Struct Matrix3x3 

pub struct Matrix3x3 { /* private fields */ }

Represents a 3x3 linear_algebra with f32 values in row-major order.

Internal representation is [[f32; 3]; 3].

Implementations

impl Matrix3x3

pub fn new(data: [[f32; 3]; 3]) -> Self

Creates a new 3x3 linear_algebra from the provided 2D array data.

The data should be in row-major order: data[row][column].

Example

use crate::bb_geometry::linear_algebra::matrix3x3::*;
let linear_algebra = Matrix3x3::new([
    [1.0, 2.0, 3.0],
    [4.0, 5.0, 6.0],
    [7.0, 8.0, 9.0],
]);
assert_eq!(linear_algebra.get(0, 1), 2.0);

pub fn identity() -> Self

Creates an identity linear_algebra (1.0 on the diagonal, 0.0 elsewhere).

Example

use crate::bb_geometry::linear_algebra::matrix3x3::*;
let identity = Matrix3x3::identity();
assert_eq!(identity.get(0, 0), 1.0);
assert_eq!(identity.get(1, 1), 1.0);
assert_eq!(identity.get(0, 1), 0.0);

pub fn zero() -> Self

Creates a zero linear_algebra (all elements are 0.0).

Example

use crate::bb_geometry::linear_algebra::matrix3x3::*;
let zero = Matrix3x3::zero();
assert_eq!(zero.get(1, 2), 0.0);

pub fn get(&self, row: usize, col: usize) -> f32

Gets the value at the specified row and column using a method call.

Prefer using the index operator linear_algebra[(row, col)] for more idiomatic access.

Panics

Panics if row or col are out of bounds (>= 3).

Example

use crate::bb_geometry::linear_algebra::matrix3x3::*;
let linear_algebra = Matrix3x3::identity();
assert_eq!(linear_algebra.get(1, 1), 1.0);

pub fn set(&mut self, row: usize, col: usize, value: f32)

Sets the value at the specified row and column using a method call.

Prefer using the mutable index operator linear_algebra[(row, col)] = value for more idiomatic modification.

Panics

Panics if row or col are out of bounds (>= 3).

Example

use crate::bb_geometry::linear_algebra::matrix3x3::*;
let mut linear_algebra = Matrix3x3::zero();
linear_algebra.set(2, 1, 5.0);
assert_eq!(linear_algebra.get(2, 1), 5.0);

pub fn transpose(&self) -> Self

Returns the transpose of the linear_algebra.

The element at (row, col) in the original linear_algebra becomes the element at (col, row) in the transposed linear_algebra. Does not modify the original linear_algebra.

Example

use crate::bb_geometry::linear_algebra::matrix3x3::*;
let linear_algebra = Matrix3x3::new([
    [1.0, 2.0, 3.0],
    [4.0, 5.0, 6.0],
    [7.0, 8.0, 9.0],
]);
let transposed = linear_algebra.transpose();
assert_eq!(transposed.get(0, 1), 4.0); // linear_algebra.get(1, 0)
assert_eq!(transposed.get(1, 0), 2.0); // linear_algebra.get(0, 1)
assert_eq!(transposed.get(2, 1), 6.0); // linear_algebra.get(1, 2)

pub fn multiply(&self, other: &Self) -> Self

Performs linear_algebra multiplication: self * other.

This method delegates to the * operator implementation provided by Mul. Does not modify the original matrices.

Example

use crate::bb_geometry::linear_algebra::matrix3x3::*;
let a = Matrix3x3::new([
    [1.0, 2.0, 0.0],
    [3.0, 4.0, 0.0],
    [0.0, 0.0, 1.0],
]);
let b = Matrix3x3::new([
    [5.0, 6.0, 0.0],
    [7.0, 8.0, 0.0],
    [0.0, 0.0, 1.0],
]);
let result = a.multiply(&b);
// 1*5 + 2*7 = 19
assert_eq!(result.get(0, 0), 19.0);
// 1*6 + 2*8 = 22
assert_eq!(result.get(0, 1), 22.0);
// 3*5 + 4*7 = 15 + 28 = 43
assert_eq!(result.get(1, 0), 43.0);
// 3*6 + 4*8 = 18 + 32 = 50
assert_eq!(result.get(1, 1), 50.0);

pub fn is_almost_zero(&self) -> bool

Checks if a linear_algebra has components not exceeding EPSILON.

Example

use crate::bb_geometry::linear_algebra::matrix3x3::*;
use crate::bb_geometry::linear_algebra::EPSILON;
let zero_matrix = Matrix3x3::zero();
let matrix_with_epsilon_entries = Matrix3x3::new([[EPSILON, EPSILON, 0.0], [0.0, 0.0, 0.0], [0.0, EPSILON, 0.0]]);
let matrix_with_entry_exceeding_epsilon = Matrix3x3::new([[EPSILON, 1.1* EPSILON, 0.0], [0.0, 0.0, 0.0], [0.0, EPSILON, 0.0]]);

let zero_matrix_is_almost_zero = zero_matrix.is_almost_zero();
let matrix_with_epsilon_entries_almost_zero = matrix_with_epsilon_entries.is_almost_zero();
let matrix_with_entry_exceeding_epsilon_is_not_almost_zero = !matrix_with_entry_exceeding_epsilon.is_almost_zero();

assert!(zero_matrix_is_almost_zero);
assert!(matrix_with_epsilon_entries_almost_zero);
assert!(matrix_with_entry_exceeding_epsilon_is_not_almost_zero);

impl Matrix3x3

pub fn rotation_from_euler_angles(psi: f32, theta: f32, phi: f32) -> Matrix3x3

pub fn is_orthogonal(&self) -> bool

Trait Implementations

impl Clone for Matrix3x3

fn clone(&self) -> Matrix3x3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Matrix3x3

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

Formats the value using the given formatter.

impl Index<(usize, usize)> for Matrix3x3

Allows accessing linear_algebra elements using tuple indexing linear_algebra[(row, col)].

Panics

Panics if row or col are out of bounds (>= 3).

Example

use crate::bb_geometry::linear_algebra::matrix3x3::*;
let linear_algebra = Matrix3x3::new([
    [1.0, 2.0, 3.0],
    [4.0, 5.0, 6.0],
    [7.0, 8.0, 9.0],
]);
assert_eq!(linear_algebra[(1, 2)], 6.0);

type Output = f32

The returned type after indexing.

fn index(&self, index: (usize, usize)) -> &Self::Output

Performs the indexing (container[index]) operation.

impl IndexMut<(usize, usize)> for Matrix3x3

Allows mutating linear_algebra elements using tuple indexing linear_algebra[(row, col)] = value.

Panics

Panics if row or col are out of bounds (>= 3).

Example

use crate::bb_geometry::linear_algebra::matrix3x3::*;
let mut linear_algebra = Matrix3x3::zero();
linear_algebra[(2, 1)] = 99.0;
assert_eq!(linear_algebra[(2, 1)], 99.0);

fn index_mut(&mut self, index: (usize, usize)) -> &mut Self::Output

Performs the mutable indexing (container[index]) operation.

impl Mul<&Matrix3x3> for &Matrix3x3

Implements linear_algebra multiplication using the * operator (&Matrix3x3 * &Matrix3x3).

This is often the most convenient way to perform linear_algebra multiplication.

Example

use crate::bb_geometry::linear_algebra::matrix3x3::*;
let a = Matrix3x3::identity();
let b = Matrix3x3::new([
    [1.0, 2.0, 3.0],
    [4.0, 5.0, 6.0],
    [7.0, 8.0, 9.0],
]);
let result = &a * &b; // Multiplying by identity returns the original
assert_eq!(result, b);

let c = Matrix3x3::new([
    [2.0, 0.0, 0.0],
    [0.0, 3.0, 0.0],
    [0.0, 0.0, 1.0],
]);
let scaled_b = &b * &c; // Scale columns of b
assert_eq!(scaled_b[(0, 0)], 2.0); // 1*2
assert_eq!(scaled_b[(1, 1)], 15.0); // 5*3
assert_eq!(scaled_b[(2, 2)], 9.0); // 9*1

type Output = Matrix3x3

The resulting type after applying the * operator.

fn mul(self, rhs: &Matrix3x3) -> Self::Output

Performs the * operation.

impl Mul<&Matrix3x3> for Matrix3x3

type Output = Matrix3x3

The resulting type after applying the * operator.

fn mul(self, rhs: &Matrix3x3) -> Self::Output

Performs the * operation.

impl Mul<&Vector3> for &Matrix3x3

Implements Matrix * Vector multiplication (&Matrix3x3 * &Vector3). Treats the vector as a column vector.

type Output = Vector3

The resulting type after applying the * operator.

fn mul(self, rhs: &Vector3) -> Self::Output

Performs the * operation.

impl Mul<&Vector3> for Matrix3x3

type Output = Vector3

The resulting type after applying the * operator.

fn mul(self, rhs: &Vector3) -> Self::Output

Performs the * operation.

impl Mul<Matrix3x3> for &Matrix3x3

type Output = Matrix3x3

The resulting type after applying the * operator.

fn mul(self, rhs: Matrix3x3) -> Self::Output

Performs the * operation.

impl Mul<Vector3> for &Matrix3x3

type Output = Vector3

The resulting type after applying the * operator.

fn mul(self, rhs: Vector3) -> Self::Output

Performs the * operation.

impl Mul<Vector3> for Matrix3x3

type Output = Vector3

The resulting type after applying the * operator.

fn mul(self, rhs: Vector3) -> Self::Output

Performs the * operation.

impl Mul for Matrix3x3

type Output = Matrix3x3

The resulting type after applying the * operator.

fn mul(self, rhs: Matrix3x3) -> Self::Output

Performs the * operation.

impl PartialEq for Matrix3x3

fn eq(&self, other: &Matrix3x3) -> bool

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Sub<&Matrix3x3> for &Matrix3x3

type Output = Matrix3x3

The resulting type after applying the - operator.

fn sub(self, rhs: &Matrix3x3) -> Self::Output

Performs the - operation.

impl Sub<&Matrix3x3> for Matrix3x3

type Output = Matrix3x3

The resulting type after applying the - operator.

fn sub(self, rhs: &Matrix3x3) -> Self::Output

Performs the - operation.

impl Sub<Matrix3x3> for &Matrix3x3

type Output = Matrix3x3

The resulting type after applying the - operator.

fn sub(self, rhs: Matrix3x3) -> Self::Output

Performs the - operation.

impl Sub for Matrix3x3

type Output = Matrix3x3

The resulting type after applying the - operator.

fn sub(self, rhs: Matrix3x3) -> Self::Output

Performs the - operation.

impl Copy for Matrix3x3

impl StructuralPartialEq for Matrix3x3