Struct Transform3 

pub struct Transform3 {
    pub rotation: Mat3,
    pub translation: Vec3,
}

A rigid (isometric) transformation in 3-D space.

Composes as: (B ∘ A).apply(p) == B.apply(A.apply(p)).

Fields

rotation: Mat3

Linear (rotation / reflection) part.

translation: Vec3

Translation part (applied after the rotation).

Implementations

impl Transform3

pub const IDENTITY: Self

Identity transform.

pub fn from_translation(t: Vec3) -> Self

Pure translation.

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

Pure rotation around axis by angle radians.

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

Apply the transform to a point.

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

Apply only the rotation part to a vector (no translation).

pub fn inverse(self) -> Self

Inverse transform.

pub fn compose(self, rhs: Self) -> Self

Compose two transforms: self ∘ rhs (apply rhs first).

Trait Implementations

impl Clone for Transform3

fn clone(&self) -> Transform3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Transform3

impl Debug for Transform3

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

Formats the value using the given formatter.

impl Mul for Transform3

Composition operator: lhs * rhs applies rhs first.

type Output = Transform3

The resulting type after applying the * operator.

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

Performs the * operation.

impl PartialEq for Transform3

fn eq(&self, other: &Transform3) -> 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 Transform3