Struct fj_math::Transform

#[repr(C)]
pub struct Transform(_);

An affine transform

Implementations

impl Transform

pub fn identity() -> Self

Construct an identity transform

pub fn translation(offset: impl Into<Vector<3>>) -> Self

Construct a translation

pub fn rotation(axis_angle: impl Into<Vector<3>>) -> Self

Construct a rotation

The direction of the vector defines the rotation axis. Its length defines the angle of the rotation.

pub fn transform_point(&self, point: &Point<3>) -> Point<3>

Transform the given point

Examples found in repository

src/transform.rs (line 61)

    pub fn transform_line(&self, line: &Line<3>) -> Line<3> {
        Line::from_origin_and_direction(
            self.transform_point(&line.origin()),
            self.transform_vector(&line.direction()),
        )
    }

    /// Transform the given segment
    pub fn transform_segment(&self, segment: &Segment<3>) -> Segment<3> {
        let [a, b] = &segment.points();
        Segment::from([self.transform_point(a), self.transform_point(b)])
    }

    /// Transform the given triangle
    pub fn transform_triangle(&self, triangle: &Triangle<3>) -> Triangle<3> {
        let [a, b, c] = &triangle.points();
        Triangle::from([
            self.transform_point(a),
            self.transform_point(b),
            self.transform_point(c),
        ])
    }

    /// Transform the given circle
    pub fn transform_circle(&self, circle: &Circle<3>) -> Circle<3> {
        Circle::new(
            self.transform_point(&circle.center()),
            self.transform_vector(&circle.a()),
            self.transform_vector(&circle.b()),
        )
    }

    /// Inverse transform
    pub fn inverse(&self) -> Self {
        Self(self.0.inverse())
    }

    /// Transpose transform
    pub fn transpose(&self) -> Self {
        Self(nalgebra::Transform::from_matrix_unchecked(
            self.0.to_homogeneous().transpose(),
        ))
    }

    /// Project transform according to camera specification, return data as an array.
    /// Used primarily for graphics code.
    pub fn project_to_array(
        &self,
        aspect_ratio: f64,
        fovy: f64,
        znear: f64,
        zfar: f64,
    ) -> [Scalar; 16] {
        let projection = Perspective3::new(aspect_ratio, fovy, znear, zfar);

        let mut array = [0.; 16];
        array.copy_from_slice(
            (projection.to_projective() * self.0).matrix().as_slice(),
        );

        array.map(Scalar::from)
    }

    /// Transform the given axis-aligned bounding box
    pub fn transform_aabb(&self, aabb: &Aabb<3>) -> Aabb<3> {
        Aabb {
            min: self.transform_point(&aabb.min),
            max: self.transform_point(&aabb.max),
        }
    }

pub fn inverse_transform_point(&self, point: &Point<3>) -> Point<3>

Inverse transform given point

pub fn transform_vector(&self, vector: &Vector<3>) -> Vector<3>

Transform the given vector

Examples found in repository

src/transform.rs (line 62)

    pub fn transform_line(&self, line: &Line<3>) -> Line<3> {
        Line::from_origin_and_direction(
            self.transform_point(&line.origin()),
            self.transform_vector(&line.direction()),
        )
    }

    /// Transform the given segment
    pub fn transform_segment(&self, segment: &Segment<3>) -> Segment<3> {
        let [a, b] = &segment.points();
        Segment::from([self.transform_point(a), self.transform_point(b)])
    }

    /// Transform the given triangle
    pub fn transform_triangle(&self, triangle: &Triangle<3>) -> Triangle<3> {
        let [a, b, c] = &triangle.points();
        Triangle::from([
            self.transform_point(a),
            self.transform_point(b),
            self.transform_point(c),
        ])
    }

    /// Transform the given circle
    pub fn transform_circle(&self, circle: &Circle<3>) -> Circle<3> {
        Circle::new(
            self.transform_point(&circle.center()),
            self.transform_vector(&circle.a()),
            self.transform_vector(&circle.b()),
        )
    }

pub fn transform_line(&self, line: &Line<3>) -> Line<3>

Transform the given line

pub fn transform_segment(&self, segment: &Segment<3>) -> Segment<3>

Transform the given segment

pub fn transform_triangle(&self, triangle: &Triangle<3>) -> Triangle<3>

Transform the given triangle

pub fn transform_circle(&self, circle: &Circle<3>) -> Circle<3>

Transform the given circle

pub fn inverse(&self) -> Self

Inverse transform

Examples found in repository

src/transform.rs (line 144)

    pub fn extract_translation(&self) -> Self {
        *self * self.extract_rotation().inverse()
    }

pub fn transpose(&self) -> Self

Transpose transform

pub fn project_to_array(
    &self,
    aspect_ratio: f64,
    fovy: f64,
    znear: f64,
    zfar: f64
) -> [Scalar; 16]

Project transform according to camera specification, return data as an array. Used primarily for graphics code.

pub fn transform_aabb(&self, aabb: &Aabb<3>) -> Aabb<3>

Transform the given axis-aligned bounding box

pub fn data(&self) -> &[f64]

Exposes the data of this Transform as a slice of f64.

pub fn extract_rotation(&self) -> Self

Extract the rotation component of this transform

Examples found in repository

src/transform.rs (line 144)

    pub fn extract_translation(&self) -> Self {
        *self * self.extract_rotation().inverse()
    }

pub fn extract_translation(&self) -> Self

Extract the translation component of this transform

Trait Implementations

impl Clone for Transform

fn clone(&self) -> Transform

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Transform

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

Formats the value using the given formatter.

impl Default for Transform

fn default() -> Transform

Returns the “default value” for a type.

impl Mul<Transform> for Transform

type Output = Transform

The resulting type after applying the * operator.

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

Performs the * operation.

impl Copy for Transform