Rustで作成した四元数(クォータニオン)計算用のライブラリです。

0以降ではno_std環境で使用できます。

quaternion-core

Quaternion library written in Rust.

About

Japanese

四元数に関する基本的な演算や各種回転表現との変換を関数として提供します。

English

It provides basic operations on quaternions and conversions to and from several attitude representations as functions.

Usage

Add this to your Cargo.toml:

Features

Cargo.toml

The fma feature

This library uses the mul_add method mainly to improve the performance, but by default it is replace with a unfused multiply-add (s*a + b) . If you wish to use mul_add method, enable the fma feature.

If your CPU does not support FMA instructions, or if you use libm (running in no_std environment), enabling the fma feature may cause slowdown of computation speed. Also, due to rounding error, results of s.mul_add(a, b) and s*a + b will not match perfectly.

The simd feature

Attension!! : This feature may have bugs and should not be enabled at first.

By enabling this feature, the SIMD implementation using the std::arch module can be used in some functions.

Currently (version="0.1.0") only x86 and x86_64 architectures are supported.

To enable this feature, CPU must support these instruction sets:

Also, specify the -C target-cpu flag to the compiler as follows:

The libm feature and default-feature = false

These options allow for use in the no_std environment. In this case, mathematical functions (e.g. sin, cos, sqrt ...) are provided by libm.

Example

src/main.rs

License

Licensed under either of Apache License, Version 2.0 or MIT License at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

Issues

Collection of the latest Issues

Information - Updated May 21, 2022

Stars: 5
Forks: 0
Issues: 1

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