Struct glam::f32::Mat3 [−][src]
A 3x3 column major matrix.
This 3x3 matrix type features convenience methods for creating and using linear and affine transformations.
Linear transformations including 3D rotation and scale can be created using methods
such as Self::from_diagonal()
, Self::from_quat()
, Self::from_axis_angle()
,
Self::from_rotation_x()
, Self::from_rotation_y()
, or
Self::from_rotation_z()
.
The resulting matrices can be use to transform 3D vectors using regular vector multiplication.
Affine transformations including 2D translation, rotation and scale can be created
using methods such as Self::from_translation()
, Self::from_angle()
,
Self::from_scale()
and Self::from_scale_angle_translation()
.
The Self::transform_point2()
and Self::transform_vector2()
convenience methods
are provided for performing affine transforms on 2D vectors and points. These multiply
2D inputs as 3D vectors with an implicit z
value of 1
for points and 0
for
vectors respectively. These methods assume that Self
contains a valid affine
transform.
Implementations
impl Mat3
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pub const ZERO: Self
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A 3x3 matrix with all elements set to 0.0
.
pub const IDENTITY: Self
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A 3x3 identity matrix, where all diagonal elements are 1
, and all off-diagonal
elements are 0
.
pub const fn zero() -> Self
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use Mat3::ZERO instead
Creates a 3x3 matrix with all elements set to 0.0
.
pub const fn identity() -> Self
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use Mat3::IDENTITY instead
Creates a 3x3 identity matrix.
pub fn from_cols(x_axis: Vec3, y_axis: Vec3, z_axis: Vec3) -> Self
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Creates a 3x3 matrix from three column vectors.
pub fn from_cols_array(m: &[f32; 9]) -> Self
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Creates a 3x3 matrix from a [S; 9]
array stored in column major order.
If your data is stored in row major you will need to transpose
the returned
matrix.
pub fn to_cols_array(&self) -> [f32; 9]
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Creates a [S; 9]
array storing data in column major order.
If you require data in row major order transpose
the matrix first.
pub fn from_cols_array_2d(m: &[[f32; 3]; 3]) -> Self
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Creates a 3x3 matrix from a [[S; 3]; 3]
2D array stored in column major order.
If your data is in row major order you will need to transpose
the returned
matrix.
pub fn to_cols_array_2d(&self) -> [[f32; 3]; 3]
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Creates a [[S; 3]; 3]
2D array storing data in column major order.
If you require data in row major order transpose
the matrix first.
pub fn from_diagonal(diagonal: Vec3) -> Self
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Creates a 3x3 matrix with its diagonal set to diagonal
and all other entries set to 0.
The resulting matrix is a 3D scale transfom.
pub fn from_quat(rotation: Quat) -> Self
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Creates a 3D rotation matrix from the given quaternion.
pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self
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Creates a 3D rotation matrix from a normalized rotation axis
and angle
(in
radians).
pub fn from_rotation_ypr(yaw: f32, pitch: f32, roll: f32) -> Self
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Creates a 3D rotation matrix from the given Euler angles (in radians).
pub fn from_rotation_x(angle: f32) -> Self
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Creates a 3D rotation matrix from angle
(in radians) around the x axis.
pub fn from_rotation_y(angle: f32) -> Self
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Creates a 3D rotation matrix from angle
(in radians) around the y axis.
pub fn from_rotation_z(angle: f32) -> Self
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Creates a 3D rotation matrix from angle
(in radians) around the z axis.
pub fn from_translation(translation: Vec2) -> Self
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Creates an affine transformation matrix from the given 2D translation
.
The resulting matrix can be used to transform 2D points and vectors. See
[Self::transform_point3()
] and [Self::transform_vector3()
].
pub fn from_angle(angle: f32) -> Self
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Creates an affine transformation matrix from the given 2D rotation angle
(in
radians).
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
pub fn from_scale_angle_translation(
scale: Vec2,
angle: f32,
translation: Vec2
) -> Self
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scale: Vec2,
angle: f32,
translation: Vec2
) -> Self
Creates an affine transformation matrix from the given 2D scale
, rotation angle
(in
radians) and translation
.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
pub fn from_scale(scale: Vec2) -> Self
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Creates an affine transformation matrix from the given non-uniform 2D scale
.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
pub fn is_finite(&self) -> bool
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Returns true
if, and only if, all elements are finite.
If any element is either NaN
, positive or negative infinity, this will return false
.
pub fn is_nan(&self) -> bool
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Returns true
if any elements are NaN
.
pub fn transpose(&self) -> Self
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Returns the transpose of self
.
pub fn determinant(&self) -> f32
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Returns the determinant of self
.
pub fn inverse(&self) -> Self
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Returns the inverse of self
.
If the matrix is not invertible the returned matrix will be invalid.
pub fn mul_vec3(&self, other: Vec3) -> Vec3
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Transforms a 3D vector.
pub fn mul_mat3(&self, other: &Self) -> Self
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Multiplies two 3x3 matrices.
pub fn add_mat3(&self, other: &Self) -> Self
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Adds two 3x3 matrices.
pub fn sub_mat3(&self, other: &Self) -> Self
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Subtracts two 3x3 matrices.
pub fn mul_scalar(&self, other: f32) -> Self
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Multiplies a 3x3 matrix by a scalar.
pub fn transform_point2(&self, other: Vec2) -> Vec2
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Transforms the given 2D vector as a point.
This is the equivalent of multiplying other
as a 3D vector where z
is 1
.
This method assumes that self
contains a valid affine transform.
pub fn transform_vector2(&self, other: Vec2) -> Vec2
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Rotates the given 2D vector.
This is the equivalent of multiplying other
as a 3D vector where z
is 0
.
This method assumes that self
contains a valid affine transform.
pub fn abs_diff_eq(&self, other: Self, max_abs_diff: f32) -> bool
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Returns true if the absolute difference of all elements between self
and other
is less than or equal to max_abs_diff
.
This can be used to compare if two matrices contain similar elements. It works best
when comparing with a known value. The max_abs_diff
that should be used used
depends on the values being compared against.
For more see comparing floating point numbers.
pub fn mul_vec3a(&self, other: Vec3A) -> Vec3A
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Transforms a Vec3A
.
pub fn as_f64(&self) -> DMat3
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Trait Implementations
impl Add<Mat3> for Mat3
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type Output = Self
The resulting type after applying the +
operator.
fn add(self, other: Self) -> Self
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impl AsMut<[f32; 9]> for Mat3
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impl AsRef<[f32; 9]> for Mat3
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impl Clone for Mat3
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impl Copy for Mat3
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impl Debug for Mat3
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impl Default for Mat3
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impl Deref for Mat3
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type Target = Vector3x3<Vec3>
The resulting type after dereferencing.
fn deref(&self) -> &Self::Target
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impl DerefMut for Mat3
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impl Display for Mat3
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impl Mul<Mat3> for Mat3
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type Output = Self
The resulting type after applying the *
operator.
fn mul(self, other: Self) -> Self
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impl Mul<Vec3> for Mat3
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type Output = Vec3
The resulting type after applying the *
operator.
fn mul(self, other: Vec3) -> Vec3
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impl Mul<Vec3A> for Mat3
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type Output = Vec3A
The resulting type after applying the *
operator.
fn mul(self, other: Vec3A) -> Vec3A
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impl Mul<f32> for Mat3
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type Output = Self
The resulting type after applying the *
operator.
fn mul(self, other: f32) -> Self
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impl PartialEq<Mat3> for Mat3
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impl PartialOrd<Mat3> for Mat3
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fn partial_cmp(&self, other: &Self) -> Option<Ordering>
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#[must_use]pub fn lt(&self, other: &Rhs) -> bool
1.0.0[src]
#[must_use]pub fn le(&self, other: &Rhs) -> bool
1.0.0[src]
#[must_use]pub fn gt(&self, other: &Rhs) -> bool
1.0.0[src]
#[must_use]pub fn ge(&self, other: &Rhs) -> bool
1.0.0[src]
impl<'a> Product<&'a Mat3> for Mat3
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impl Sub<Mat3> for Mat3
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type Output = Self
The resulting type after applying the -
operator.
fn sub(self, other: Self) -> Self
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impl<'a> Sum<&'a Mat3> for Mat3
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Auto Trait Implementations
impl RefUnwindSafe for Mat3
impl Send for Mat3
impl Sync for Mat3
impl Unpin for Mat3
impl UnwindSafe for Mat3
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T> ToString for T where
T: Display + ?Sized,
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T: Display + ?Sized,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,