示例

src/main.rs:

use quaternion_wrapper::{QuaternionWrapper, Vector3Wrapper};

const PI: f64 = std::f64::consts::PI;
const EPSILON: f64 = 1e-12;

fn main() {
    // Generates a quaternion representing the
    // rotation of π/2[rad] around the y-axis.
    let q = QuaternionWrapper::from_axis_angle([0.0, 1.0, 0.0], PI/2.0);

    // Point
    let v = Vector3Wrapper([2.0, 2.0, 0.0]);

    let result = (q * v * q.conj()).get_vector_part();
    //let result = q.point_rotation(v);  // <--- It could be written like this

    // Check if the calculation is correct.
    let true_val = Vector3Wrapper([0.0, 2.0, -2.0]);
    let diff: [f64; 3] = (true_val - result).unwrap();
    for val in diff {
        assert!(val.abs() < EPSILON);
    }
}

许可协议

根据您的选择，受Apache License 2.0或MIT许可协议的许可。

贡献

除非您明确说明，否则任何有意提交供您在Apache-2.0许可证定义的工作中包含的贡献，均将按上述方式双许可，没有任何额外的条款或条件。