ix-rotation

name	ix-rotation
description	3D rotation operations — quaternions, SLERP, Euler angles, rotation matrices
disable-model-invocation	true

3D Rotations

Quaternion-based 3D rotation operations with interpolation and conversion.

When to Use

When the user needs to rotate 3D points, interpolate between orientations, convert between Euler angles and quaternions, or generate rotation matrices.

Capabilities

• Quaternion from axis-angle — Create unit quaternion from rotation axis and angle
• SLERP — Spherical linear interpolation between two orientations
• Euler ↔ Quaternion — Convert between Euler angles (XYZ) and quaternions
• Rotate point — Apply quaternion rotation to a 3D point
• Rotation matrix — Convert quaternion to 3×3 rotation matrix with orthogonality check
• Gimbal lock detection — Warn when pitch is near ±π/2

Programmatic Usage

use ix_rotation::quaternion::Quaternion;
use ix_rotation::slerp::{slerp, slerp_array};
use ix_rotation::euler::{to_quaternion, from_quaternion, EulerOrder};
use ix_rotation::rotation_matrix::{from_quaternion, is_rotation_matrix};

MCP Tool

Tool name: ix_rotation Operations: quaternion, slerp, euler_to_quat, quat_to_euler, rotate_point, rotation_matrix