Struct Isometry 

pub struct Isometry { /* private fields */ }

A rigid motion: a rotation followed by a translation, p ↦ R p + t. Lengths and angles are preserved, so a Frame moved by one is still a frame and geometry moved by one is the same geometry in another place (docs/DATA-MODEL.md §Conventions: a transform is a frame change).

use arris_math::{Isometry, Point3, Vec3, nalgebra::UnitQuaternion};
use core::f64::consts::FRAC_PI_2;

let quarter_turn = UnitQuaternion::from_axis_angle(&Vec3::z_axis(), FRAC_PI_2);
let m = Isometry::new(quarter_turn, Vec3::new(1.0, 0.0, 0.0));
let p = m.apply(Point3::new(1.0, 0.0, 0.0));
assert!((p - Point3::new(1.0, 1.0, 0.0)).norm() < 1e-15);
let back = m.inverse().apply(p);
assert!((back - Point3::new(1.0, 0.0, 0.0)).norm() < 1e-15);

Implementations

impl Isometry

pub fn new(rotation: UnitQuaternion<f64>, translation: Vec3) -> Self

p ↦ rotation · p + translation.

pub fn identity() -> Self

The motion that moves nothing.

pub fn from_translation(v: Vec3) -> Self

A pure translation by v.

pub fn from_rotation(rotation: UnitQuaternion<f64>) -> Self

A pure rotation about the origin.

pub fn rotation(&self) -> UnitQuaternion<f64>

The rotation part.

pub fn translation(&self) -> Vec3

The translation part: where the origin goes.

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

R p + t.

pub fn apply_vec(&self, v: Vec3) -> Vec3

R v: a vector is a difference of points, so the translation does not act on it.

pub fn apply_unit(&self, u: UnitVec3) -> UnitVec3

R u, re-normalised so the result is unit to rounding.

pub fn apply_frame(&self, frame: &Frame) -> Frame

The frame moved by this motion; the same as Frame::transformed.

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

The motion that is self first, then next: a.then(&b).apply(p) == b.apply(a.apply(p)) to rounding.

pub fn inverse(&self) -> Isometry

The motion that undoes this one: m.inverse().apply(m.apply(p)) == p to rounding.

Trait Implementations

impl Clone for Isometry

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 Isometry

impl Debug for Isometry

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

Formats the value using the given formatter.

impl Default for Isometry

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for Isometry

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Isometry