Module pose 

Pose: where a rigid body sits, as a rotation — a unit Quaternion — and a position, in any Number.

Unlike angles, a unit quaternion has no singular configurations, and moving a point by it is a polynomial of its components — which is what makes gradients through it well behaved, and its enclosures tight.

Structs

Motion

An affine map as it moves geometry: a Pose’s rigid motion (see Pose::motion), a plain translation, a mirror in a plane, or a scaling (Motion::scaling, the one that is no isometry) — what a body is moved, patterned, mirrored or scaled by.

Pose

A rigid motion — where a body sits: a point p of it is at R p + position, with R the rotation of a quaternion, which need not be unit (see Pose::apply) — in the number type T. Held as the two themselves, so that what is stored is exactly what was set, and a pose read and written again is written exactly as it was read.

Quaternion

A quaternion w + x i + y j + z k.