Struct acgmath::Euler
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#[repr(C)]pub struct Euler<A: Angle> { pub x: A, pub y: A, pub z: A, }
A set of Euler angles representing a rotation in three-dimensional space.
This type is marked as #[repr(C)]
.
The axis rotation sequence is XYZ. That is, the rotation is first around the X axis, then the Y axis, and lastly the Z axis (using intrinsic rotations). Since all three rotation axes are used, the angles are Tait–Bryan angles rather than proper Euler angles.
Ranges
- x: [-pi, pi]
- y: [-pi/2, pi/2]
- z: [-pi, pi]
Defining rotations using Euler angles
Note that while Euler angles are intuitive to define, they are prone to
gimbal lock and are challenging to interpolate between. Instead we
recommend that you convert them to a more robust representation, such as a
quaternion or or rotation matrix. To this end, From<Euler<A>>
conversions
are provided for the following types:
For example, to define a quaternion that applies the following:
- a 90° rotation around the x axis
- a 45° rotation around the y axis
- a 15° rotation around the z axis
you can use the following code:
use acgmath::{Deg, Euler, Quaternion}; let rotation = Quaternion::from(Euler { x: Deg(90.0), y: Deg(45.0), z: Deg(15.0), });
Fields
x: A
The angle to apply around the x axis. Also known at the pitch.
y: A
The angle to apply around the y axis. Also known at the yaw.
z: A
The angle to apply around the z axis. Also known at the roll.
Methods
impl<A: Angle> Euler<A>
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fn new(x: A, y: A, z: A) -> Euler<A>
Construct a set of euler angles.
Arguments
x
- The angle to apply around the x axis. Also known at the pitch.y
- The angle to apply around the y axis. Also known at the yaw.z
- The angle to apply around the z axis. Also known at the roll.
Trait Implementations
impl<A: Copy + Angle> Copy for Euler<A>
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impl<A: Clone + Angle> Clone for Euler<A>
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fn clone(&self) -> Euler<A>
Returns a copy of the value. Read more
fn clone_from(&mut self, source: &Self)
1.0.0
Performs copy-assignment from source
. Read more
impl<A: Debug + Angle> Debug for Euler<A>
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impl<A: PartialEq + Angle> PartialEq for Euler<A>
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fn eq(&self, __arg_0: &Euler<A>) -> bool
This method tests for self
and other
values to be equal, and is used by ==
. Read more
fn ne(&self, __arg_0: &Euler<A>) -> bool
This method tests for !=
.
impl<A: Eq + Angle> Eq for Euler<A>
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impl<S: BaseFloat> From<Quaternion<S>> for Euler<Rad<S>>
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fn from(src: Quaternion<S>) -> Euler<Rad<S>>
Performs the conversion.
impl<A: Angle> ApproxEq for Euler<A>
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type Epsilon = A::Epsilon
Used for specifying relative comparisons.
fn default_epsilon() -> A::Epsilon
The default tolerance to use when testing values that are close together. Read more
fn default_max_relative() -> A::Epsilon
The default relative tolerance for testing values that are far-apart. Read more
fn default_max_ulps() -> u32
The default ULPs to tolerate when testing values that are far-apart. Read more
fn relative_eq(
&self,
other: &Self,
epsilon: A::Epsilon,
max_relative: A::Epsilon
) -> bool
&self,
other: &Self,
epsilon: A::Epsilon,
max_relative: A::Epsilon
) -> bool
A test for equality that uses a relative comparison if the values are far apart.
fn ulps_eq(&self, other: &Self, epsilon: A::Epsilon, max_ulps: u32) -> bool
A test for equality that uses units in the last place (ULP) if the values are far apart.
fn relative_ne(
&self,
other: &Self,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon
) -> bool
&self,
other: &Self,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon
) -> bool
The inverse of ApproxEq::relative_eq
.
fn ulps_ne(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool
The inverse of ApproxEq::ulps_eq
.