Struct Rotation3D

pub struct Rotation3D { /* private fields */ }

Implementations

impl Rotation3D

pub fn unit() -> Rotation3D

This creates the unit rotation, which does not rotate anything.

Example:

use bb_geometry::vector3d::Vector3D;
use bb_geometry::rotation3d::Rotation3D;
let r = Rotation3D::unit();
let v = Vector3D::random_vector();

assert!(r.act_on(&v).almost_equals(&v));

pub fn from_euler_angles(psi: f64, theta: f64, phi: f64) -> Rotation3D

This method creates a 3d rotation using a specific parameterisation in terms of Euler angles.

Examples:

use std::f64::consts::PI;
use bb_geometry::rotation3d::Rotation3D;
use bb_geometry::vector3d::*;
let r = Rotation3D::from_euler_angles(0.0, PI/2.0, 0.0);

assert!(&r.act_on(&X).almost_equals(&Z.revert()));
assert!(&r.act_on(&Y).almost_equals(&Y));
assert!(&r.act_on(&Z).almost_equals(&X));

pub fn inverse(&self) -> Rotation3D

pub fn transpose(&self) -> Rotation3D

pub fn act_on(&self, v: &Vector3D) -> Vector3D

pub fn generate_random_rotations(n: usize) -> Vec<Rotation3D>

pub fn components(&self) -> [[f64; 3]; 3]

Trait Implementations

impl Debug for Rotation3D

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

Formats the value using the given formatter.