Struct ultraviolet::rotor::DRotor2x4

#[repr(C)]
pub struct DRotor2x4 {
    pub s: f64x4,
    pub bv: DBivec2x4,
}

A Rotor in 2d space.

Please see the module level documentation for more information on rotors!

Fields

s: f64x4

bv: DBivec2x4

Implementations

impl DRotor2x4

pub const fn new(scalar: f64x4, bivector: DBivec2x4) -> Self

pub fn identity() -> Self

pub fn from_rotation_between(from: DVec2x4, to: DVec2x4) -> Self

Construct a Rotor that rotates one vector to another.

A rotation between antiparallel vectors is undefined!

pub fn from_angle_plane(angle: f64x4, plane: DBivec2x4) -> Self

Construct a rotor 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.

pub fn from_angle(angle: f64x4) -> Self

Construct a rotor given only an angle. This is possible in 2d since there is only one possible plane of rotation. However, there are two possible orientations. This function uses the common definition of positive angle in 2d as meaning the direction which brings the x unit vector towards the y unit vector.

pub fn mag_sq(&self) -> f64x4

pub fn mag(&self) -> f64x4

pub fn normalize(&mut self)

pub fn normalized(&self) -> Self

pub fn reverse(&mut self)

pub fn reversed(&self) -> Self

pub fn dot(&self, rhs: Self) -> f64x4

pub fn rotate_by(&mut self, other: Self)

Rotates this rotor by another rotor in-place. Note that if you are looking to compose rotations, you should NOT use this operation and rather just use regular left-multiplication like for matrix composition.

pub fn rotated_by(self, other: Self) -> Self

Rotates this rotor by another rotor and returns the result. Note that if you are looking to compose rotations, you should NOT use this operation and rather just use regular left-multiplication like for matrix composition.

pub fn rotate_vec(self, vec: &mut DVec2x4)

Rotates a vector by this rotor.

self must be normalized!

pub fn into_matrix(self) -> DMat2x4

pub fn layout() -> Layout

Trait Implementations

impl Add<DRotor2x4> for DRotor2x4

type Output = DRotor2x4

The resulting type after applying the + operator.

fn add(self, rhs: Self) -> Self

Performs the + operation.

impl AddAssign<DRotor2x4> for DRotor2x4

fn add_assign(&mut self, rhs: Self)

Performs the += operation.

impl Clone for DRotor2x4

fn clone(&self) -> DRotor2x4

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for DRotor2x4

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

Formats the value using the given formatter.

impl Default for DRotor2x4

fn default() -> Self

Returns the “default value” for a type.

impl Div<f64x4> for DRotor2x4

type Output = DRotor2x4

The resulting type after applying the / operator.

fn div(self, rhs: f64x4) -> Self

Performs the / operation.

impl DivAssign<f64x4> for DRotor2x4

fn div_assign(&mut self, rhs: f64x4)

Performs the /= operation.

impl From<DRotor2x4> for DMat2x4

fn from(rotor: DRotor2x4) -> DMat2x4

Converts to this type from the input type.

impl Lerp<f64x4> for DRotor2x4

fn lerp(&self, end: Self, t: f64x4) -> Self

Linearly interpolate between self and end by t between 0.0 and 1.0. i.e. (1.0 - t) * self + (t) * end.

For interpolating Rotors with linear interpolation, you almost certainly want to normalize the returned Rotor. For example,

let interpolated_rotor = rotor1.lerp(rotor2, 0.5).normalized();

For most cases (especially where performance is the primary concern, like in animation interpolation for games, this ‘normalized lerp’ or ‘nlerp’ is probably what you want to use. However, there are situations in which you really want the interpolation between two Rotors to be of constant angular velocity. In this case, check out Slerp.

impl Mul<DIsometry2x4> for DRotor2x4

type Output = DIsometry2x4

The resulting type after applying the * operator.

fn mul(self, iso: DIsometry2x4) -> DIsometry2x4

Performs the * operation.

impl Mul<DRotor2x4> for DIsometry2x4

type Output = DIsometry2x4

The resulting type after applying the * operator.

fn mul(self, rotor: DRotor2x4) -> DIsometry2x4

Performs the * operation.

impl Mul<DRotor2x4> for DRotor2x4

The composition of self with q, i.e. self * q gives the rotation as though you first perform q and then self.

type Output = DRotor2x4

The resulting type after applying the * operator.

fn mul(self, rhs: Self) -> Self

Performs the * operation.

impl Mul<DRotor2x4> for DSimilarity2x4

type Output = DSimilarity2x4

The resulting type after applying the * operator.

fn mul(self, rotor: DRotor2x4) -> DSimilarity2x4

Performs the * operation.

impl Mul<DRotor2x4> for f64x4

type Output = DRotor2x4

The resulting type after applying the * operator.

fn mul(self, rotor: DRotor2x4) -> DRotor2x4

Performs the * operation.

impl Mul<DSimilarity2x4> for DRotor2x4

type Output = DSimilarity2x4

The resulting type after applying the * operator.

fn mul(self, iso: DSimilarity2x4) -> DSimilarity2x4

Performs the * operation.

impl Mul<DVec2x4> for DRotor2x4

type Output = DVec2x4

The resulting type after applying the * operator.

fn mul(self, rhs: DVec2x4) -> DVec2x4

Performs the * operation.

impl Mul<f64x4> for DRotor2x4

type Output = DRotor2x4

The resulting type after applying the * operator.

fn mul(self, rhs: f64x4) -> Self

Performs the * operation.

impl MulAssign<f64x4> for DRotor2x4

fn mul_assign(&mut self, rhs: f64x4)

Performs the *= operation.

impl PartialEq<DRotor2x4> for DRotor2x4

fn eq(&self, other: &DRotor2x4) -> bool

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

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Slerp<f64x4> for DRotor2x4

fn slerp(&self, end: Self, t: f64x4) -> Self

Spherical-linear interpolation between self and end based on t from 0.0 to 1.0.

self and end should both be normalized or something bad will happen!

The implementation for SIMD types also requires that the two things being interpolated between are not exactly aligned, or else the result is undefined.

Basically, interpolation that maintains a constant angular velocity from one orientation on a unit hypersphere to another. This is sorta the “high quality” interpolation for Rotors, and it can also be used to interpolate other things, one example being interpolation of 3d normal vectors.

Note that you should often normalize the result returned by this operation, when working with Rotors, etc!

impl Sub<DRotor2x4> for DRotor2x4

type Output = DRotor2x4

The resulting type after applying the - operator.

fn sub(self, rhs: Self) -> Self

Performs the - operation.

impl SubAssign<DRotor2x4> for DRotor2x4

fn sub_assign(&mut self, rhs: Self)

Performs the -= operation.

impl Copy for DRotor2x4

impl StructuralPartialEq for DRotor2x4