Struct cgmath::Basis3

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pub struct Basis3<S> { /* private fields */ }
Expand description

A three-dimensional rotation matrix.

The matrix is guaranteed to be orthogonal, so some operations, specifically inversion, can be implemented more efficiently than the implementations for math::Matrix3. To ensure orthogonality is maintained, the operations have been restricted to a subeset of those implemented on Matrix3.

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impl<S: BaseFloat> Basis3<S>

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pub fn from_quaternion(quaternion: &Quaternion<S>) -> Basis3<S>

Create a new rotation matrix from a quaternion.

Trait Implementations§

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impl<S: BaseFloat> ApproxEq for Basis3<S>

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type Epsilon = S

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fn approx_eq_eps(&self, other: &Basis3<S>, epsilon: &S) -> bool

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fn approx_epsilon() -> Self::Epsilon

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fn approx_eq(&self, other: &Self) -> bool

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impl<S> AsRef<Matrix3<S>> for Basis3<S>

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fn as_ref(&self) -> &Matrix3<S>

Converts this type into a shared reference of the (usually inferred) input type.
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impl<S: Clone> Clone for Basis3<S>

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fn clone(&self) -> Basis3<S>

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl<S: Debug> Debug for Basis3<S>

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

Formats the value using the given formatter. Read more
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impl<S: Decodable> Decodable for Basis3<S>

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fn decode<__D: Decoder>(d: &mut __D) -> Result<Basis3<S>, __D::Error>

Deserialize a value using a Decoder.
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impl<S: Encodable> Encodable for Basis3<S>

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fn encode<__S: Encoder>(&self, s: &mut __S) -> Result<(), __S::Error>

Serialize a value using an Encoder.
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impl<S: BaseFloat> From<Basis3<S>> for Matrix3<S>

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fn from(b: Basis3<S>) -> Matrix3<S>

Converts to this type from the input type.
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impl<S: BaseFloat> From<Basis3<S>> for Quaternion<S>

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fn from(b: Basis3<S>) -> Quaternion<S>

Converts to this type from the input type.
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impl<S: BaseFloat> From<Quaternion<S>> for Basis3<S>

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fn from(quat: Quaternion<S>) -> Basis3<S>

Converts to this type from the input type.
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impl<S: PartialEq> PartialEq<Basis3<S>> for Basis3<S>

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fn eq(&self, other: &Basis3<S>) -> bool

This method tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl<S: BaseFloat> Rotation<Point3<S>> for Basis3<S>

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fn one() -> Basis3<S>

Create the identity transform (causes no transformation).
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fn look_at(dir: Vector3<S>, up: Vector3<S>) -> Basis3<S>

Create a rotation to a given direction with an ‘up’ vector
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fn between_vectors(a: Vector3<S>, b: Vector3<S>) -> Basis3<S>

Create a shortest rotation to transform vector ‘a’ into ‘b’. Both given vectors are assumed to have unit length.
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fn rotate_vector(&self, vec: Vector3<S>) -> Vector3<S>

Rotate a vector using this rotation.
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fn concat(&self, other: &Basis3<S>) -> Basis3<S>

Create a new rotation which combines both this rotation, and another.
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fn concat_self(&mut self, other: &Basis3<S>)

Modify this rotation in-place by combining it with another.
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fn invert(&self) -> Basis3<S>

Create a new rotation which “un-does” this rotation. That is, r.concat(r.invert()) is the identity.
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fn invert_self(&mut self)

Invert this rotation in-place.
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fn rotate_point(&self, point: P) -> P

Rotate a point using this rotation, by converting it to its representation as a vector.
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impl<S: BaseFloat> Rotation3<S> for Basis3<S>

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fn from_axis_angle(axis: Vector3<S>, angle: Rad<S>) -> Basis3<S>

Create a rotation using an angle around a given axis.
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fn from_euler(x: Rad<S>, y: Rad<S>, z: Rad<S>) -> Basis3<S>

Create a rotation from a set of euler angles. Read more
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fn from_angle_x(theta: Rad<S>) -> Basis3<S>

Create a rotation from an angle around the x axis (pitch).
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fn from_angle_y(theta: Rad<S>) -> Basis3<S>

Create a rotation from an angle around the y axis (yaw).
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fn from_angle_z(theta: Rad<S>) -> Basis3<S>

Create a rotation from an angle around the z axis (roll).
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impl<S: Copy> Copy for Basis3<S>

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impl<S> StructuralPartialEq for Basis3<S>

Auto Trait Implementations§

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impl<S> RefUnwindSafe for Basis3<S>where S: RefUnwindSafe,

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impl<S> Send for Basis3<S>where S: Send,

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impl<S> Sync for Basis3<S>where S: Sync,

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impl<S> Unpin for Basis3<S>where S: Unpin,

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impl<S> UnwindSafe for Basis3<S>where S: UnwindSafe,

Blanket Implementations§

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impl<T> Any for Twhere T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for Twhere T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for Twhere T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into<U> for Twhere U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> ToOwned for Twhere T: Clone,

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type Owned = T

The resulting type after obtaining ownership.
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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
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impl<T, U> TryFrom<U> for Twhere U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for Twhere U: TryFrom<T>,

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

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.