Struct Pose 

pub struct Pose { /* private fields */ }

A rotation and a translation: where a domain’s own coordinates sit in the world.

Cheap to copy. Composition is then and reads left to right.

Implementations

impl Pose

pub const IDENTITY: Pose

At the origin, unrotated. What a domain has until something places it.

pub fn new(translation: LengthVec, rotation: DQuat) -> Pose

A rotation and a translation.

The rotation is normalised on the way in. A quaternion accumulated by repeated multiplication drifts off the unit sphere, and an unnormalised one stretches space — which is exactly the thing this type exists not to do.

pub fn at(translation: LengthVec) -> Pose

Moved, not turned.

pub fn turned(rotation: DQuat) -> Pose

Turned, not moved.

pub fn translation(&self) -> LengthVec

Where the local origin sits in the world.

pub fn rotation(&self) -> DQuat

How the local axes are turned. Always a unit quaternion.

pub fn point_to_world(&self, local: LengthVec) -> LengthVec

A point in local coordinates, in the world.

pub fn point_to_local(&self, world: LengthVec) -> LengthVec

A point in world coordinates, in the local frame.

The exact inverse of point_to_world up to rounding — a rigid motion has an exact inverse, unlike anything that scales.

pub fn direction_to_world(&self, local: DVec3) -> DVec3

A direction in local coordinates, in the world.

Rotated and not translated, which is the whole difference between a direction and a point. A surface normal moved by a translation would stop being normal to anything.

pub fn direction_to_local(&self, world: DVec3) -> DVec3

A direction in world coordinates, in the local frame.

pub fn then(&self, outer: Pose) -> Pose

This pose, then outer: the result of placing something by self inside a frame that is itself placed by outer.

Reads left to right, so a.then(b).then(c) applies a first. Associative, and a test says so — matrix composition order is the classic place a sign or an order gets lost, and it is silent when it does.

pub fn inverse(&self) -> Pose

The pose that undoes this one.

pub fn is_identity(&self, tol: f64) -> bool

Whether this pose moves anything, within a tolerance.

For a caller that can take a fast path when nothing is placed — sampling a field through an identity pose should cost nothing.

Trait Implementations

impl Clone for Pose

fn clone(&self) -> Pose

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Pose

impl Debug for Pose

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

Formats the value using the given formatter.

impl Default for Pose

fn default() -> Pose

Returns the “default value” for a type.

impl PartialEq for Pose

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Pose