Struct euclid::RigidTransform3D

#[repr(C)]
pub struct RigidTransform3D<T, Src, Dst> {
    pub rotation: Rotation3D<T, Src, Dst>,
    pub translation: Vector3D<T, Dst>,
}

A rigid transformation. All lengths are preserved under such a transformation.

Internally, this is a rotation and a translation, with the rotation applied first (i.e. Rotation * Translation, in row-vector notation)

This can be more efficient to use over full matrices, especially if you have to deal with the decomposed quantities often.

Fields

rotation: Rotation3D<T, Src, Dst>

translation: Vector3D<T, Dst>

Methods

impl<T, Src, Dst> RigidTransform3D<T, Src, Dst>

pub const fn new(
    rotation: Rotation3D<T, Src, Dst>,
    translation: Vector3D<T, Dst>
) -> Self

Construct a new rigid transformation, where the rotation applies first

impl<T: Float + ApproxEq<T>, Src, Dst> RigidTransform3D<T, Src, Dst>

pub fn identity() -> Self

Construct an identity transform

pub fn new_from_reversed(
    translation: Vector3D<T, Src>,
    rotation: Rotation3D<T, Src, Dst>
) -> Self

Construct a new rigid transformation, where the translation applies first

pub fn from_rotation(rotation: Rotation3D<T, Src, Dst>) -> Self

pub fn from_translation(translation: Vector3D<T, Dst>) -> Self

pub fn decompose_reversed(&self) -> (Vector3D<T, Src>, Rotation3D<T, Src, Dst>)

Decompose this into a translation and an rotation to be applied in the opposite order

i.e., the translation is applied first

pub fn post_transform<Dst2>(
    &self,
    other: &RigidTransform3D<T, Dst, Dst2>
) -> RigidTransform3D<T, Src, Dst2>

Returns the multiplication of the two transforms such that other's transformation applies after self's transformation.

i.e., this produces self * other in row-vector notation

pub fn pre_transform<Src2>(
    &self,
    other: &RigidTransform3D<T, Src2, Src>
) -> RigidTransform3D<T, Src2, Dst>

Returns the multiplication of the two transforms such that self's transformation applies after other's transformation.

i.e., this produces other * self in row-vector notation

pub fn inverse(&self) -> RigidTransform3D<T, Dst, Src>

Inverts the transformation

pub fn to_transform(&self) -> Transform3D<T, Src, Dst> where
    T: Trig, 

pub fn to_untyped(&self) -> RigidTransform3D<T, UnknownUnit, UnknownUnit>

Drop the units, preserving only the numeric value.

pub fn from_untyped(
    transform: &RigidTransform3D<T, UnknownUnit, UnknownUnit>
) -> Self

Tag a unitless value with units.

Trait Implementations

impl<T: Float + ApproxEq<T>, Src, Dst> From<Rotation3D<T, Src, Dst>> for RigidTransform3D<T, Src, Dst>

fn from(rot: Rotation3D<T, Src, Dst>) -> Self

Performs the conversion.

impl<T: Float + ApproxEq<T>, Src, Dst> From<Vector3D<T, Dst>> for RigidTransform3D<T, Src, Dst>

fn from(t: Vector3D<T, Dst>) -> Self

Performs the conversion.

impl<T: Debug, Src: Debug, Dst: Debug> Debug for RigidTransform3D<T, Src, Dst>

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

Formats the value using the given formatter.

impl<T: PartialEq, Src: PartialEq, Dst: PartialEq> PartialEq<RigidTransform3D<T, Src, Dst>> for RigidTransform3D<T, Src, Dst>

fn eq(&self, other: &RigidTransform3D<T, Src, Dst>) -> bool

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

fn ne(&self, other: &RigidTransform3D<T, Src, Dst>) -> bool

This method tests for !=.

impl<T: Eq, Src: Eq, Dst: Eq> Eq for RigidTransform3D<T, Src, Dst>

impl<T: Hash, Src: Hash, Dst: Hash> Hash for RigidTransform3D<T, Src, Dst>

fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given [Hasher].

fn hash_slice<H>(data: &[Self], state: &mut H) where
    H: Hasher, 

Feeds a slice of this type into the given [Hasher].

impl<T: Copy, Src: Copy, Dst: Copy> Copy for RigidTransform3D<T, Src, Dst>

impl<T, Src, Dst> StructuralPartialEq for RigidTransform3D<T, Src, Dst>

impl<T, Src, Dst> StructuralEq for RigidTransform3D<T, Src, Dst>

impl<T: Clone, Src: Clone, Dst: Clone> Clone for RigidTransform3D<T, Src, Dst>

fn clone(&self) -> RigidTransform3D<T, Src, Dst>

Returns a copy of the value.

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

Performs copy-assignment from source.