Struct ultraviolet::mat::Mat3

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#[repr(C)]pub struct Mat3 {
    pub cols: [Vec3; 3],
}

Expand description

A 3x3 square matrix.

Useful for performing linear transformations (rotation, scaling) on 3d vectors, or for performing arbitrary transformations (linear + translation, projection, etc) on homogeneous 2d vectors

Fields§

§cols: [Vec3; 3]

Implementations§

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impl Mat3

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pub const fn new(col1: Vec3, col2: Vec3, col3: Vec3) -> Self

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pub fn from_translation(trans: Vec2) -> Self

Assumes homogeneous 2d coordinates.

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pub fn from_scale_homogeneous(scale: f32) -> Self

Assumes homogeneous 2d coordinates.

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pub fn from_nonuniform_scale_homogeneous(scale: Vec2) -> Self

Assumes homogeneous 2d coordinates.

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pub fn from_rotation_homogeneous(angle: f32) -> Self

Builds a homogeneous 2d rotation matrix (in the xy plane) from a given angle in radians.

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pub fn from_euler_angles(roll: f32, pitch: f32, yaw: f32) -> Self

Angles are applied in the order roll -> pitch -> yaw.

Yaw is rotation inside the xz plane (“around the y axis”)
Pitch is rotation inside the yz plane (“around the x axis”)
Roll is rotation inside the xy plane (“around the z axis”)

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pub fn from_rotation_x(angle: f32) -> Self

Create a new rotation matrix from a rotation “around the x axis”. This is here as a convenience function for users coming from other libraries; it is more proper to think of this as a rotation in the yz plane.

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pub fn from_rotation_y(angle: f32) -> Self

Create a new rotation matrix from a rotation “around the y axis”. This is here as a convenience function for users coming from other libraries; it is more proper to think of this as a rotation in the xz plane.

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pub fn from_rotation_z(angle: f32) -> Self

Create a new rotation matrix from a rotation “around the z axis”. This is here as a convenience function for users coming from other libraries; it is more proper to think of this as a rotation in the xy plane.

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pub fn from_rotation_around(axis: Vec3, angle: f32) -> Self

Create a new rotation matrix from a rotation around the given axis. This is here as a convenience function for users coming from other libraries.

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pub fn from_angle_plane(angle: f32, plane: Bivec3) -> Self

Construct a rotation matrix given a bivector which defines a plane and rotation orientation, and a rotation angle.

plane must be normalized!

This is the equivalent of an axis-angle rotation.

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pub fn into_homogeneous(self) -> Mat4

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pub fn determinant(&self) -> f32

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pub fn adjugate(&self) -> Self

The adjugate of this matrix, i.e. the transpose of the cofactor matrix.

This is equivalent to the inverse but without dividing by the determinant of the matrix, which can be useful in some contexts for better performance.

One such case is when this matrix is interpreted as a a homogeneous transformation matrix, in which case uniform scaling will not affect the resulting projected 3d version of transformed points or vectors.

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pub fn inverse(&mut self)

If this matrix is not currently invertable, this function will return an invalid inverse. This status is not checked by the library.

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pub fn inversed(&self) -> Self

If this matrix is not currently invertable, this function will return an invalid inverse. This status is not checked by the library.

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pub fn transpose(&mut self)

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pub fn transposed(&self) -> Self

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pub fn transform_vec2(&self, vec: Vec2) -> Vec2

Transform a Vec2 by self, interpreting it as a vector.

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pub fn transform_point2(&self, point: Vec2) -> Vec2

Transform a Vec2 by self, interpreting it as a point.

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pub fn layout() -> Layout

Get the core::alloc::Layout of Self

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pub fn as_array(&self) -> &[f32; 9]

Interpret self as a statically sized array of the base numeric type.

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pub fn as_mut_array(&mut self) -> &mut [f32; 9]

Interpret self as a statically sized array of the base numeric type.

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pub fn as_component_array(&self) -> &[Vec3; 3]

Interpret self as a statically sized array of the component (column) vectors.

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pub fn as_mut_component_array(&mut self) -> &mut [Vec3; 3]

Interpret self as a statically sized array of the component (column) vectors.

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pub fn as_slice(&self) -> &[f32]

Interpret self as a slice of the base numeric type.

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pub fn as_component_slice(&self) -> &[Vec3]

Interpret self as a slice of the component (column) vectors.

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pub fn as_byte_slice(&self) -> &[u8] ⓘ

Interpret self as a slice of bytes.

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pub fn as_mut_slice(&mut self) -> &mut [f32]

Interpret self as a slice of the base numeric type.

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pub fn as_mut_component_slice(&mut self) -> &mut [Vec3]

Interpret self as a slice of the component (column) vectors.

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pub fn as_mut_byte_slice(&mut self) -> &mut [u8] ⓘ

Interpret self as a slice of bytes.

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pub const fn as_ptr(&self) -> *const f32

Returns a constant unsafe pointer to the underlying data in the underlying type. This function is safe because all types here are repr(C) and can be represented as their underlying type.

Safety

It is up to the caller to correctly use this pointer and its bounds.

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pub fn as_mut_ptr(&mut self) -> *mut f32

Returns a mutable unsafe pointer to the underlying data in the underlying type. This function is safe because all types here are repr(C) and can be represented as their underlying type.

Safety

It is up to the caller to correctly use this pointer and its bounds.

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impl Mat3

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pub fn into_rotor3(self) -> Rotor3

If self is a rotation matrix, return a Rotor3 representing the same rotation.

If self is not a rotation matrix, the returned value is a Rotor3 with undefied properties. The fact that self is a rotation matrix is not checked by the library.