Struct Mat3 

pub struct Mat3 {
    pub data: [f64; 9],
}

A 3x3 matrix. Data and operations are column-major.

Fields

data: [f64; 9]

Implementations

impl Mat3

pub fn new(data: [f64; 9]) -> Self

pub const fn new_identity() -> Self

pub fn from_cols(x: Vec3, y: Vec3, z: Vec3) -> Self

Create a matrix from column vectors

pub fn determinant(&self) -> f64

Calculate the matrix’s determinant.

pub fn inverse(&self) -> Option<Self>

pub fn transpose(&self) -> Self

Transpose the matrix (column-major)

pub fn to_cols(&self) -> (Vec3, Vec3, Vec3)

Returns columns: x, y, z

pub fn eigen_vecs_vals(&self) -> (Mat3, Vec3)

Symmetric 3x3 eigen-decomposition (Jacobi). Returns (V, λ) where columns of V are eigenvectors and λ=(λx,λy,λz). Input must be symmetric (e.g., inertia tensor).

pub fn solve_system(&self, b_in: Vec3) -> Vec3

Solve A x = b (3x3) via LU with partial pivoting. Good for SPD matrices (e.g., inertia).

pub fn to_arr(&self) -> [[f64; 3]; 3]

pub fn from_arr(a: [[f64; 3]; 3]) -> Mat3

Trait Implementations

impl Add for Mat3

type Output = Mat3

The resulting type after applying the + operator.

fn add(self, rhs: Self) -> Self::Output

Performs the + operation.

impl Clone for Mat3

fn clone(&self) -> Mat3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Mat3

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

Formats the value using the given formatter.

impl From<[[f64; 3]; 3]> for Mat3

fn from(m: [[f64; 3]; 3]) -> Self

Converts to this type from the input type.

impl From<Mat3> for [[f64; 3]; 3]

fn from(m: Mat3) -> Self

Converts to this type from the input type.

impl From<Mat3> for Mat3

fn from(other: Mat3) -> Self

Converts to this type from the input type.

impl From<Mat3> for Mat3

fn from(other: Mat3) -> Self

Converts to this type from the input type.

impl Mul<Vec3> for Mat3

type Output = Vec3

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<f64> for Mat3

type Output = Mat3

The resulting type after applying the * operator.

fn mul(self, rhs: f64) -> Self::Output

Performs the * operation.

impl Mul for Mat3

type Output = Mat3

The resulting type after applying the * operator.

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

Performs the * operation.