Struct RigidTransform 

pub struct RigidTransform {
    pub rotation: [[f64; 3]; 3],
    pub translation: Point3,
}

A proper rigid transform (rotation + translation, no scale, no mirror).

rotation is row-major: apply_vector(v) = rotation · v. Build one with RigidTransform::new (validated) or the named constructors. The setup’s model-to-machine transform is the ONLY rigid transform CAM applies to geometry; display conversion back uses RigidTransform::inverse.

Fields

rotation: [[f64; 3]; 3]

translation: Point3

Implementations

impl RigidTransform

pub const ORTHONORMAL_EPS: f64 = 1e-9

Tolerance used by RigidTransform::validate on the orthonormality residual.

pub fn identity() -> Self

pub fn new( rotation: [[f64; 3]; 3], translation: Point3, ) -> Result<Self, TransformError>

Validated constructor: refuses non-finite, non-orthonormal or mirroring matrices.

pub fn translation(t: Point3) -> Self

pub fn axis_angle( axis: Point3, angle_rad: f64, t: Point3, ) -> Result<Self, TransformError>

Rotation by angle_rad about the unit axis (right-hand rule), then translation t.

pub fn from_frame( origin: Point3, x_axis: Point3, z_axis: Point3, ) -> Result<Self, TransformError>

The transform that maps a frame given in model coordinates (origin, X axis, Z axis) onto the machine frame: the frame origin goes to the machine origin, the frame’s X to +X and its Z to +Z. x_axis is re-orthogonalized against z_axis.

pub fn validate(&self) -> Result<(), TransformError>

pub fn is_identity(&self) -> bool

pub fn apply_vector(&self, v: Point3) -> Point3

pub fn apply_point(&self, p: Point3) -> Point3

pub fn apply_bounds(&self, b: &Bounds3) -> Bounds3

Transform a box: the box of the eight transformed corners.

pub fn inverse(&self) -> Self

The inverse: rotation transposed, translation rotated back.

pub fn then(&self, next: &RigidTransform) -> Self

self followed by next: (next ∘ self)(p) = next(self(p)).

Trait Implementations

impl Clone for RigidTransform

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for RigidTransform

impl Debug for RigidTransform

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for RigidTransform

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for RigidTransform

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for RigidTransform

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for RigidTransform

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for RigidTransform