Struct glam::f32::Mat4

#[repr(transparent)]pub struct Mat4(_);

A 4x4 column major matrix.

This 4x4 matrix type features convenience methods for creating and using affine transforms and perspective projections.

Affine transformations including 3D translation, rotation and scale can be created using methods such as Self::from_translation(), Self::from_quat(), Self::from_scale() and Self::from_scale_rotation_translation().

Othographic projections can be created using the methods [Self::orthgraphic_lh()] for right-handed coordinate systems and Self::orthographic_rh() for left-handed systems. The resulting matrix is also an affine transformation.

The [Self::transform_point2()] and [Self::transform_vector2()] convenience methods are provided for performing affine transformations on 3D vectors and points. These multiply 3D inputs as 4D vectors with an implicit w value of 1 for points and 0 for vectors respectively. These methods assume that Self contains a valid affine transform.

Perspective projections can be created using methods such as Self::perspective_lh(), Self::perspective_infinite_lh() and Self::perspective_infinite_reverse_lh() for left-handed co-ordinate systems and Self::perspective_rh(), Self::perspective_infinite_rh() and Self::perspective_infinite_reverse_rh() for right-handed co-ordinate systems.

The resulting perspective project can be use to transform 3D vectors as points with perspective correction using the Self::project_point3() convenience method.

Implementations

impl Mat4

pub const ZERO: Self

A 4x4 matrix with all elements set to 0.0.

pub const IDENTITY: Self

A 4x4 identity matrix, where all diagonal elements are 1, and all off-diagonal elements are 0.

pub const fn zero() -> Self

👎 Deprecated:

use Mat4::ZERO instead

Creates a 4x4 matrix with all elements set to 0.0.

pub const fn identity() -> Self

👎 Deprecated:

use Mat4::IDENTITY instead

Creates a 4x4 identity matrix.

pub fn from_cols(x_axis: Vec4, y_axis: Vec4, z_axis: Vec4, w_axis: Vec4) -> Self

Creates a 4x4 matrix from four column vectors.

pub fn from_cols_array(m: &[f32; 16]) -> Self

Creates a 4x4 matrix from a [S; 16] array stored in column major order. If your data is stored in row major you will need to transpose the returned matrix.

pub fn to_cols_array(&self) -> [f32; 16]

Creates a [S; 16] array storing data in column major order. If you require data in row major order transpose the matrix first.

pub fn from_cols_array_2d(m: &[[f32; 4]; 4]) -> Self

Creates a 4x4 matrix from a [[S; 4]; 4] 2D array stored in column major order. If your data is in row major order you will need to transpose the returned matrix.

pub fn to_cols_array_2d(&self) -> [[f32; 4]; 4]

Creates a [[S; 4]; 4] 2D array storing data in column major order. If you require data in row major order transpose the matrix first.

pub fn from_diagonal(diagonal: Vec4) -> Self

Creates a 4x4 matrix with its diagonal set to diagonal and all other entries set to 0.

pub fn from_scale_rotation_translation(
    scale: Vec3,
    rotation: Quat,
    translation: Vec3
) -> Self

Creates an affine transformation matrix from the given 3D scale, rotation and translation.

The resulting matrix can be used to transform 3D points and vectors. See Self::transform_point3() and Self::transform_vector3().

pub fn from_rotation_translation(rotation: Quat, translation: Vec3) -> Self

Creates an affine transformation matrix from the given 3D translation.

The resulting matrix can be used to transform 3D points and vectors. See Self::transform_point3() and Self::transform_vector3().

pub fn to_scale_rotation_translation(&self) -> (Vec3, Quat, Vec3)

Extracts scale, rotation and translation from self. The input matrix is expected to be a 3D affine transformation matrix otherwise the output will be invalid.

pub fn from_quat(rotation: Quat) -> Self

Creates an affine transformation matrix from the given rotation quaternion.

The resulting matrix can be used to transform 3D points and vectors. See Self::transform_point3() and Self::transform_vector3().

pub fn from_translation(translation: Vec3) -> Self

Creates an affine transformation matrix from the given 3D translation.

The resulting matrix can be used to transform 3D points and vectors. See Self::transform_point3() and Self::transform_vector3().

pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self

Creates an affine transformation matrix containing a 3D rotation around a normalized rotation axis of angle (in radians).

The resulting matrix can be used to transform 3D points and vectors. See Self::transform_point3() and Self::transform_vector3().

pub fn from_rotation_ypr(yaw: f32, pitch: f32, roll: f32) -> Self

Creates a affine transformation matrix containing a rotation around the given Euler angles (in radians).

The resulting matrix can be used to transform 3D points and vectors. See Self::transform_point3() and Self::transform_vector3().

pub fn from_rotation_x(angle: f32) -> Self

Creates an affine transformation matrix containing a 3D rotation around the x axis of angle (in radians).

The resulting matrix can be used to transform 3D points and vectors. See Self::transform_point3() and Self::transform_vector3().

pub fn from_rotation_y(angle: f32) -> Self

Creates an affine transformation matrix containing a 3D rotation around the y axis of angle (in radians).

The resulting matrix can be used to transform 3D points and vectors. See Self::transform_point3() and Self::transform_vector3().

pub fn from_rotation_z(angle: f32) -> Self

Creates an affine transformation matrix containing a 3D rotation around the z axis of angle (in radians).

The resulting matrix can be used to transform 3D points and vectors. See Self::transform_point3() and Self::transform_vector3().

pub fn from_scale(scale: Vec3) -> Self

Creates an affine transformation matrix containing the given 3D non-uniform scale.

The resulting matrix can be used to transform 3D points and vectors. See Self::transform_point3() and Self::transform_vector3().

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 transpose(&self) -> Self

Returns the transpose of self.

pub fn determinant(&self) -> f32

Returns the determinant of self.

pub fn inverse(&self) -> Self

Returns the inverse of self.

If the matrix is not invertible the returned matrix will be invalid.

pub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Self

Creates a left-handed view matrix using a camera position, an up direction, and a focal point.

pub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Self

Creates a right-handed view matrix using a camera position, an up direction, and a focal point.

pub fn perspective_rh_gl(
    fov_y_radians: f32,
    aspect_ratio: f32,
    z_near: f32,
    z_far: f32
) -> Self

Creates a right-handed perspective projection matrix with [-1,1] depth range. This is the same as the OpenGL gluPerspective function. See https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/gluPerspective.xml

pub fn perspective_lh(
    fov_y_radians: f32,
    aspect_ratio: f32,
    z_near: f32,
    z_far: f32
) -> Self

Creates a left-handed perspective projection matrix with [0,1] depth range.

pub fn perspective_rh(
    fov_y_radians: f32,
    aspect_ratio: f32,
    z_near: f32,
    z_far: f32
) -> Self

Creates a right-handed perspective projection matrix with [0,1] depth range.

pub fn perspective_infinite_lh(
    fov_y_radians: f32,
    aspect_ratio: f32,
    z_near: f32
) -> Self

Creates an infinite left-handed perspective projection matrix with [0,1] depth range.

pub fn perspective_infinite_reverse_lh(
    fov_y_radians: f32,
    aspect_ratio: f32,
    z_near: f32
) -> Self

Creates an infinite left-handed perspective projection matrix with [0,1] depth range.

pub fn perspective_infinite_rh(
    fov_y_radians: f32,
    aspect_ratio: f32,
    z_near: f32
) -> Self

Creates an infinite right-handed perspective projection matrix with [0,1] depth range.

pub fn perspective_infinite_reverse_rh(
    fov_y_radians: f32,
    aspect_ratio: f32,
    z_near: f32
) -> Self

Creates an infinite reverse right-handed perspective projection matrix with [0,1] depth range.

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

Creates a right-handed orthographic projection matrix with [-1,1] depth range. This is the same as the OpenGL glOrtho function in OpenGL. See https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glOrtho.xml

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

Creates a left-handed orthographic projection matrix with [0,1] depth range.

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

Creates a right-handed orthographic projection matrix with [0,1] depth range.

pub fn mul_vec4(&self, other: Vec4) -> Vec4

Transforms a 4D vector.

pub fn mul_mat4(&self, other: &Self) -> Self

Multiplies two 4x4 matrices.

pub fn add_mat4(&self, other: &Self) -> Self

Adds two 4x4 matrices.

pub fn sub_mat4(&self, other: &Self) -> Self

Subtracts two 4x4 matrices.

pub fn mul_scalar(&self, other: f32) -> Self

Multiplies this matrix by a scalar value.

pub fn project_point3(&self, other: Vec3) -> Vec3

Transforms the given 3D vector as a point, applying perspective correction.

This is the equivalent of multiplying the 3D vector as a 4D vector where w is 1.0. The perspective divide is performed meaning the resulting 3D vector is divided by w.

This method assumes that self contains a projective transform.

pub fn transform_point3(&self, other: Vec3) -> Vec3

Transforms the given 3D vector as a point.

This is the equivalent of multiplying the 3D vector as a 4D vector where w is 1.0.

This method assumes that self contains a valid affine transform. It does not perform a persective divide, if self contains a perspective transform, or if you are unsure, the Self::project_point3() method should be used instead.

pub fn transform_vector3(&self, other: Vec3) -> Vec3

Transforms the give 3D vector as a direction.

This is the equivalent of multiplying the 3D vector as a 4D vector where w is 0.0.

This method assumes that self contains a valid affine transform.

pub fn abs_diff_eq(&self, other: Self, max_abs_diff: f32) -> bool

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

This can be used to compare if two 4x4 matrices contain similar elements. It works best when comparing with a known value. The max_abs_diff that should be used used depends on the values being compared against.

For more see comparing floating point numbers.

pub fn transform_point3a(&self, other: Vec3A) -> Vec3A

Transforms the given Vec3A as 3D point.

This is the equivalent of multiplying the Vec3A as a 4D vector where w is 1.0.

pub fn transform_vector3a(&self, other: Vec3A) -> Vec3A

Transforms the give Vec3A as 3D vector.

This is the equivalent of multiplying the Vec3A as a 4D vector where w is 0.0.

pub fn as_f64(&self) -> DMat4

Trait Implementations

impl Add<Mat4> for Mat4

type Output = Self

The resulting type after applying the + operator.

fn add(self, other: Self) -> Self

Performs the + operation.

impl AsMut<[f32; 16]> for Mat4

fn as_mut(&mut self) -> &mut [f32; 16]

Performs the conversion.

impl AsRef<[f32; 16]> for Mat4

fn as_ref(&self) -> &[f32; 16]

Performs the conversion.

impl Clone for Mat4

fn clone(&self) -> Mat4

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Mat4

impl Debug for Mat4

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

Formats the value using the given formatter.

impl Default for Mat4

fn default() -> Self

Returns the “default value” for a type.

impl Deref for Mat4

type Target = Vector4x4<Vec4>

The resulting type after dereferencing.

fn deref(&self) -> &Self::Target

Dereferences the value.

impl DerefMut for Mat4

fn deref_mut(&mut self) -> &mut Self::Target

Mutably dereferences the value.

impl Display for Mat4

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

Formats the value using the given formatter.

impl Mul<Mat4> for Mat4

type Output = Self

The resulting type after applying the * operator.

fn mul(self, other: Self) -> Self

Performs the * operation.

impl Mul<Vec4> for Mat4

type Output = Vec4

The resulting type after applying the * operator.

fn mul(self, other: Vec4) -> Vec4

Performs the * operation.

impl Mul<f32> for Mat4

type Output = Self

The resulting type after applying the * operator.

fn mul(self, other: f32) -> Self

Performs the * operation.

impl PartialEq<Mat4> for Mat4

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

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

#[must_use]pub fn ne(&self, other: &Rhs) -> bool

This method tests for !=.

impl PartialOrd<Mat4> for Mat4

fn partial_cmp(&self, other: &Self) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

#[must_use]pub fn lt(&self, other: &Rhs) -> bool

This method tests less than (for self and other) and is used by the < operator.

#[must_use]pub fn le(&self, other: &Rhs) -> bool

This method tests less than or equal to (for self and other) and is used by the <= operator.

#[must_use]pub fn gt(&self, other: &Rhs) -> bool

This method tests greater than (for self and other) and is used by the > operator.

#[must_use]pub fn ge(&self, other: &Rhs) -> bool

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl<'a> Product<&'a Mat4> for Mat4

fn product<I>(iter: I) -> Self where
    I: Iterator<Item = &'a Self>, 

Method which takes an iterator and generates Self from the elements by multiplying the items.

impl Sub<Mat4> for Mat4

type Output = Self

The resulting type after applying the - operator.

fn sub(self, other: Self) -> Self

Performs the - operation.

impl<'a> Sum<&'a Mat4> for Mat4

fn sum<I>(iter: I) -> Self where
    I: Iterator<Item = &'a Self>, 

Method which takes an iterator and generates Self from the elements by “summing up” the items.