Type Definition nalgebra::geometry::Rotation3

pub type Rotation3<N> = Rotation<N, U3>;

A 3-dimensional rotation matrix.

Implementations

impl<N: Real> Rotation3<N>

pub fn new<SB: Storage<N, U3>>(axisangle: Vector<N, U3, SB>) -> Self

Builds a 3 dimensional rotation matrix from an axis and an angle.

Arguments

• axisangle - A vector representing the rotation. Its magnitude is the amount of rotation in radian. Its direction is the axis of rotation.

pub fn from_scaled_axis<SB: Storage<N, U3>>(
    axisangle: Vector<N, U3, SB>
) -> Self

Builds a 3D rotation matrix from an axis scaled by the rotation angle.

pub fn from_axis_angle<SB>(axis: &Unit<Vector<N, U3, SB>>, angle: N) -> Selfwhere
    SB: Storage<N, U3>,

Builds a 3D rotation matrix from an axis and a rotation angle.

pub fn from_euler_angles(roll: N, pitch: N, yaw: N) -> Self

Creates a new rotation from Euler angles.

The primitive rotations are applied in order: 1 roll − 2 pitch − 3 yaw.

pub fn to_euler_angles(&self) -> (N, N, N)

Creates Euler angles from a rotation.

The angles are produced in the form (roll, yaw, pitch).

pub fn new_observer_frame<SB, SC>(
    dir: &Vector<N, U3, SB>,
    up: &Vector<N, U3, SC>
) -> Selfwhere
    SB: Storage<N, U3>,
    SC: Storage<N, U3>,

Creates a rotation that corresponds to the local frame of an observer standing at the origin and looking toward dir.

It maps the view direction dir to the positive z axis.

Arguments

• dir - The look direction, that is, direction the matrix z axis will be aligned with.
• up - The vertical direction. The only requirement of this parameter is to not be collinear to dir. Non-collinearity is not checked.

pub fn look_at_rh<SB, SC>(
    dir: &Vector<N, U3, SB>,
    up: &Vector<N, U3, SC>
) -> Selfwhere
    SB: Storage<N, U3>,
    SC: Storage<N, U3>,

Builds a right-handed look-at view matrix without translation.

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.

pub fn look_at_lh<SB, SC>(
    dir: &Vector<N, U3, SB>,
    up: &Vector<N, U3, SC>
) -> Selfwhere
    SB: Storage<N, U3>,
    SC: Storage<N, U3>,

Builds a left-handed look-at view matrix without translation.

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.

pub fn rotation_between<SB, SC>(
    a: &Vector<N, U3, SB>,
    b: &Vector<N, U3, SC>
) -> Option<Self>where
    SB: Storage<N, U3>,
    SC: Storage<N, U3>,

The rotation matrix required to align a and b but with its angle.

This is the rotation R such that (R * a).angle(b) == 0 && (R * a).dot(b).is_positive().

pub fn scaled_rotation_between<SB, SC>(
    a: &Vector<N, U3, SB>,
    b: &Vector<N, U3, SC>,
    n: N
) -> Option<Self>where
    SB: Storage<N, U3>,
    SC: Storage<N, U3>,

The smallest rotation needed to make a and b collinear and point toward the same direction, raised to the power s.

pub fn angle(&self) -> N

The rotation angle.

pub fn axis(&self) -> Option<Unit<Vector3<N>>>

The rotation axis. Returns None if the rotation angle is zero or PI.

pub fn scaled_axis(&self) -> Vector3<N>

The rotation axis multiplied by the rotation angle.

pub fn angle_to(&self, other: &Rotation3<N>) -> N

The rotation angle needed to make self and other coincide.

pub fn rotation_to(&self, other: &Rotation3<N>) -> Rotation3<N>

The rotation matrix needed to make self and other coincide.

The result is such that: self.rotation_to(other) * self == other.

pub fn powf(&self, n: N) -> Rotation3<N>

Raise the quaternion to a given floating power, i.e., returns the rotation with the same axis as self and an angle equal to self.angle() multiplied by n.

Trait Implementations

impl<N1, N2> SubsetOf<Unit<Quaternion<N2>>> for Rotation3<N1>where
    N1: Real,
    N2: Real + SupersetOf<N1>,

fn to_superset(&self) -> UnitQuaternion<N2>

The inclusion map: converts self to the equivalent element of its superset.

fn is_in_subset(q: &UnitQuaternion<N2>) -> bool

Checks if element is actually part of the subset Self (and can be converted to it).

unsafe fn from_superset_unchecked(q: &UnitQuaternion<N2>) -> Self

Use with care! Same as self.to_superset but without any property checks. Always succeeds.

fn from_superset(element: &T) -> Option<Self>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset.