Struct euclid::TypedRotation3D [−][src]
#[repr(C)]pub struct TypedRotation3D<T, Src, Dst> { pub i: T, pub j: T, pub k: T, pub r: T, // some fields omitted }
A transform that can represent rotations in 3d, represented as a quaternion.
Most methods expect the quaternion to be normalized.
When in doubt, use unit_quaternion
instead of quaternion
to create
a rotation as the former will ensure that its result is normalized.
Some people use the x, y, z, w
(or w, x, y, z
) notations. The equivalence is
as follows: x -> i
, y -> j
, z -> k
, w -> r
.
The memory layout of this type corresponds to the x, y, z, w
notation
Fields
i: T
j: T
k: T
r: T
Methods
impl<T, Src, Dst> TypedRotation3D<T, Src, Dst>
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impl<T, Src, Dst> TypedRotation3D<T, Src, Dst>
pub fn quaternion(a: T, b: T, c: T, r: T) -> Self
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pub fn quaternion(a: T, b: T, c: T, r: T) -> Self
Creates a rotation around from a quaternion representation.
The parameters are a, b, c and r compose the quaternion a*i + b*j + c*k + r
where a
, b
and c
describe the vector part and the last parameter r
is
the real part.
The resulting quaternion is not necessarily normalized. See unit_quaternion
.
impl<T, Src, Dst> TypedRotation3D<T, Src, Dst> where
T: Copy,
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impl<T, Src, Dst> TypedRotation3D<T, Src, Dst> where
T: Copy,
pub fn vector_part(&self) -> Vector3D<T>
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pub fn vector_part(&self) -> Vector3D<T>
Returns the vector part (i, j, k) of this quaternion.
impl<T, Src, Dst> TypedRotation3D<T, Src, Dst> where
T: Float,
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impl<T, Src, Dst> TypedRotation3D<T, Src, Dst> where
T: Float,
pub fn identity() -> Self
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pub fn identity() -> Self
Creates the identity rotation.
pub fn unit_quaternion(i: T, j: T, k: T, r: T) -> Self
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pub fn unit_quaternion(i: T, j: T, k: T, r: T) -> Self
Creates a rotation around from a quaternion representation and normalizes it.
The parameters are a, b, c and r compose the quaternion a*i + b*j + c*k + r
before normalization, where a
, b
and c
describe the vector part and the
last parameter r
is the real part.
pub fn around_axis(axis: TypedVector3D<T, Src>, angle: Angle<T>) -> Self
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pub fn around_axis(axis: TypedVector3D<T, Src>, angle: Angle<T>) -> Self
Creates a rotation around a given axis.
pub fn around_x(angle: Angle<T>) -> Self
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pub fn around_x(angle: Angle<T>) -> Self
Creates a rotation around the x axis.
pub fn around_y(angle: Angle<T>) -> Self
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pub fn around_y(angle: Angle<T>) -> Self
Creates a rotation around the y axis.
pub fn around_z(angle: Angle<T>) -> Self
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pub fn around_z(angle: Angle<T>) -> Self
Creates a rotation around the z axis.
pub fn euler(roll: Angle<T>, pitch: Angle<T>, yaw: Angle<T>) -> Self
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pub fn euler(roll: Angle<T>, pitch: Angle<T>, yaw: Angle<T>) -> Self
Creates a rotation from Euler angles.
The rotations are applied in roll then pitch then yaw order.
- Roll (also called bank) is a rotation around the x axis.
- Pitch (also called bearing) is a rotation around the y axis.
- Yaw (also called heading) is a rotation around the z axis.
pub fn inverse(&self) -> TypedRotation3D<T, Dst, Src>
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pub fn inverse(&self) -> TypedRotation3D<T, Dst, Src>
Returns the inverse of this rotation.
pub fn norm(&self) -> T
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pub fn norm(&self) -> T
Computes the norm of this quaternion
pub fn square_norm(&self) -> T
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pub fn square_norm(&self) -> T
pub fn normalize(&self) -> Self
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pub fn normalize(&self) -> Self
Returns a unit quaternion from this one.
pub fn is_normalized(&self) -> bool where
T: ApproxEq<T>,
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pub fn is_normalized(&self) -> bool where
T: ApproxEq<T>,
pub fn slerp(&self, other: &Self, t: T) -> Self where
T: ApproxEq<T>,
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pub fn slerp(&self, other: &Self, t: T) -> Self where
T: ApproxEq<T>,
Spherical linear interpolation between this rotation and another rotation.
t
is expected to be between zero and one.
pub fn lerp(&self, other: &Self, t: T) -> Self
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pub fn lerp(&self, other: &Self, t: T) -> Self
Basic Linear interpolation between this rotation and another rotation.
t
is expected to be between zero and one.
pub fn rotate_point3d(
&self,
point: &TypedPoint3D<T, Src>
) -> TypedPoint3D<T, Dst> where
T: ApproxEq<T>,
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pub fn rotate_point3d(
&self,
point: &TypedPoint3D<T, Src>
) -> TypedPoint3D<T, Dst> where
T: ApproxEq<T>,
Returns the given 3d point transformed by this rotation.
The input point must be use the unit Src, and the returned point has the unit Dst.
pub fn rotate_point2d(
&self,
point: &TypedPoint2D<T, Src>
) -> TypedPoint2D<T, Dst> where
T: ApproxEq<T>,
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pub fn rotate_point2d(
&self,
point: &TypedPoint2D<T, Src>
) -> TypedPoint2D<T, Dst> where
T: ApproxEq<T>,
Returns the given 2d point transformed by this rotation then projected on the xy plane.
The input point must be use the unit Src, and the returned point has the unit Dst.
pub fn rotate_vector3d(
&self,
vector: &TypedVector3D<T, Src>
) -> TypedVector3D<T, Dst> where
T: ApproxEq<T>,
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pub fn rotate_vector3d(
&self,
vector: &TypedVector3D<T, Src>
) -> TypedVector3D<T, Dst> where
T: ApproxEq<T>,
Returns the given 3d vector transformed by this rotation then projected on the xy plane.
The input vector must be use the unit Src, and the returned point has the unit Dst.
pub fn rotate_vector2d(
&self,
vector: &TypedVector2D<T, Src>
) -> TypedVector2D<T, Dst> where
T: ApproxEq<T>,
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pub fn rotate_vector2d(
&self,
vector: &TypedVector2D<T, Src>
) -> TypedVector2D<T, Dst> where
T: ApproxEq<T>,
Returns the given 2d vector transformed by this rotation then projected on the xy plane.
The input vector must be use the unit Src, and the returned point has the unit Dst.
pub fn to_transform(&self) -> TypedTransform3D<T, Src, Dst> where
T: ApproxEq<T>,
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pub fn to_transform(&self) -> TypedTransform3D<T, Src, Dst> where
T: ApproxEq<T>,
Returns the matrix representation of this rotation.
pub fn pre_rotate<NewSrc>(
&self,
other: &TypedRotation3D<T, NewSrc, Src>
) -> TypedRotation3D<T, NewSrc, Dst> where
T: ApproxEq<T>,
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pub fn pre_rotate<NewSrc>(
&self,
other: &TypedRotation3D<T, NewSrc, Src>
) -> TypedRotation3D<T, NewSrc, Dst> where
T: ApproxEq<T>,
Returns a rotation representing the other rotation followed by this rotation.
pub fn post_rotate<NewDst>(
&self,
other: &TypedRotation3D<T, Dst, NewDst>
) -> TypedRotation3D<T, Src, NewDst> where
T: ApproxEq<T>,
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pub fn post_rotate<NewDst>(
&self,
other: &TypedRotation3D<T, Dst, NewDst>
) -> TypedRotation3D<T, Src, NewDst> where
T: ApproxEq<T>,
Returns a rotation representing this rotation followed by the other rotation.
Trait Implementations
impl<T: Clone, Src, Dst> Clone for TypedRotation3D<T, Src, Dst>
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impl<T: Clone, Src, Dst> Clone for TypedRotation3D<T, Src, Dst>
fn clone(&self) -> Self
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fn clone(&self) -> Self
Returns a copy of the value. Read more
fn clone_from(&mut self, source: &Self)
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fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
impl<T: Copy, Src, Dst> Copy for TypedRotation3D<T, Src, Dst>
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impl<T: Copy, Src, Dst> Copy for TypedRotation3D<T, Src, Dst>
impl<T, Src, Dst> Eq for TypedRotation3D<T, Src, Dst> where
T: Eq,
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impl<T, Src, Dst> Eq for TypedRotation3D<T, Src, Dst> where
T: Eq,
impl<T, Src, Dst> PartialEq for TypedRotation3D<T, Src, Dst> where
T: PartialEq,
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impl<T, Src, Dst> PartialEq for TypedRotation3D<T, Src, Dst> where
T: PartialEq,
fn eq(&self, other: &Self) -> bool
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fn eq(&self, other: &Self) -> bool
This method tests for self
and other
values to be equal, and is used by ==
. Read more
fn ne(&self, other: &Rhs) -> bool
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fn ne(&self, other: &Rhs) -> bool
This method tests for !=
.
impl<T, Src, Dst> Hash for TypedRotation3D<T, Src, Dst> where
T: Hash,
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impl<T, Src, Dst> Hash for TypedRotation3D<T, Src, Dst> where
T: Hash,
fn hash<H: Hasher>(&self, h: &mut H)
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fn hash<H: Hasher>(&self, h: &mut H)
Feeds this value into the given [Hasher
]. Read more
fn hash_slice<H>(data: &[Self], state: &mut H) where
H: Hasher,
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fn hash_slice<H>(data: &[Self], state: &mut H) where
H: Hasher,
Feeds a slice of this type into the given [Hasher
]. Read more
impl<T: Debug, Src, Dst> Debug for TypedRotation3D<T, Src, Dst>
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impl<T: Debug, Src, Dst> Debug for TypedRotation3D<T, Src, Dst>
fn fmt(&self, f: &mut Formatter) -> Result
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fn fmt(&self, f: &mut Formatter) -> Result
Formats the value using the given formatter. Read more
impl<T: Display, Src, Dst> Display for TypedRotation3D<T, Src, Dst>
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impl<T: Display, Src, Dst> Display for TypedRotation3D<T, Src, Dst>
fn fmt(&self, f: &mut Formatter) -> Result
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fn fmt(&self, f: &mut Formatter) -> Result
Formats the value using the given formatter. Read more
impl<T, Src, Dst> ApproxEq<T> for TypedRotation3D<T, Src, Dst> where
T: Copy + Neg<Output = T> + ApproxEq<T>,
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impl<T, Src, Dst> ApproxEq<T> for TypedRotation3D<T, Src, Dst> where
T: Copy + Neg<Output = T> + ApproxEq<T>,
Auto Trait Implementations
impl<T, Src, Dst> Send for TypedRotation3D<T, Src, Dst> where
Dst: Send,
Src: Send,
T: Send,
impl<T, Src, Dst> Send for TypedRotation3D<T, Src, Dst> where
Dst: Send,
Src: Send,
T: Send,
impl<T, Src, Dst> Sync for TypedRotation3D<T, Src, Dst> where
Dst: Sync,
Src: Sync,
T: Sync,
impl<T, Src, Dst> Sync for TypedRotation3D<T, Src, Dst> where
Dst: Sync,
Src: Sync,
T: Sync,