# Struct bevy::math::Mat3[−][src]

`#[repr(C)]pub struct Mat3(_);`

A 3x3 column major matrix.

This 3x3 matrix type features convenience methods for creating and using linear and affine transformations.

Linear transformations including 3D rotation and scale can be created using methods such as `Self::from_diagonal()`, `Self::from_quat()`, `Self::from_axis_angle()`, `Self::from_rotation_x()`, `Self::from_rotation_y()`, or `Self::from_rotation_z()`.

The resulting matrices can be use to transform 3D vectors using regular vector multiplication.

Affine transformations including 2D translation, rotation and scale can be created using methods such as `Self::from_translation()`, `Self::from_angle()`, `Self::from_scale()` and `Self::from_scale_angle_translation()`.

The `Self::transform_point2()` and `Self::transform_vector2()` convenience methods are provided for performing affine transforms on 2D vectors and points. These multiply 2D inputs as 3D vectors with an implicit `z` value of `1` for points and `0` for vectors respectively. These methods assume that `Self` contains a valid affine transform.

## Implementations

### `impl Mat3`[src]

#### `pub const ZERO: Mat3`[src]

A 3x3 matrix with all elements set to `0.0`.

#### `pub const IDENTITY: Mat3`[src]

A 3x3 identity matrix, where all diagonal elements are `1`, and all off-diagonal elements are `0`.

#### `pub const fn zero() -> Mat3`[src]

👎 Deprecated:

Creates a 3x3 matrix with all elements set to `0.0`.

#### `pub const fn identity() -> Mat3`[src]

👎 Deprecated:

Creates a 3x3 identity matrix.

#### `pub fn from_cols(x_axis: Vec3, y_axis: Vec3, z_axis: Vec3) -> Mat3`[src]

Creates a 3x3 matrix from three column vectors.

#### `pub fn from_cols_array(m: &[f32; 9]) -> Mat3`[src]

Creates a 3x3 matrix from a `[S; 9]` array stored in column major order. If your data is stored in row major you will need to `transpose` the returned matrix.

#### `pub fn to_cols_array(&self) -> [f32; 9]`[src]

Creates a `[S; 9]` array storing data in column major order. If you require data in row major order `transpose` the matrix first.

#### `pub fn from_cols_array_2d(m: &[[f32; 3]; 3]) -> Mat3`[src]

Creates a 3x3 matrix from a `[[S; 3]; 3]` 2D array stored in column major order. If your data is in row major order you will need to `transpose` the returned matrix.

#### `pub fn to_cols_array_2d(&self) -> [[f32; 3]; 3]`[src]

Creates a `[[S; 3]; 3]` 2D array storing data in column major order. If you require data in row major order `transpose` the matrix first.

#### `pub fn from_diagonal(diagonal: Vec3) -> Mat3`[src]

Creates a 3x3 matrix with its diagonal set to `diagonal` and all other entries set to 0. The resulting matrix is a 3D scale transfom.

#### `pub fn from_quat(rotation: Quat) -> Mat3`[src]

Creates a 3D rotation matrix from the given quaternion.

#### `pub fn from_axis_angle(axis: Vec3, angle: f32) -> Mat3`[src]

Creates a 3D rotation matrix from a normalized rotation `axis` and `angle` (in radians).

#### `pub fn from_rotation_ypr(yaw: f32, pitch: f32, roll: f32) -> Mat3`[src]

Creates a 3D rotation matrix from the given Euler angles (in radians).

#### `pub fn from_rotation_x(angle: f32) -> Mat3`[src]

Creates a 3D rotation matrix from `angle` (in radians) around the x axis.

#### `pub fn from_rotation_y(angle: f32) -> Mat3`[src]

Creates a 3D rotation matrix from `angle` (in radians) around the y axis.

#### `pub fn from_rotation_z(angle: f32) -> Mat3`[src]

Creates a 3D rotation matrix from `angle` (in radians) around the z axis.

#### `pub fn from_translation(translation: Vec2) -> Mat3`[src]

Creates an affine transformation matrix from the given 2D `translation`.

The resulting matrix can be used to transform 2D points and vectors. See [`Self::transform_point3()`] and [`Self::transform_vector3()`].

#### `pub fn from_angle(angle: f32) -> Mat3`[src]

Creates an affine transformation matrix from the given 2D rotation `angle` (in radians).

The resulting matrix can be used to transform 2D points and vectors. See `Self::transform_point2()` and `Self::transform_vector2()`.

#### `pub fn from_scale_angle_translation(    scale: Vec2,     angle: f32,     translation: Vec2) -> Mat3`[src]

Creates an affine transformation matrix from the given 2D `scale`, rotation `angle` (in radians) and `translation`.

The resulting matrix can be used to transform 2D points and vectors. See `Self::transform_point2()` and `Self::transform_vector2()`.

#### `pub fn from_scale(scale: Vec2) -> Mat3`[src]

Creates an affine transformation matrix from the given non-uniform 2D `scale`.

The resulting matrix can be used to transform 2D points and vectors. See `Self::transform_point2()` and `Self::transform_vector2()`.

#### `pub fn is_finite(&self) -> bool`[src]

Returns `true` if, and only if, all elements are finite. If any element is either `NaN`, positive or negative infinity, this will return `false`.

#### `pub fn is_nan(&self) -> bool`[src]

Returns `true` if any elements are `NaN`.

#### `pub fn transpose(&self) -> Mat3`[src]

Returns the transpose of `self`.

#### `pub fn determinant(&self) -> f32`[src]

Returns the determinant of `self`.

#### `pub fn inverse(&self) -> Mat3`[src]

Returns the inverse of `self`.

If the matrix is not invertible the returned matrix will be invalid.

#### `pub fn mul_vec3(&self, other: Vec3) -> Vec3`[src]

Transforms a 3D vector.

#### `pub fn mul_mat3(&self, other: &Mat3) -> Mat3`[src]

Multiplies two 3x3 matrices.

#### `pub fn sub_mat3(&self, other: &Mat3) -> Mat3`[src]

Subtracts two 3x3 matrices.

#### `pub fn mul_scalar(&self, other: f32) -> Mat3`[src]

Multiplies a 3x3 matrix by a scalar.

#### `pub fn transform_point2(&self, other: Vec2) -> Vec2`[src]

Transforms the given 2D vector as a point.

This is the equivalent of multiplying `other` as a 3D vector where `z` is `1`.

This method assumes that `self` contains a valid affine transform.

#### `pub fn transform_vector2(&self, other: Vec2) -> Vec2`[src]

Rotates the given 2D vector.

This is the equivalent of multiplying `other` as a 3D vector where `z` is `0`.

This method assumes that `self` contains a valid affine transform.

#### `pub fn abs_diff_eq(&self, other: Mat3, max_abs_diff: f32) -> bool`[src]

Returns true if the absolute difference of all elements between `self` and `other` is less than or equal to `max_abs_diff`.

This can be used to compare if two matrices contain similar elements. It works best when comparing with a known value. The `max_abs_diff` that should be used used depends on the values being compared against.

For more see comparing floating point numbers.

#### `pub fn mul_vec3a(&self, other: Vec3A) -> Vec3A`[src]

Transforms a `Vec3A`.

## Trait Implementations

### `impl Add<Mat3> for Mat3`[src]

#### `type Output = Mat3`

The resulting type after applying the `+` operator.

### `impl Deref for Mat3`[src]

#### `type Target = Vector3x3<Vec3>`

The resulting type after dereferencing.

### `impl Mul<Mat3> for Mat3`[src]

#### `type Output = Mat3`

The resulting type after applying the `*` operator.

### `impl Mul<Vec3> for Mat3`[src]

#### `type Output = Vec3`

The resulting type after applying the `*` operator.

### `impl Mul<Vec3A> for Mat3`[src]

#### `type Output = Vec3A`

The resulting type after applying the `*` operator.

### `impl Mul<f32> for Mat3`[src]

#### `type Output = Mat3`

The resulting type after applying the `*` operator.

### `impl Sub<Mat3> for Mat3`[src]

#### `type Output = Mat3`

The resulting type after applying the `-` operator.

## Blanket Implementations

### `impl<T> ToOwned for T where    T: Clone, `[src]

#### `type Owned = T`

The resulting type after obtaining ownership.

### `impl<T, U> TryFrom<U> for T where    U: Into<T>, `[src]

#### `type Error = Infallible`

The type returned in the event of a conversion error.

### `impl<T, U> TryInto<U> for T where    U: TryFrom<T>, `[src]

#### `type Error = <U as TryFrom<T>>::Error`

The type returned in the event of a conversion error.