Struct Transform3D 

pub struct Transform3D<T: Copy + Debug + 'static> { /* private fields */ }

Transform3D represents a 3D transformation (rotation + translation) When the glam feature is enabled, it uses glam’s optimized types internally

Implementations

impl Transform3D<f32>

pub const fn identity() -> Self

Creates the identity transform during const evaluation.

pub const fn from_translation_euler_xyz( translation: [Length32; 3], rotation: [Angle32; 3], ) -> Self

Creates a transform from unit-typed translation and XYZ Euler angles.

rotation is [roll_x, pitch_y, yaw_z]. Rotations are applied X, then Y, then Z, producing Rz * Ry * Rx for column vectors. Translation is applied last. Const unit values use their SI base representation: meters and radians.

pub const fn compose(self, rhs: Self) -> Self

Composes self with rhs during const evaluation.

The returned transform applies rhs first and then self, matching self * rhs.

impl Transform3D<f64>

pub const fn identity() -> Self

Creates the identity transform during const evaluation.

pub const fn from_translation_euler_xyz( translation: [Length64; 3], rotation: [Angle64; 3], ) -> Self

Creates a transform from unit-typed translation and XYZ Euler angles.

rotation is [roll_x, pitch_y, yaw_z]. Rotations are applied X, then Y, then Z, producing Rz * Ry * Rx for column vectors. Translation is applied last. Const unit values use their SI base representation: meters and radians.

pub const fn compose(self, rhs: Self) -> Self

Composes self with rhs during const evaluation.

The returned transform applies rhs first and then self, matching self * rhs.

impl<T: Copy + Debug + Default + 'static> Transform3D<T>

pub fn from_matrix(mat: [[T; 4]; 4]) -> Self

Creates a homogeneous 4x4 transform indexed as mat[row][column]. Each inner array is a row; points are column vectors (p_out = mat * p_in). Translation is [mat[0][3], mat[1][3], mat[2][3]]; the last row must be [0, 0, 0, 1]. The convention is backend-independent: callers must not transpose for glam. Glam/Rerun adapters repack into columns internally; the fallback stores rows directly. Nalgebra/faer adapters copy by (row, column), independent of storage order.

pub fn to_matrix(self) -> [[T; 4]; 4]

Returns a homogeneous 4x4 matrix indexed as mat[row][column]. Each inner array is a row, with translation in the last column, regardless of backend. Uses the same column-vector convention as Self::from_matrix.

impl Transform3D<f32>

pub fn translation(&self) -> [Length32; 3]

The translation component, in meters.

pub fn rotation(&self) -> [[f32; 3]; 3]

The dimensionless rotation matrix, represented as rows.

impl Transform3D<f64>

pub fn translation(&self) -> [Length64; 3]

The translation component, in meters.

pub fn rotation(&self) -> [[f64; 3]; 3]

The dimensionless rotation matrix, represented as rows.

impl Transform3D<f32>

pub fn position(&self) -> Point3<Length32>

The translation as a point: where the pose sits in its parent frame.

pub fn transform_point(&self, p: Point3<Length32>) -> Point3<Length32>

p mapped through the transform: rotation, then translation.

pub fn transform_vector(&self, v: Point3<Length32>) -> Point3<Length32>

v mapped through the rotation only, for directions and offsets.

pub fn transform_points<const N: usize>( &self, points: &mut Point3Soa<Length32, N>, )

Every point in the set mapped through the transform, in place.

May differ from Self::transform_point by a rounding step.

impl Transform3D<f64>

pub fn position(&self) -> Point3<Length64>

The translation as a point: where the pose sits in its parent frame.

pub fn transform_point(&self, p: Point3<Length64>) -> Point3<Length64>

p mapped through the transform: rotation, then translation.

pub fn transform_vector(&self, v: Point3<Length64>) -> Point3<Length64>

v mapped through the rotation only, for directions and offsets.

pub fn transform_points<const N: usize>( &self, points: &mut Point3Soa<Length64, N>, )

Every point in the set mapped through the transform, in place.

May differ from Self::transform_point by a rounding step.

impl Transform3D<f32>

pub fn inverse(&self) -> Self

Computes the inverse of this transformation matrix.

impl Transform3D<f64>

pub fn inverse(&self) -> Self

Computes the inverse of this transformation matrix.

Trait Implementations

impl<T: Clone + Copy + Debug + 'static> Clone for Transform3D<T>

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Copy + Copy + Debug + 'static> Copy for Transform3D<T>

impl<T: Debug + Copy + Debug + 'static> Debug for Transform3D<T>

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

Formats the value using the given formatter.

impl<T> Decode<()> for Transform3D<T>

where T: Decode<()> + Default + Copy + Debug + 'static,

fn decode<D: Decoder<Context = ()>>( decoder: &mut D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given Decode.

impl<T: Copy + Debug + Default + 'static> Default for Transform3D<T>

fn default() -> Self

Returns the “default value” for a type.

impl<'de, T> Deserialize<'de> for Transform3D<T>

where T: Deserialize<'de> + Default + Copy + Debug + 'static,

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>

where D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<T> Encode for Transform3D<T>

where T: Encode + Copy + Debug + Default + 'static,

fn encode<E: Encoder>(&self, encoder: &mut E) -> Result<(), EncodeError>

Encode a given type.

impl From<Affine3A> for Transform3D<f32>

fn from(aff: Affine3A) -> Self

Converts to this type from the input type.

impl From<DAffine3> for Transform3D<f64>

fn from(aff: DAffine3) -> Self

Converts to this type from the input type.

impl From<Transform3D<f32>> for Affine3A

fn from(p: Transform3D<f32>) -> Self

Converts to this type from the input type.

impl From<Transform3D<f64>> for DAffine3

fn from(p: Transform3D<f64>) -> Self

Converts to this type from the input type.

impl Mul for Transform3D<f32>

type Output = Transform3D<f32>

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul for Transform3D<f64>

type Output = Transform3D<f64>

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul for &Transform3D<f32>

Reference implementations for f32

type Output = Transform3D<f32>

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul for &Transform3D<f64>

Reference implementations for f64

type Output = Transform3D<f64>

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<&Transform3D<f32>> for Transform3D<f32>

type Output = Transform3D<f32>

The resulting type after applying the * operator.

fn mul(self, rhs: &Transform3D<f32>) -> Self::Output

Performs the * operation.

impl Mul<&Transform3D<f64>> for Transform3D<f64>

type Output = Transform3D<f64>

The resulting type after applying the * operator.

fn mul(self, rhs: &Transform3D<f64>) -> Self::Output

Performs the * operation.

impl Mul<Transform3D<f32>> for &Transform3D<f32>

type Output = Transform3D<f32>

The resulting type after applying the * operator.

fn mul(self, rhs: Transform3D<f32>) -> Self::Output

Performs the * operation.

impl Mul<Transform3D<f64>> for &Transform3D<f64>

type Output = Transform3D<f64>

The resulting type after applying the * operator.

fn mul(self, rhs: Transform3D<f64>) -> Self::Output

Performs the * operation.

impl<T> Serialize for Transform3D<T>

where T: Serialize + Copy + Debug + Default + 'static,

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>

where S: Serializer,

Serialize this value into the given Serde serializer.

impl<T: Copy + Debug + 'static> TypePath for Transform3D<T>

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>