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Add documentation for <Quaternion as Rotation<Point3<S>>>::rotate_vector. Fixes #479.

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Michael Tang 2019-03-22 22:01:47 -07:00
parent 9402a01a5b
commit c1f808d928
1 changed files with 3 additions and 0 deletions
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src/quaternion.rs
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@ -729,6 +729,9 @@ impl<S: BaseFloat> Rotation<Point3<S>> for Quaternion<S> {
Quaternion::from_sv(k + k_cos_theta, a.cross(b)).normalize() Quaternion::from_sv(k + k_cos_theta, a.cross(b)).normalize()
} }
/// Evaluate the conjugation of `vec` by `self`.
///
/// Note that `self` should be a unit quaternion (i.e. normalized) to represent a 3D rotation.
#[inline] #[inline]
fn rotate_vector(&self, vec: Vector3<S>) -> Vector3<S> { fn rotate_vector(&self, vec: Vector3<S>) -> Vector3<S> {
self * vec self * vec