- ::equalQuaternion::equal
- ::from_vecQuaternion::from_vec
- ::hashQuaternion::hash
- ::invQuaternion::inv
- ::left_divQuaternion::left_div
- ::magnitudeQuaternion::magnitude
- ::mapQuaternion::map
- ::mulQuaternion::mul
- ::negQuaternion::neg
- ::normalizeQuaternion::normalize
- ::oneQuaternion::one
- ::pow_by_TQuaternion::pow_by_T
- ::pow_by_intQuaternion::pow_by_int
- ::rotateQuaternion::rotate
- ::scaleQuaternion::scale
- ::square_lenQuaternion::square_len
- ::subQuaternion::sub
- ::to_eulerQuaternion::to_euler
- ::to_euler_external_XYZQuaternion::to_euler_external_XYZ
- ::to_euler_external_XZYQuaternion::to_euler_external_XZY
- ::to_euler_external_YZXQuaternion::to_euler_external_YZX
- ::to_euler_external_ZYXQuaternion::to_euler_external_ZYX
- ::to_euler_internal_XYZQuaternion::to_euler_internal_XYZ
- ::to_euler_internal_XZYQuaternion::to_euler_internal_XZY
- ::to_euler_internal_YZXQuaternion::to_euler_internal_YZX
- ::to_euler_internal_ZYXQuaternion::to_euler_internal_ZYX
- ::to_stringQuaternion::to_string
- ::zeroQuaternion::zero
- Vfrom_axis_angle
- Vfrom_euler
- Vid
- Vslerp
quaternion
MoonBit Quaternion Library
quaternion
math
Author
Version
0.2.0
License
Apache-2.0
Repository
Last updated
2 days ago
Downloads
41
Dependencies
#quaternion
Luna-Flow/quaternion is a MoonBit library for Hamilton's quaternions . Unit quaternions represent 3D rotations that compose, invert and interpolate cheaply and have no gimbal lock, and general quaternions form a non-commutative ring. The library provides one generic type, Quaternion[T], with ring arithmetic, right and left division, norms, vector rotation, spherical interpolation and Euler-angle conversion, and it plugs into the luna-generic algebraic traits.
#Installation
moon add Luna-Flow/quaternion@0.2.0Then import "Luna-Flow/quaternion" in your package's moon.pkg. The library requires MoonBit with moonc 0.10 or later and depends on Luna-Flow/luna-generic 0.4.0.
#Example
fn main {
// a quarter turn around the z axis
let q = @quaternion.from_axis_angle((0.0, 0.0, 1.0), @math.PI / 2.0)
let (x, y, _) = q.rotate((1.0, 0.0, 0.0))
println("\{x.abs() < 1.0e-12}, \{y}") // true, 1
// half of the turn, by spherical interpolation
let half = @quaternion.slerp(@quaternion.id(), q, 0.5)
println(half) // 0.9238795325112868 + 0i + 0j + 0.3826834323650898k
// `/` is right division: (q / r) * r == q
let r = @quaternion.Quaternion::from_vec((1.0, 2.0, 3.0, 4.0))
println(((q / r) * r - q).square_len() < 1.0e-24) // true
}The example imports moonbitlang/core/math for @math.PI.
#Package
| Package | Import path | Contents |
|---|---|---|
| core (src) | Luna-Flow/quaternion | Quaternion[T]: arithmetic, / (right division) and left_div, inv, conjugate, norms, rotate, slerp, from_axis_angle, Euler-angle conversion, DoubleConvert |
Quaternion[T] implements luna-generic's Zero, One, AddMonoid, MulMonoid, Semiring, Ring, Inverse and Conjugate. It deliberately does not implement Field: quaternion multiplication is not commutative.
#Documentation
The manual is published at https://lunaflow.cn/en/quaternion/ with Chinese and Japanese translations. Its English source is in doc/manual/: the tutorial, the API reference (with warnings for the known issues of the Euler-angle conversions and pow_by_T) and the design notes, which derive the Hamilton product, the rotation formula, slerp and the Euler-angle conventions. The public interface is src/pkg.generated.mbti, and changes between versions are in CHANGELOG.md.
#Contributing
Issues and pull requests are welcome at https://github.com/Luna-Flow/quaternion. Before opening a pull request, run:
moon fmt
moon check --target all
moon test --target all
moon infoand commit the regenerated src/pkg.generated.mbti. Documentation follows the Luna-Flow documentation standard: edit the English pages in doc/manual/, then update the translation catalogs with lunadoc update.
#License
Apache-2.0. See LICENSE.
DoubleConvert
pub trait DoubleConvert {
fn to_double(Self) -> Double
fn from_double(Double) -> Self
}Quaternion
Quaternion struct with real component r and vector components vec
impl AddMonoid for Quaternion[T]impl Conjugate for Quaternion[T]Computes the conjugate of the quaternion (negates vector components).
impl Inverse for Quaternion[T]impl MulMonoid for Quaternion[T]impl One for Quaternion[T]The multiplicative identity 1 + 0i + 0j + 0k.
impl Ring for Quaternion[T]impl Semiring for Quaternion[T]impl Zero for Quaternion[T]The additive identity 0 + 0i + 0j + 0k.
impl Add for Quaternion[T]Adds two quaternions component-wise.
impl Default for Quaternion[T]impl Div for Quaternion[T]Divides two quaternions (right division): q / r == q * r.inv(), the
solution x of x * r == q. This matches the usual meaning of / in a
division ring and the Div/Inverse relationship assumed by luna-generic.
For r.inv() * q (the solution of r * x == q) use Quaternion::left_div.
impl Mul for Quaternion[T]Multiplies two quaternions using Hamilton product.
impl Neg for Quaternion[T]Negates the quaternion.
impl Show for Quaternion[T]Outputs the quaternion to a logger.
Returns a string representation of the quaternion in the form "a + bi + cj + dk".
impl Sub for Quaternion[T]Subtracts two quaternions.
Quaternion::add
Quaternion::conjugate
The quaternion conjugate r - xi - yj - zk.
Quaternion::div
fn[T : Add + Mul + Div + Sub] Quaternion::div(q : Quaternion[T], r : Quaternion[T]) -> Quaternion[T]Quaternion::dot
Computes the dot product of two quaternions.
Quaternion::from_vec
Creates a quaternion from a 4-component vector (scalar, i, j, k).
Quaternion::inv
fn[T : Div + Num + Ring + Semiring + AddMonoid + Add + Zero + MulMonoid + Mul + One + Neg + Sub] Quaternion::inv(self : Quaternion[T]) -> Quaternion[T]The two-sided multiplicative inverse conj(q) / |q|^2.
Quaternion::left_div
fn[T : Add + Mul + Div + Sub] Quaternion::left_div(self : Quaternion[T], r : Quaternion[T]) -> Quaternion[T]Left division: q.left_div(r) == r.inv() * q, the solution x of
r * x == q. Quaternion multiplication is not commutative, so this differs
from q / r (right division) in general.
Quaternion::magnitude
fn[T : Num + DoubleConvert + Ring + Semiring + AddMonoid + Add + Zero + MulMonoid + Mul + One + Neg + Sub] Quaternion::magnitude(self : Quaternion[T]) -> TComputes the magnitude (norm) of the quaternion.
Quaternion::map
Applies a function to each component of the quaternion.
Quaternion::mul
fn[T : Mul + Sub + Add] Quaternion::mul(self : Quaternion[T], other : Quaternion[T]) -> Quaternion[T]Quaternion::normalize
fn[T : Num + DoubleConvert + Div + Eq + Ring + Semiring + AddMonoid + Add + Zero + MulMonoid + Mul + One + Neg + Sub] Quaternion::normalize(self : Quaternion[T]) -> Quaternion[T]Normalizes the quaternion to unit length.
Quaternion::one
Quaternion::one() is the multiplicative identity.
Quaternion::pow_by_T
fn[T : Num + DoubleConvert + Mul + Add + Div + Eq + Ring + Semiring + AddMonoid + Zero + MulMonoid + One + Neg + Sub] Quaternion::pow_by_T(self : Quaternion[T], exponent : T) -> Quaternion[T]If the exponent is of type Int, please use the pow_by_int function.
Computes the power of a quaternion. Like q^(2.5)
Quaternion::pow_by_int
fn[T : Num + Mul + Add + Sub + Div + Ring + Semiring + AddMonoid + Zero + MulMonoid + One + Neg] Quaternion::pow_by_int(self : Quaternion[T], exponent : Int) -> Quaternion[T]If the exponent isn't of type Int, please use the pow_by_T function to calculate.
Computes the power of a quaternion. Like q^2
Quaternion::rotate
Rotates a 3D vector using this unit quaternion.
Quaternion::scale
Scales the quaternion by a scalar value.
Quaternion::square_len
Computes the squared length (norm) of the quaternion.
Quaternion::sub
Quaternion::to_euler
Converts the quaternion to Euler angles in different Orders, all measured in radians.
The k-th returned angle is the rotation around the k-th axis of order.
'order' in {"XYZ", "XZY", "YZX", "ZYX"}
'external' is 'true', Result will be External rotation. Otherwise, Result will be Internal rotation
Quaternion::to_euler_external_XYZ
Converts the quaternion to Euler angles (roll, pitch, yaw) in external XYZ-Order
Quaternion::to_euler_external_XZY
Converts the quaternion to Euler angles (roll, pitch, yaw) in external XZY-Order (active rotation)
Quaternion::to_euler_external_YZX
Converts the quaternion to Euler angles (roll, pitch, yaw) in external YZX-Order
Quaternion::to_euler_external_ZYX
Converts the quaternion to Euler angles (roll, pitch, yaw) in external ZYX-Order
Quaternion::to_euler_internal_XYZ
Converts the quaternion to Euler angles (roll, pitch, yaw) in internal XYZ-Order
Quaternion::to_euler_internal_XZY
Converts the quaternion to Euler angles (roll, pitch, yaw) in internal XZY-Order
Quaternion::to_euler_internal_YZX
Converts the quaternion to Euler angles (roll, pitch, yaw) in internal YZX-Order
Quaternion::to_euler_internal_ZYX
Converts the quaternion to Euler angles (roll, pitch, yaw) in internal ZYX-Order
Quaternion::to_string
a + bi + cj + dk is the canonical text form of a quaternion.
Quaternion::zero
Quaternion::zero() is the additive identity.
from_axis_angle
fn[T : DoubleConvert + Mul + Add + Div] from_axis_angle(axis : (T, T, T), angle : T) -> Quaternion[T]Creates a quaternion from an axis and angle.
from_euler
fn[T : DoubleConvert + Mul + Add + Sub] from_euler(roll : T, pitch : T, yaw : T, order? : String) -> Quaternion[T]Converts the Euler angles to the quaternion (x, ai, bj, ck) In different Orders
'order' in {"XYZ", "YXZ", "ZYX", "YZX", "ZXY"}
id
Returns the identity quaternion (1 + 0i + 0j + 0k).
slerp
fn[T : DoubleConvert + Num + Mul + Add + Div + Eq + Ring + Semiring + AddMonoid + Zero + MulMonoid + One + Neg + Sub] slerp(q1 : Quaternion[T], q2 : Quaternion[T], t : Double) -> Quaternion[T]Performs spherical linear interpolation between two quaternions.
Apache-2.0
Updated 2 days ago
41 downloads