Struct nalgebra::Isometry2

pub struct Isometry2<N> {
    pub rotation: Rotation2<N>,
    pub translation: Vector2<N>,
}

Two dimensional direct isometry.

This is the composition of a rotation followed by a translation. Vectors Vector2 are not affected by the translational component of this transformation while points Point2 are. Isometries conserve angles and distances, hence do not allow shearing nor scaling.

Fields

rotation: Rotation2<N>

The rotation applicable by this isometry.

translation: Vector2<N>

The translation applicable by this isometry.

Methods

impl<N: BaseFloat> Isometry2<N>

fn new(translation: Vector2<N>, rotation: Vector1<N>) -> Isometry2<N>

Creates a new isometry from an axis-angle rotation, and a vector.

fn from_rotation_matrix(translation: Vector2<N>, rotation: Rotation2<N>) -> Isometry2<N>

Creates a new isometry from a rotation matrix and a vector.

Trait Implementations

impl<N: Copy> Copy for Isometry2<N>

impl<N: Debug> Debug for Isometry2<N>

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.

impl<N: Clone> Clone for Isometry2<N>

fn clone(&self) -> Isometry2<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Decodable> Decodable for Isometry2<N>

fn decode<__DN: Decoder>(__arg_0: &mut __DN) -> Result<Isometry2<N>, __DN::Error>

impl<N: Encodable> Encodable for Isometry2<N>

fn encode<__SN: Encoder>(&self, __arg_0: &mut __SN) -> Result<(), __SN::Error>

impl<N: PartialEq> PartialEq for Isometry2<N>

fn eq(&self, __arg_0: &Isometry2<N>) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, __arg_0: &Isometry2<N>) -> bool

This method tests for !=.

impl<N: Eq> Eq for Isometry2<N>

impl<N: Cast<f64> + BaseFloat> RotationMatrix<N, Vector2<N>, Vector1<N>> for Isometry2<N>

type Output = Rotation2<N>

The output rotation matrix type.

fn to_rotation_matrix(&self) -> Rotation2<N>

Gets the rotation matrix represented by self.

impl<N: BaseFloat> One for Isometry2<N>

fn one() -> Isometry2<N>

Returns the multiplicative identity element of Self, 1.

impl<N: BaseFloat> Mul<Isometry2<N>> for Isometry2<N>

type Output = Isometry2<N>

The resulting type after applying the * operator

fn mul(self, right: Isometry2<N>) -> Isometry2<N>

The method for the * operator

impl<N: BaseFloat> MulAssign<Isometry2<N>> for Isometry2<N>

fn mul_assign(&mut self, right: Isometry2<N>)

The method for the *= operator

impl<N: BaseFloat> Mul<Rotation2<N>> for Isometry2<N>

type Output = Isometry2<N>

The resulting type after applying the * operator

fn mul(self, right: Rotation2<N>) -> Isometry2<N>

The method for the * operator

impl<N: BaseFloat> MulAssign<Rotation2<N>> for Isometry2<N>

fn mul_assign(&mut self, right: Rotation2<N>)

The method for the *= operator

impl<N: BaseNum> Mul<Point2<N>> for Isometry2<N>

type Output = Point2<N>

The resulting type after applying the * operator

fn mul(self, right: Point2<N>) -> Point2<N>

The method for the * operator

impl<N: BaseNum> Mul<Vector2<N>> for Isometry2<N>

type Output = Vector2<N>

The resulting type after applying the * operator

fn mul(self, right: Vector2<N>) -> Vector2<N>

The method for the * operator

impl<N: BaseFloat> Translation<Vector2<N>> for Isometry2<N>

fn translation(&self) -> Vector2<N>

Gets the translation associated with this object.

fn inverse_translation(&self) -> Vector2<N>

Gets the inverse translation associated with this object.

fn append_translation_mut(&mut self, t: &Vector2<N>)

Appends a translation to this object.

fn append_translation(&self, t: &Vector2<N>) -> Isometry2<N>

Appends the translation amount to a copy of t.

fn prepend_translation_mut(&mut self, t: &Vector2<N>)

Prepends a translation to this object.

fn prepend_translation(&self, t: &Vector2<N>) -> Isometry2<N>

Prepends the translation amount to a copy of t.

fn set_translation(&mut self, t: Vector2<N>)

Sets the translation.

impl<N: Copy + Add<N, Output=N> + Sub<N, Output=N>> Translate<Point2<N>> for Isometry2<N>

fn translate(&self, v: &Point2<N>) -> Point2<N>

Apply a translation to an object.

fn inverse_translate(&self, v: &Point2<N>) -> Point2<N>

Apply an inverse translation to an object.

impl<N: Cast<f64> + BaseFloat> Rotation<Vector1<N>> for Isometry2<N>

fn rotation(&self) -> Vector1<N>

Gets the rotation associated with self.

fn inverse_rotation(&self) -> Vector1<N>

Gets the inverse rotation associated with self.

fn append_rotation_mut(&mut self, rotation: &Vector1<N>)

Appends a rotation to this object.

fn append_rotation(&self, rotation: &Vector1<N>) -> Isometry2<N>

Appends the rotation amount to a copy of t.

fn prepend_rotation_mut(&mut self, rotation: &Vector1<N>)

Prepends a rotation to this object.

fn prepend_rotation(&self, rotation: &Vector1<N>) -> Isometry2<N>

Prepends the rotation amount to a copy of t.

fn set_rotation(&mut self, rotation: Vector1<N>)

Sets the rotation of self.

impl<N: BaseNum> Rotate<Vector2<N>> for Isometry2<N>

fn rotate(&self, v: &Vector2<N>) -> Vector2<N>

Applies a rotation to v.

fn inverse_rotate(&self, v: &Vector2<N>) -> Vector2<N>

Applies an inverse rotation to v.

impl<N: BaseFloat> Transformation<Isometry2<N>> for Isometry2<N>

fn transformation(&self) -> Isometry2<N>

Gets the transformation of self.

fn inverse_transformation(&self) -> Isometry2<N>

Gets the inverse transformation of self.

fn append_transformation_mut(&mut self, t: &Isometry2<N>)

Appends a transformation to this object.

fn append_transformation(&self, t: &Isometry2<N>) -> Isometry2<N>

Appends the transformation amount to a copy of t.

fn prepend_transformation_mut(&mut self, t: &Isometry2<N>)

Prepends a transformation to this object.

fn prepend_transformation(&self, t: &Isometry2<N>) -> Isometry2<N>

Prepends the transformation amount to a copy of t.

fn set_transformation(&mut self, t: Isometry2<N>)

Sets the transformation of self.

impl<N: BaseNum> Transform<Point2<N>> for Isometry2<N>

fn transform(&self, p: &Point2<N>) -> Point2<N>

Applies a transformation to v.

fn inverse_transform(&self, p: &Point2<N>) -> Point2<N>

Applies an inverse transformation to v.

impl<N: BaseNum + Neg<Output=N>> Inverse for Isometry2<N>

fn inverse_mut(&mut self) -> bool

In-place version of inverse.

fn inverse(&self) -> Option<Isometry2<N>>

Returns the inverse of m.

impl<N: BaseNum> ToHomogeneous<Matrix3<N>> for Isometry2<N>

fn to_homogeneous(&self) -> Matrix3<N>

Gets the homogeneous coordinates form of this object.

impl<N: ApproxEq<N>> ApproxEq<N> for Isometry2<N>

fn approx_epsilon() -> N

Default epsilon for approximation.

fn approx_ulps() -> u32

Default ULPs for approximation.

fn approx_eq_eps(&self, other: &Isometry2<N>, epsilon: &N) -> bool

Tests approximate equality using a custom epsilon.

fn approx_eq_ulps(&self, other: &Isometry2<N>, ulps: u32) -> bool

Tests approximate equality using units in the last place (ULPs)

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

Tests approximate equality.

impl<N: Rand + BaseFloat> Rand for Isometry2<N>

fn rand<R: Rng>(rng: &mut R) -> Isometry2<N>

Generates a random instance of this type using the specified source of randomness.

impl<N: BaseFloat> AbsoluteRotate<Vector2<N>> for Isometry2<N>

fn absolute_rotate(&self, v: &Vector2<N>) -> Vector2<N>

This is the same as:

impl<N: Display + BaseFloat> Display for Isometry2<N>

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

Formats the value using the given formatter.

impl<N> Dimension for Isometry2<N>

fn dimension(_: Option<Isometry2<N>>) -> usize

The dimension of the object.

impl<N: BaseFloat> Mul<Similarity2<N>> for Isometry2<N>

type Output = Similarity2<N>

The resulting type after applying the * operator

fn mul(self, right: Similarity2<N>) -> Similarity2<N>

The method for the * operator