Struct nalgebra::Rotation3

pub struct Rotation3<N> {
    // some fields omitted
}

Three dimensional rotation matrix.

Methods

impl<N: Clone + BaseFloat> Rotation3<N>

fn new(axisangle: Vector3<N>) -> Rotation3<N>

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.

unsafe fn new_with_matrix(matrix: Matrix3<N>) -> Rotation3<N>

Builds a rotation matrix from an orthogonal matrix.

This is unsafe because the orthogonality of matrix is not checked.

fn new_with_euler_angles(roll: N, pitch: N, yaw: N) -> Rotation3<N>

Creates a new rotation from Euler angles.

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

impl<N: Clone + BaseFloat> Rotation3<N>

fn new_observer_frame(dir: &Vector3<N>, up: &Vector3<N>) -> Rotation3<N>

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.

fn look_at_rh(dir: &Vector3<N>, up: &Vector3<N>) -> Rotation3<N>

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.

fn look_at_lh(dir: &Vector3<N>, up: &Vector3<N>) -> Rotation3<N>

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.

impl<N> Rotation3<N>

fn submatrix<'r>(&'r self) -> &'r Matrix3<N>

This rotation's underlying matrix.

Trait Implementations

impl<N: Copy> Copy for Rotation3<N>

impl<N: Hash> Hash for Rotation3<N>

fn hash<__HN: Hasher>(&self, __arg_0: &mut __HN)

Feeds this value into the state given, updating the hasher as necessary.

fn hash_slice<H>(data: &[Self], state: &mut H) where H: Hasher

Feeds a slice of this type into the state provided.

impl<N: Debug> Debug for Rotation3<N>

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

Formats the value using the given formatter.

impl<N: Clone> Clone for Rotation3<N>

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Decodable> Decodable for Rotation3<N>

fn decode<__DN: Decoder>(__arg_0: &mut __DN) -> Result<Rotation3<N>, __DN::Error>

impl<N: Encodable> Encodable for Rotation3<N>

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

impl<N: PartialEq> PartialEq for Rotation3<N>

fn eq(&self, __arg_0: &Rotation3<N>) -> bool

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

fn ne(&self, __arg_0: &Rotation3<N>) -> bool

This method tests for !=.

impl<N: Eq> Eq for Rotation3<N>

impl<N: Clone + BaseFloat + Cast<f64>> Rotation<Vector3<N>> for Rotation3<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, axisangle: &Vector3<N>) -> Rotation3<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, axisangle: &Vector3<N>) -> Rotation3<N>

Prepends the rotation amount to a copy of t.

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

Sets the rotation of self.

impl<N: BaseFloat> RotationTo for Rotation3<N>

type AngleType = N

Type of the angle between two elements.

type DeltaRotationType = Rotation3<N>

Type of the rotation between two elements.

fn angle_to(&self, other: &Self) -> N

Computes an angle nedded to transform the first element to the second one using a rotation.

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

Computes the smallest rotation needed to transform the first element to the second one.

impl<N: Clone + Rand + BaseFloat> Rand for Rotation3<N>

fn rand<R: Rng>(rng: &mut R) -> Rotation3<N>

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

impl<N: BaseFloat> AbsoluteRotate<Vector3<N>> for Rotation3<N>

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

This is the same as:

impl<N: BaseNum> Rotate<Vector3<N>> for Rotation3<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: BaseNum> Rotate<Point3<N>> for Rotation3<N>

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

Applies a rotation to v.

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

Applies an inverse rotation to v.

impl<N: BaseNum> Transform<Vector3<N>> for Rotation3<N>

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

Applies a transformation to v.

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

Applies an inverse transformation to v.

impl<N: BaseNum> Transform<Point3<N>> for Rotation3<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> Dimension for Rotation3<N>

fn dimension(_: Option<Rotation3<N>>) -> usize

The dimension of the object.

impl<N: BaseNum> Mul<Rotation3<N>> for Rotation3<N>

type Output = Rotation3<N>

The resulting type after applying the * operator

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

The method for the * operator

impl<N: Copy + BaseNum> MulAssign<Rotation3<N>> for Rotation3<N>

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

The method for the *= operator

impl<N: BaseNum> Mul<Vector3<N>> for Rotation3<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: BaseNum> Mul<Point3<N>> for Rotation3<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> One for Rotation3<N>

fn one() -> Rotation3<N>

Returns the multiplicative identity element of Self, 1.

impl<N: BaseNum> Eye for Rotation3<N>

fn new_identity(dimension: usize) -> Rotation3<N>

Return the identity matrix of specified dimension

impl<N: Zero + BaseNum + Cast<f64> + BaseFloat> RotationMatrix<N, Vector3<N>, Vector3<N>> for Rotation3<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: Copy + Zero> Column<Vector3<N>> for Rotation3<N>

fn ncols(&self) -> usize

The number of column of this matrix or vector.

fn column(&self, i: usize) -> Vector3<N>

Reads the i-th column of self.

fn set_column(&mut self, i: usize, column: Vector3<N>)

Writes the i-th column of self.

impl<N: Copy + Zero> Row<Vector3<N>> for Rotation3<N>

fn nrows(&self) -> usize

The number of column of self.

fn row(&self, i: usize) -> Vector3<N>

Reads the i-th row of self.

fn set_row(&mut self, i: usize, row: Vector3<N>)

Writes the i-th row of self.

impl<N> Index<(usize, usize)> for Rotation3<N>

type Output = N

The returned type after indexing

fn index(&self, i: (usize, usize)) -> &N

The method for the indexing (Foo[Bar]) operation

impl<N: Absolute<N>> Absolute<Matrix3<N>> for Rotation3<N>

fn abs(m: &Rotation3<N>) -> Matrix3<N>

Computes some absolute value of this object. Typically, this will make all component of a matrix or vector positive.

impl<N: BaseNum> ToHomogeneous<Matrix4<N>> for Rotation3<N>

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

Gets the homogeneous coordinates form of this object.

impl<N: Copy> Inverse for Rotation3<N>

fn inverse_mut(&mut self) -> bool

In-place version of inverse.

fn inverse(&self) -> Option<Rotation3<N>>

Returns the inverse of m.

impl<N: Copy> Transpose for Rotation3<N>

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

Computes the transpose of a matrix.

fn transpose_mut(&mut self)

In-place version of transposed.

impl<N: ApproxEq<N>> ApproxEq<N> for Rotation3<N>

fn approx_epsilon(_: Option<Rotation3<N>>) -> N

Default epsilon for approximation.

fn approx_ulps(_: Option<Rotation3<N>>) -> u32

Default ULPs for approximation.

fn approx_eq(&self, other: &Rotation3<N>) -> bool

Tests approximate equality.

fn approx_eq_eps(&self, other: &Rotation3<N>, epsilon: &N) -> bool

Tests approximate equality using a custom epsilon.

fn approx_eq_ulps(&self, other: &Rotation3<N>, ulps: u32) -> bool

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

impl<N: Copy + Zero> Diagonal<Vector3<N>> for Rotation3<N>

fn from_diagonal(diagonal: &Vector3<N>) -> Rotation3<N>

Creates a new matrix with the given diagonal.

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

The diagonal of this matrix.

impl<N: Display + BaseFloat> Display for Rotation3<N>

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

Formats the value using the given formatter.

impl<N: BaseFloat> Mul<Isometry3<N>> for Rotation3<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> Mul<Similarity3<N>> for Rotation3<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