Trait heron::rapier_plugin::rapier::utils::WBasis[−]

pub trait WBasis {
    type Basis;
    pub fn orthonormal_basis(self) -> Self::Basis;

    pub fn orthonormal_vector(self) -> Self;
}

Trait to compute the orthonormal basis of a vector.

Associated Types

type Basis

The type of the array of orthonormal vectors.

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Required methods

pub fn orthonormal_basis(self) -> Self::Basis

Computes the vectors which, when combined with self, form an orthonormal basis.

pub fn orthonormal_vector(self) -> Self

Computes a vector orthogonal to self with a unit length (if self has a unit length).

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Implementors

impl<N> WBasis for Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>> where
    N: SimdRealField, 

type Basis = [Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>; 1]

impl<N> WBasis for Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 3_usize, 1_usize>> where
    N: SimdRealField + WSign<N>, 

type Basis = [Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 3_usize, 1_usize>>; 2]

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