Struct ultraviolet::transform::DIsometry3x4

#[repr(C)]
pub struct DIsometry3x4 {
    pub translation: DVec3x4,
    pub rotation: DRotor3x4,
}

An Isometry, aka a “rigid body transformation”.

Defined as the combination of a rotation and then a translation.

You may want to us this type over the corresponding type of homogeneous transformation matrix because it will be faster in most operations, especially composition and inverse.

Fields

translation: DVec3x4

rotation: DRotor3x4

Implementations

impl DIsometry3x4

pub const fn new(translation: DVec3x4, rotation: DRotor3x4) -> Self

pub fn identity() -> Self

pub fn prepend_rotation(&mut self, rotor: DRotor3x4)

Add a rotation before this isometry.

This means the rotation will only affect the rotational part of this isometry, not the translational part.

pub fn append_rotation(&mut self, rotor: DRotor3x4)

Add a rotation after this isometry.

This means the rotation will affect both the rotational and translational parts of this isometry, since it is being applied ‘after’ this isometry’s translational part.

pub fn prepend_translation(&mut self, translation: DVec3x4)

Add a translation before this isometry.

Doing so will mean that the translation being added will get transformed by this isometry’s rotational part.

pub fn append_translation(&mut self, translation: DVec3x4)

Add a translation after this isometry.

Doing so will mean that the translation being added will not transformed by this isometry’s rotational part.

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

Prepend transformation by another isometry.

This means that the transformation being applied will take place before this isometry, i.e. both its translation and rotation will be rotated by this isometry’s rotational part.

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

Append transformation by another isometry.

This means that the transformation being applied will take place after this isometry, i.e. this isometry’s translation and rotation will be rotated by the other isometry’s rotational part.

pub fn inverse(&mut self)

pub fn inversed(self) -> Self

pub fn transform_vec(&self, vec: DVec3x4) -> DVec3x4

pub fn into_homogeneous_matrix(self) -> DMat4x4

Trait Implementations

impl Add<DIsometry3x4> for DIsometry3x4

type Output = DIsometry3x4

The resulting type after applying the + operator.

fn add(self, other: DIsometry3x4) -> DIsometry3x4

Performs the + operation.

impl Clone for DIsometry3x4

fn clone(&self) -> DIsometry3x4

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for DIsometry3x4

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

Formats the value using the given formatter.

impl Default for DIsometry3x4

fn default() -> Self

Returns the “default value” for a type.

impl Mul<DIsometry3x4> for DIsometry3x4

type Output = DIsometry3x4

The resulting type after applying the * operator.

fn mul(self, base: DIsometry3x4) -> DIsometry3x4

Performs the * operation.

impl Mul<DIsometry3x4> for DRotor3x4

type Output = DIsometry3x4

The resulting type after applying the * operator.

fn mul(self, iso: DIsometry3x4) -> DIsometry3x4

Performs the * operation.

impl Mul<DRotor3x4> for DIsometry3x4

type Output = DIsometry3x4

The resulting type after applying the * operator.

fn mul(self, rotor: DRotor3x4) -> DIsometry3x4

Performs the * operation.

impl Mul<DVec3x4> for DIsometry3x4

type Output = DVec3x4

The resulting type after applying the * operator.

fn mul(self, vec: DVec3x4) -> DVec3x4

Performs the * operation.

impl Mul<f64x4> for DIsometry3x4

type Output = DIsometry3x4

The resulting type after applying the * operator.

fn mul(self, scalar: f64x4) -> DIsometry3x4

Performs the * operation.

impl PartialEq<DIsometry3x4> for DIsometry3x4

fn eq(&self, other: &DIsometry3x4) -> 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 Copy for DIsometry3x4

impl StructuralPartialEq for DIsometry3x4