dualquat

A lightweight, zero-dependency 3d math library for use in Dual Quaternion based physics simulation. Capable of representing and transforming location and attitude simultaneously, in fewer operations than would be required for a transformation matrix.

Features

• DualQuaternion type
• DualNumber type
• Quaternion type
• Vec3 type

Optional features

• [nanoserde, serde, speedy] - Serialization of all types
• [glam, nalgebra, mint] - Conversion to/from equivalent types for interop

Development status

This is being actively worked on. PRs will be accepted for either more tests or functionality.

TODO

• Use approx for tests
• Benchmarks