Struct Frame3 

pub struct Frame3 {
    pub origin: Point3,
    pub x: UnitVec3,
    pub y: UnitVec3,
    pub z: UnitVec3,
}

Right-handed orthonormal frame: origin + three unit axes.

x, y, z form a right-handed basis: x.cross(y) == z.

Fields

origin: Point3

Frame origin in world space.

x: UnitVec3

Local X axis.

y: UnitVec3

Local Y axis.

z: UnitVec3

Local Z axis (= x × y).

Implementations

impl Frame3

pub const WORLD: Self

World frame: origin at (0,0,0), axes aligned with world axes.

pub fn from_origin_z(origin: Point3, forward: UnitVec3) -> Self

Build a frame from an origin and a forward (+Z) direction.

The X axis is chosen to be perpendicular to forward (arbitrary but consistent). Y is derived as z × x (right-handed).

pub fn from_origin_z_up( origin: Point3, forward: UnitVec3, up_hint: Vec3, ) -> Self

Build a frame from origin, forward (+Z), and a suggested up vector.

up_hint need not be perpendicular to forward; it is projected to produce the Y axis. Falls back to the arbitrary-perp method if up_hint is nearly parallel to forward.

pub fn to_local_point(self, p: Point3) -> Point3

Express a world-space point in local coordinates.

pub fn to_world_point(self, p: Point3) -> Point3

Express a local-space point in world coordinates.

pub fn to_local_vec(self, v: Vec3) -> Vec3

Express a world-space vector in local coordinates.

pub fn to_world_vec(self, v: Vec3) -> Vec3

Express a local-space vector in world coordinates.

pub fn rotation(self) -> Mat3

Rotation matrix that maps world axes to local axes.

pub fn translate(self, delta: Vec3) -> Self

Move the frame origin by delta (in world space).

Trait Implementations

impl Clone for Frame3

fn clone(&self) -> Frame3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Frame3

impl Debug for Frame3

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

Formats the value using the given formatter.

impl PartialEq for Frame3

fn eq(&self, other: &Frame3) -> 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 StructuralPartialEq for Frame3