Struct nalgebra::Isometry3

pub struct Isometry3<N> {
    pub rotation: Rotation3<N>,
    pub translation: Vector3<N>,
}

Three dimensional direct isometry.

This is the composition of a rotation followed by a translation. Vectors Vector3 are not affected by the translational component of this transformation while points Point3 are. Isometries conserve angles and distances, hence do not allow shearing nor scaling.

Fields

rotation: Rotation3<N>

The rotation applicable by this isometry.

translation: Vector3<N>

The translation applicable by this isometry.

Methods

impl<N: BaseFloat> Isometry3<N>

fn new_observer_frame(eye: &Point3<N>, target: &Point3<N>, up: &Vector3<N>) -> Isometry3<N>

Creates an isometry that corresponds to the local frame of an observer standing at the point eye and looking toward target.

It maps the view direction target - eye to the positive z axis and the origin to the eye.

Arguments

• eye - The observer position.
• target - The target position.
• up - Vertical direction. The only requirement of this parameter is to not be collinear to eye - at. Non-collinearity is not checked.

fn look_at_rh(eye: &Point3<N>, target: &Point3<N>, up: &Vector3<N>) -> Isometry3<N>

Builds a right-handed look-at view matrix.

This conforms to the common notion of right handed look-at matrix from the computer graphics community.

Arguments

• eye - The eye position.
• target - The target position.
• up - A vector approximately aligned with required the vertical axis. The only requirement of this parameter is to not be collinear to target - eye.

fn look_at_lh(eye: &Point3<N>, target: &Point3<N>, up: &Vector3<N>) -> Isometry3<N>

Builds a left-handed look-at view matrix.

This conforms to the common notion of left handed look-at matrix from the computer graphics community.

Arguments

• eye - The eye position.
• target - The target position.
• up - A vector approximately aligned with required the vertical axis. The only requirement of this parameter is to not be collinear to target - eye.

impl<N: BaseFloat> Isometry3<N>

fn new(translation: Vector3<N>, rotation: Vector3<N>) -> Isometry3<N>

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

fn from_rotation_matrix(translation: Vector3<N>, rotation: Rotation3<N>) -> Isometry3<N>

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

Trait Implementations

impl<N: Copy> Copy for Isometry3<N>

impl<N: Debug> Debug for Isometry3<N>

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

Formats the value using the given formatter.

impl<N: Clone> Clone for Isometry3<N>

fn clone(&self) -> Isometry3<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Decodable> Decodable for Isometry3<N>

fn decode<__DN: Decoder>(__arg_0: &mut __DN) -> Result<Isometry3<N>, __DN::Error>

impl<N: Encodable> Encodable for Isometry3<N>

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

impl<N: PartialEq> PartialEq for Isometry3<N>

fn eq(&self, __arg_0: &Isometry3<N>) -> bool

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

fn ne(&self, __arg_0: &Isometry3<N>) -> bool

This method tests for !=.

impl<N: Eq> Eq for Isometry3<N>

impl<N: Cast<f64> + BaseFloat> RotationMatrix<N, Vector3<N>, Vector3<N>> for Isometry3<N>

type Output = Rotation3<N>

The output rotation matrix type.

fn to_rotation_matrix(&self) -> Rotation3<N>

Gets the rotation matrix represented by self.

impl<N: BaseFloat> One for Isometry3<N>

fn one() -> Isometry3<N>

Returns the multiplicative identity element of Self, 1.

impl<N: BaseFloat> Mul<Isometry3<N>> for Isometry3<N>

type Output = Isometry3<N>

The resulting type after applying the * operator

fn mul(self, right: Isometry3<N>) -> Isometry3<N>

The method for the * operator

impl<N: BaseFloat> MulAssign<Isometry3<N>> for Isometry3<N>

fn mul_assign(&mut self, right: Isometry3<N>)

The method for the *= operator

impl<N: BaseFloat> Mul<Rotation3<N>> for Isometry3<N>

type Output = Isometry3<N>

The resulting type after applying the * operator

fn mul(self, right: Rotation3<N>) -> Isometry3<N>

The method for the * operator

impl<N: BaseFloat> MulAssign<Rotation3<N>> for Isometry3<N>

fn mul_assign(&mut self, right: Rotation3<N>)

The method for the *= operator

impl<N: BaseNum> Mul<Point3<N>> for Isometry3<N>

type Output = Point3<N>

The resulting type after applying the * operator

fn mul(self, right: Point3<N>) -> Point3<N>

The method for the * operator

impl<N: BaseNum> Mul<Vector3<N>> for Isometry3<N>

type Output = Vector3<N>

The resulting type after applying the * operator

fn mul(self, right: Vector3<N>) -> Vector3<N>

The method for the * operator

impl<N: BaseFloat> Translation<Vector3<N>> for Isometry3<N>

fn translation(&self) -> Vector3<N>

Gets the translation associated with this object.

fn inverse_translation(&self) -> Vector3<N>

Gets the inverse translation associated with this object.

fn append_translation_mut(&mut self, t: &Vector3<N>)

Appends a translation to this object.

fn append_translation(&self, t: &Vector3<N>) -> Isometry3<N>

Appends the translation amount to a copy of t.

fn prepend_translation_mut(&mut self, t: &Vector3<N>)

Prepends a translation to this object.

fn prepend_translation(&self, t: &Vector3<N>) -> Isometry3<N>

Prepends the translation amount to a copy of t.

fn set_translation(&mut self, t: Vector3<N>)

Sets the translation.

impl<N: Copy + Add<N, Output=N> + Sub<N, Output=N>> Translate<Point3<N>> for Isometry3<N>

fn translate(&self, v: &Point3<N>) -> Point3<N>

Apply a translation to an object.

fn inverse_translate(&self, v: &Point3<N>) -> Point3<N>

Apply an inverse translation to an object.

impl<N: Cast<f64> + BaseFloat> Rotation<Vector3<N>> for Isometry3<N>

fn rotation(&self) -> Vector3<N>

Gets the rotation associated with self.

fn inverse_rotation(&self) -> Vector3<N>

Gets the inverse rotation associated with self.

fn append_rotation_mut(&mut self, rotation: &Vector3<N>)

Appends a rotation to this object.

fn append_rotation(&self, rotation: &Vector3<N>) -> Isometry3<N>

Appends the rotation amount to a copy of t.

fn prepend_rotation_mut(&mut self, rotation: &Vector3<N>)

Prepends a rotation to this object.

fn prepend_rotation(&self, rotation: &Vector3<N>) -> Isometry3<N>

Prepends the rotation amount to a copy of t.

fn set_rotation(&mut self, rotation: Vector3<N>)

Sets the rotation of self.

impl<N: BaseNum> Rotate<Vector3<N>> for Isometry3<N>

fn rotate(&self, v: &Vector3<N>) -> Vector3<N>

Applies a rotation to v.

fn inverse_rotate(&self, v: &Vector3<N>) -> Vector3<N>

Applies an inverse rotation to v.

impl<N: BaseFloat> Transformation<Isometry3<N>> for Isometry3<N>

fn transformation(&self) -> Isometry3<N>

Gets the transformation of self.

fn inverse_transformation(&self) -> Isometry3<N>

Gets the inverse transformation of self.

fn append_transformation_mut(&mut self, t: &Isometry3<N>)

Appends a transformation to this object.

fn append_transformation(&self, t: &Isometry3<N>) -> Isometry3<N>

Appends the transformation amount to a copy of t.

fn prepend_transformation_mut(&mut self, t: &Isometry3<N>)

Prepends a transformation to this object.

fn prepend_transformation(&self, t: &Isometry3<N>) -> Isometry3<N>

Prepends the transformation amount to a copy of t.

fn set_transformation(&mut self, t: Isometry3<N>)

Sets the transformation of self.

impl<N: BaseNum> Transform<Point3<N>> for Isometry3<N>

fn transform(&self, p: &Point3<N>) -> Point3<N>

Applies a transformation to v.

fn inverse_transform(&self, p: &Point3<N>) -> Point3<N>

Applies an inverse transformation to v.

impl<N: BaseNum + Neg<Output=N>> Inverse for Isometry3<N>

fn inverse_mut(&mut self) -> bool

In-place version of inverse.

fn inverse(&self) -> Option<Isometry3<N>>

Returns the inverse of m.

impl<N: BaseNum> ToHomogeneous<Matrix4<N>> for Isometry3<N>

fn to_homogeneous(&self) -> Matrix4<N>

Gets the homogeneous coordinates form of this object.

impl<N: ApproxEq<N>> ApproxEq<N> for Isometry3<N>

fn approx_epsilon() -> N

Default epsilon for approximation.

fn approx_ulps() -> u32

Default ULPs for approximation.

fn approx_eq_eps(&self, other: &Isometry3<N>, epsilon: &N) -> bool

Tests approximate equality using a custom epsilon.

fn approx_eq_ulps(&self, other: &Isometry3<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 Isometry3<N>

fn rand<R: Rng>(rng: &mut R) -> Isometry3<N>

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

impl<N: BaseFloat> AbsoluteRotate<Vector3<N>> for Isometry3<N>

fn absolute_rotate(&self, v: &Vector3<N>) -> Vector3<N>

This is the same as:

impl<N: Display + BaseFloat> Display for Isometry3<N>

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

Formats the value using the given formatter.

impl<N> Dimension for Isometry3<N>

fn dimension(_: Option<Isometry3<N>>) -> usize

The dimension of the object.

impl<N: BaseFloat> Mul<Similarity3<N>> for Isometry3<N>

type Output = Similarity3<N>

The resulting type after applying the * operator

fn mul(self, right: Similarity3<N>) -> Similarity3<N>

The method for the * operator