Module rapier3d::math

Elementary mathematical entities (vectors, matrices, isometries, etc).

Structs

• SimdBool
  An SIMD boolean structure associated to wide::f32x4 that implements all the relevant traits from simba.
• SimdReal
  A wrapper type of wide::f32x4 that implements all the relevant traits from num and simba.

Constants

• ANG_DIM
  The maximum number of rotational degrees of freedom of a rigid-body.
• DEFAULT_EPSILON
  The default tolerance used for geometric operations.
• DIM
  The dimension of the space.
• MAX_MANIFOLD_POINTS
  Max number of pairs of contact points from the same contact manifold that can be solved as part of a single contact constraint.
• SIMD_LAST_INDEX
  SIMD_WIDTH - 1
• SIMD_WIDTH
  The number of lanes of a SIMD number.
• SPATIAL_DIM
  The maximum number of possible rotations and translations of a rigid body.
• TWO_DIM
  The dimension of the space multiplied by two.

Type Aliases

• AngDim
  The dimension of the rotations.
• AngVector
  The angular vector type.
• AngularInertia
  The angular inertia of a rigid body.
• CrossMatrix
  A matrix that represent the cross product with a given vector.
• Dim
  The dimension of the ambient space.
• Isometry
  The transformation matrix type.
• Jacobian
  The type of a constraint Jacobian in twist coordinates.
• JacobianView
  The type of a slice of the constraint Jacobian in twist coordinates.
• JacobianViewMut
  The type of a mutable slice of the constraint Jacobian in twist coordinates.
• Matrix
  The matrix type.
• Orientation
  The orientation type.
• Point
  The point type.
• PrincipalAngularInertia
  The principal angular inertia of a rigid body.
• Real
  The scalar type used throughout this crate.
• Rotation
  The rotation matrix type.
• SdpMatrix
  A 3D symmetric-definite-positive matrix.
• SpacialVector
  A vector with a dimension equal to the maximum number of degrees of freedom of a rigid body.
• SpatialDim
  The dimension of a spatial vector.
• SpatialVector
  The vector type with dimension SpatialDim × 1.
• Translation
  The translation type.
• UnitVector
  The unit vector type.
• Vector
  The vector type.