Struct acgmath::Basis3
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pub struct Basis3<S> { /* fields omitted */ }
A three-dimensional rotation matrix.
The matrix is guaranteed to be orthogonal, so some operations, specifically
inversion, can be implemented more efficiently than the implementations for
math::Matrix3
. To ensure orthogonality is maintained, the operations have
been restricted to a subeset of those implemented on Matrix3
.
Methods
impl<S: BaseFloat> Basis3<S>
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fn from_quaternion(quaternion: &Quaternion<S>) -> Basis3<S>
Create a new rotation matrix from a quaternion.
Trait Implementations
impl<S: BaseFloat> From<Quaternion<S>> for Basis3<S>
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fn from(quat: Quaternion<S>) -> Basis3<S>
Performs the conversion.
impl<S: PartialEq> PartialEq for Basis3<S>
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fn eq(&self, __arg_0: &Basis3<S>) -> bool
This method tests for self
and other
values to be equal, and is used by ==
. Read more
fn ne(&self, __arg_0: &Basis3<S>) -> bool
This method tests for !=
.
impl<S: Copy> Copy for Basis3<S>
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impl<S: Clone> Clone for Basis3<S>
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fn clone(&self) -> Basis3<S>
Returns a copy of the value. Read more
fn clone_from(&mut self, source: &Self)
1.0.0
Performs copy-assignment from source
. Read more
impl<S> AsRef<Matrix3<S>> for Basis3<S>
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impl<S: BaseFloat> Rotation<Point3<S>> for Basis3<S>
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fn look_at(dir: Vector3<S>, up: Vector3<S>) -> Basis3<S>
Create a rotation to a given direction with an 'up' vector
fn between_vectors(a: Vector3<S>, b: Vector3<S>) -> Basis3<S>
Create a shortest rotation to transform vector 'a' into 'b'. Both given vectors are assumed to have unit length. Read more
fn rotate_vector(&self, vec: Vector3<S>) -> Vector3<S>
Rotate a vector using this rotation.
fn invert(&self) -> Basis3<S>
Create a new rotation which "un-does" this rotation. That is, r * r.invert()
is the identity. Read more
fn rotate_point(&self, point: P) -> P
Rotate a point using this rotation, by converting it to its representation as a vector. Read more
impl<S: BaseFloat> One for Basis3<S>
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impl<S: BaseFloat> Mul<Basis3<S>> for Basis3<S>
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type Output = Basis3<S>
The resulting type after applying the *
operator
fn mul(self, other: Basis3<S>) -> Basis3<S>
The method for the *
operator
impl<'a, S: BaseFloat> Mul<&'a Basis3<S>> for Basis3<S>
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type Output = Basis3<S>
The resulting type after applying the *
operator
fn mul(self, other: &'a Basis3<S>) -> Basis3<S>
The method for the *
operator
impl<'a, S: BaseFloat> Mul<Basis3<S>> for &'a Basis3<S>
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type Output = Basis3<S>
The resulting type after applying the *
operator
fn mul(self, other: Basis3<S>) -> Basis3<S>
The method for the *
operator
impl<'a, 'b, S: BaseFloat> Mul<&'a Basis3<S>> for &'b Basis3<S>
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type Output = Basis3<S>
The resulting type after applying the *
operator
fn mul(self, other: &'a Basis3<S>) -> Basis3<S>
The method for the *
operator
impl<S: BaseFloat> ApproxEq for Basis3<S>
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type Epsilon = S::Epsilon
Used for specifying relative comparisons.
fn default_epsilon() -> S::Epsilon
The default tolerance to use when testing values that are close together. Read more
fn default_max_relative() -> S::Epsilon
The default relative tolerance for testing values that are far-apart. Read more
fn default_max_ulps() -> u32
The default ULPs to tolerate when testing values that are far-apart. Read more
fn relative_eq(
&self,
other: &Self,
epsilon: S::Epsilon,
max_relative: S::Epsilon
) -> bool
&self,
other: &Self,
epsilon: S::Epsilon,
max_relative: S::Epsilon
) -> bool
A test for equality that uses a relative comparison if the values are far apart.
fn ulps_eq(&self, other: &Self, epsilon: S::Epsilon, max_ulps: u32) -> bool
A test for equality that uses units in the last place (ULP) if the values are far apart.
fn relative_ne(
&self,
other: &Self,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon
) -> bool
&self,
other: &Self,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon
) -> bool
The inverse of ApproxEq::relative_eq
.
fn ulps_ne(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool
The inverse of ApproxEq::ulps_eq
.
impl<S: BaseFloat> Rotation3<S> for Basis3<S>
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fn from_axis_angle<A: Into<Rad<S>>>(axis: Vector3<S>, angle: A) -> Basis3<S>
Create a rotation using an angle around a given axis. Read more
fn from_angle_x<A: Into<Rad<S>>>(theta: A) -> Basis3<S>
Create a rotation from an angle around the x
axis (pitch).
fn from_angle_y<A: Into<Rad<S>>>(theta: A) -> Basis3<S>
Create a rotation from an angle around the y
axis (yaw).
fn from_angle_z<A: Into<Rad<S>>>(theta: A) -> Basis3<S>
Create a rotation from an angle around the z
axis (roll).
impl<A: Angle> From<Euler<A>> for Basis3<<A as Angle>::Unitless> where
A: Into<Rad<<A as Angle>::Unitless>>,
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A: Into<Rad<<A as Angle>::Unitless>>,
fn from(src: Euler<A>) -> Basis3<A::Unitless>
Create a three-dimensional rotation matrix from a set of euler angles.