Struct Mat3 

pub struct Mat3 {
    pub col: [Vec3; 3],
}

Column-major 3×3 matrix.

Columns are stored as col[0..2], so mat * v is sum_i col[i]*v[i].

Fields

col: [Vec3; 3]

Columns: col[j] is the j-th column.

Implementations

impl Mat3

pub const IDENTITY: Self

Identity matrix.

pub const ZERO: Self

Zero matrix.

pub const fn from_cols(c0: Vec3, c1: Vec3, c2: Vec3) -> Self

Construct from columns.

pub fn from_rows(r0: Vec3, r1: Vec3, r2: Vec3) -> Self

Construct from rows.

pub fn from_axes(right: UnitVec3, up: UnitVec3, forward: UnitVec3) -> Self

Rotation matrix that maps the +Z axis to dir and +X axis to right, forming a right-handed orthonormal frame.

right must be perpendicular to dir. Use UnitVec3::perp_basis to construct a consistent right if you don’t have one.

pub fn rotation(axis: UnitVec3, angle: f64) -> Self

Rotation by angle radians around axis (must be unit length).

pub fn transpose(self) -> Self

Transpose.

pub fn det(self) -> f64

Determinant.

pub fn try_inverse(self) -> Option<Self>

Inverse (returns None if singular).

Uses the cofactor/adjugate method: M⁻¹ = adj(M)ᵀ / det. The three Vec3s below are the columns of the inverse.

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

Apply the matrix to a vector: M * v.

Trait Implementations

impl Clone for Mat3

fn clone(&self) -> Mat3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Mat3

impl Debug for Mat3

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

Formats the value using the given formatter.

impl Mul for Mat3

type Output = Mat3

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<Vec3> for Mat3

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, v: Vec3) -> Vec3

Performs the * operation.

impl MulAssign for Mat3

fn mul_assign(&mut self, rhs: Self)

Performs the *= operation.

impl PartialEq for Mat3

fn eq(&self, other: &Mat3) -> 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 Mat3