Struct DIsometry3 

#[repr(C)]
pub struct DIsometry3 {
    pub translation: DVec3,
    pub rotation: DQuat,
}

Fields

translation: DVec3

rotation: DQuat

Implementations

impl DIsometry3

pub const ZERO: Self

The degenerate zero isometry.

This isometrys any finite vector and point to zero. The zero isometry is non-invertible.

pub const IDENTITY: Self

The identity isometry.

Multiplying a vector with this returns the same vector.

pub const NAN: Self

All NAN:s.

pub fn new(translation: DVec3, rotation: DQuat) -> Self

Creates a new isometry.

pub fn from_quat(rotation: DQuat) -> Self

Creates a isometry isometry from the given rotation quaternion.

pub fn from_axis_angle(axis: DVec3, angle: f64) -> Self

Creates a isometry isometry containing a 3D rotation around a normalized rotation axis of angle (in radians).

pub fn from_rotation_x(angle: f64) -> Self

Creates a isometry isometry containing a 3D rotation around the x axis of angle (in radians).

pub fn from_rotation_y(angle: f64) -> Self

Creates a isometry isometry containing a 3D rotation around the y axis of angle (in radians).

pub fn from_rotation_z(angle: f64) -> Self

Creates a isometry isometry containing a 3D rotation around the z axis of angle (in radians).

pub fn from_translation(translation: DVec3) -> Self

Creates a isometry isometryation from the given 3D translation.

pub fn from_rotation_translation(rotation: DQuat, translation: DVec3) -> Self

Creates a isometry from the given 3D rotation and translation.

pub fn from_mat3(mat3: DMat3) -> Self

Creates a isometry from a 3x3 matrix (expressing scale and rotation)

pub fn from_mat3_translation(mat3: DMat3, translation: DVec3) -> Self

Creates a isometry from a 3x3 matrix (expressing scale and rotation)

pub fn from_mat4(mat4: DMat4) -> Self

Creates a isometry from a 4x4 matrix.

pub fn to_rotation_translation(&self) -> (DQuat, DVec3)

Extracts scale, rotation and translation from self.

pub fn transform_point3(&self, rhs: DVec3) -> DVec3

Transforms the given 3D points, applying rotation and translation.

pub fn transform_vector3(&self, rhs: DVec3) -> DVec3

Transforms the given 3D vector, applying rotation (but NOT translation).

pub fn is_finite(&self) -> bool

Returns true if, and only if, all elements are finite.

If any element is either NaN, positive or negative infinity, this will return false.

pub fn is_nan(&self) -> bool

Returns true if any elements are NaN.

pub fn abs_diff_eq(self, rhs: Self, max_abs_diff: f64) -> bool

Returns true if the absolute difference of all elements between self and rhs is less than or equal to max_abs_diff.

pub fn inverse(&self) -> Self

Return the inverse of this isometry.

Note that if the isometry is not invertible the result will be invalid.

Trait Implementations

impl AbsDiffEq for DIsometry3

Available on crate feature approx only.

type Epsilon = <f64 as AbsDiffEq>::Epsilon

Used for specifying relative comparisons.

fn default_epsilon() -> Self::Epsilon

The default tolerance to use when testing values that are close together.

fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool

A test for equality that uses the absolute difference to compute the approximate equality of two numbers.

fn abs_diff_ne(&self, other: &Rhs, epsilon: Self::Epsilon) -> bool

The inverse of AbsDiffEq::abs_diff_eq.

impl Clone for DIsometry3

fn clone(&self) -> DIsometry3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for DIsometry3

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

Formats the value using the given formatter.

impl Default for DIsometry3

fn default() -> DIsometry3

Returns the “default value” for a type.

impl From<DIsometry3> for DAffine3

fn from(i: DIsometry3) -> DAffine3

Converts to this type from the input type.

impl From<DIsometry3> for DMat4

fn from(i: DIsometry3) -> DMat4

Converts to this type from the input type.

impl Mul<DIsometry3> for DMat4

type Output = DMat4

The resulting type after applying the * operator.

fn mul(self, rhs: DIsometry3) -> Self::Output

Performs the * operation.

impl Mul<DMat4> for DIsometry3

type Output = DMat4

The resulting type after applying the * operator.

fn mul(self, rhs: DMat4) -> Self::Output

Performs the * operation.

impl Mul for DIsometry3

type Output = DIsometry3

The resulting type after applying the * operator.

fn mul(self, rhs: DIsometry3) -> Self::Output

Performs the * operation.

impl MulAssign for DIsometry3

fn mul_assign(&mut self, rhs: DIsometry3)

Performs the *= operation.

impl PartialEq for DIsometry3

fn eq(&self, other: &DIsometry3) -> bool

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

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 RelativeEq for DIsometry3

Available on crate feature approx only.

fn default_max_relative() -> Self::Epsilon

The default relative tolerance for testing values that are far-apart.

fn relative_eq( &self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon, ) -> bool

A test for equality that uses a relative comparison if the values are far apart.

fn relative_ne( &self, other: &Rhs, epsilon: Self::Epsilon, max_relative: Self::Epsilon, ) -> bool

The inverse of RelativeEq::relative_eq.

impl UlpsEq for DIsometry3

Available on crate feature approx only.

fn default_max_ulps() -> u32

The default ULPs to tolerate when testing values that are far-apart.

fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool

A test for equality that uses units in the last place (ULP) if the values are far apart.

fn ulps_ne(&self, other: &Rhs, epsilon: Self::Epsilon, max_ulps: u32) -> bool

The inverse of UlpsEq::ulps_eq.

impl Copy for DIsometry3

impl StructuralPartialEq for DIsometry3