Struct Mat4

#[repr(C)]
pub struct Mat4 {
    pub values: [f32; 16],
}

A struct representing a 4x4 matrix.

It’s values are stored in column-major order by default, as expected by OpenGL and accepted by all other APIs. To change this, use feature mat-row-major

Fields

values: [f32; 16]

Implementations

impl Mat4

pub const fn identity() -> Self

Creates the identity matrix.

pub const fn translate(t: Vec3) -> Self

Creates a 3D translation matrix.

pub fn rotate(r: Quaternion) -> Self

Creates a 3D rotation matrix.

pub const fn scale(s: Vec3) -> Self

Creates a 3D scale matrix.

pub fn local_to_world(t: Vec3, r: Quaternion, s: Vec3) -> Self

Creates a 3D local-to-world/object-to-world matrix.

When multiplying this matrix by a vector, it will be

• scaled by s
• rotated by r
• translated by t

in this order.

pub fn world_to_local(t: Vec3, r: Quaternion, s: Vec3) -> Self

Creates a 3D world-to-local/world-to-object matrix.

This matrix does the opposite of local_to_world()

pub fn orthographic_vulkan( left: f32, right: f32, bottom: f32, top: f32, near: f32, far: f32, ) -> Self

Creates an orthographic projection matrix with z mapped to [0; 1], as expected by Vulkan.

pub fn orthographic_opengl( left: f32, right: f32, bottom: f32, top: f32, near: f32, far: f32, ) -> Self

Creates an orthographic projection matrix with z mapped to [-1; 1], as expected by OpenGL.

pub fn inverse_orthographic_vulkan( left: f32, right: f32, bottom: f32, top: f32, near: f32, far: f32, ) -> Self

Creates an inverse orthographics projection matrix with z mapped to [0; 1], as expected by Vulkan.

The world position of a uv/depth pair can be reconstructed with the same code as shown in inverse_perspective_vulkan()

pub fn inverse_orthographic_opengl( left: f32, right: f32, bottom: f32, top: f32, near: f32, far: f32, ) -> Self

Creates an inverse orthographics projection matrix with z mapped to [-1; 1], as expected by OpenGL.

The world position of a uv/depth pair can be reconstructed with the same code as shown in inverse_perspective_opengl()

pub fn perspective_vulkan( fov_rad: f32, near: f32, far: f32, aspect: f32, ) -> Self

Creates a perspective projection matrix with z mapped to [0; 1], as expected by Vulkan.

pub fn perspective_opengl( fov_rad: f32, near: f32, far: f32, aspect: f32, ) -> Self

Creates a perspective projection matrix with z mapped to [-1; 1], as expected by OpenGL.

pub fn inverse_perspective_vulkan( fov_rad: f32, near: f32, far: f32, aspect: f32, ) -> Self

Creates an inverse perspective matrix with z mapped to [0; 1], as expected by Vulkan.

This matrix can be used to reconstruct the world position from a uv/depth pair in a shader. This pseudo code can be used:

vec4 clipPos = vec4(uv.xy, depth, 1.0);
vec4 worldPos = invProjection * clipPos;
worldPos /= worldPos.w;

pub fn inverse_perspective_opengl( fov_rad: f32, near: f32, far: f32, aspect: f32, ) -> Self

Creates an inverse perspective matrix with z mapped to [-1; 1], as expected by OpenGL.

This matrix can be used to reconstruct the world position from a uv/depth pair in a shader. This pseudo code can be used:

vec4 clipPos = vec4(uv.xy, depth * 2.0 - 1.0, 1.0);
vec4 worldPos = invProjection * clipPos;
worldPos /= worldPos.w;

pub const fn get(&self, column: usize, row: usize) -> f32

Returns a value indexed by column and row

pub fn set(&mut self, column: usize, row: usize, val: f32)

Sets the value indexed by column and row to val

pub fn transposed(&self) -> Mat4

Returns a transposed copy of self.

pub fn as_slice(&self) -> &[f32]

Returns the underlying values as a slice

pub fn as_mut_slice(&mut self) -> &mut [f32]

Returns the underlying values as a mutable slice

pub fn as_ptr(&self) -> *const f32

Returns the underlying values as a pointer with no size information

pub fn as_mut_ptr(&mut self) -> *mut f32

Returns the underlying values as a mutable pointer with no size information

Trait Implementations

impl Clone for Mat4

fn clone(&self) -> Mat4

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Mat4

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

Formats the value using the given formatter.

impl Default for Mat4

fn default() -> Self

Creates the identity matrix.

impl From<[[f32; 4]; 4]> for Mat4

fn from(d: [[f32; 4]; 4]) -> Self

Converts to this type from the input type.

impl From<[f32; 16]> for Mat4

fn from(d: [f32; 16]) -> Self

Converts to this type from the input type.

impl Index<(usize, usize)> for Mat4

type Output = f32

The returned type after indexing.

fn index(&self, (c, r): (usize, usize)) -> &Self::Output

Performs the indexing (container[index]) operation.

impl IndexMut<(usize, usize)> for Mat4

fn index_mut(&mut self, (c, r): (usize, usize)) -> &mut Self::Output

Performs the mutable indexing (container[index]) operation.

impl Mul<&Mat4> for &Mat4

type Output = Mat4

The resulting type after applying the * operator.

fn mul(self, rhs: &Mat4) -> Self::Output

Performs the * operation.

impl Mul<&Mat4> for Mat4

type Output = Mat4

The resulting type after applying the * operator.

fn mul(self, rhs: &Mat4) -> Self::Output

Performs the * operation.

impl Mul<&Vec3> for &Mat4

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, rhs: &Vec3) -> Self::Output

Performs the * operation.

impl Mul<&Vec3> for Mat4

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, rhs: &Vec3) -> Self::Output

Performs the * operation.

impl Mul<&Vec4> for &Mat4

type Output = Vec4

The resulting type after applying the * operator.

fn mul(self, rhs: &Vec4) -> Self::Output

Performs the * operation.

impl Mul<&Vec4> for Mat4

type Output = Vec4

The resulting type after applying the * operator.

fn mul(self, rhs: &Vec4) -> Self::Output

Performs the * operation.

impl Mul<Mat4> for &Mat4

type Output = Mat4

The resulting type after applying the * operator.

fn mul(self, rhs: Mat4) -> Self::Output

Performs the * operation.

impl Mul<Vec3> for &Mat4

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, rhs: Vec3) -> Self::Output

Performs the * operation.

impl Mul<Vec3> for Mat4

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, rhs: Vec3) -> Self::Output

Performs the * operation.

impl Mul<Vec4> for &Mat4

type Output = Vec4

The resulting type after applying the * operator.

fn mul(self, rhs: Vec4) -> Self::Output

Performs the * operation.

impl Mul<Vec4> for Mat4

type Output = Vec4

The resulting type after applying the * operator.

fn mul(self, rhs: Vec4) -> Self::Output

Performs the * operation.

impl Mul for Mat4

type Output = Mat4

The resulting type after applying the * operator.

fn mul(self, rhs: Mat4) -> Self::Output

Performs the * operation.

impl PartialEq for Mat4

fn eq(&self, other: &Mat4) -> bool

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for Mat4

impl StructuralPartialEq for Mat4