cgmath/src/types/quaternion.rs

// Copyright 2013 The OMath Developers. For a full listing of the authors,
// refer to the AUTHORS file at the top-level directory of this distribution.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

use traits::alg::*;
use types::vector::Vec3;

/// A quaternion in scalar/vector form
#[deriving(Clone, Eq)]
pub struct Quat<T> { s: T, v: Vec3<T> }

impl<T: Ring> Quat<T> {
    /// Construct a new quaternion from one scalar component and three
    /// imaginary components
    #[inline]
    pub fn new(w: T, xi: T, yj: T, zk: T) -> Quat<T> {
        Quat::from_sv(w, Vec3::new(xi, yj, zk))
    }

    /// Construct a new quaternion from a scalar and a vector
    #[inline]
    pub fn from_sv(s: T, v: Vec3<T>) -> Quat<T> {
        Quat { s: s, v: v }
    }
}