Struct Mat3 

pub struct Mat3(pub [[f32; 3]; 3]);

Local-frame orientation matrix stored row-major: mat[row][col].

Columns are local-frame axes: column 0 = +X (forward), column 1 = +Y (left), and column 2 = +Z (up).

Rotation constructors, axis accessors, matrix multiplication, array access, and approximate comparison are demonstrated in the pose and coordinate example.

Tuple Fields

0: [[f32; 3]; 3]

Implementations

impl Mat3

pub const IDENTITY: Self

Identity orientation with model and local axes aligned.

pub const fn as_array(&self) -> &[[f32; 3]; 3]

Borrow the underlying array.

pub const fn into_array(self) -> [[f32; 3]; 3]

Return the underlying array.

pub fn yaw(radians: f32) -> Self

Rotation around z. Yaw = Rz: [[c,-s,0],[s,c,0],[0,0,1]].

pub fn pitch(radians: f32) -> Self

Rotation around y. Pitch = Ry: [[c,0,s],[0,1,0],[-s,0,c]].

pub fn roll(radians: f32) -> Self

Rotation around x. Roll = Rx: [[1,0,0],[0,c,-s],[0,s,c]].

pub fn forward(&self) -> Vec3

Return local +X, the forward axis stored in column 0.

pub fn left(&self) -> Vec3

Return local +Y, the left axis stored in column 1.

pub fn up(&self) -> Vec3

Return local +Z, the up axis stored in column 2.

pub fn is_close_to(&self, other: &Self, tolerance: f32) -> bool

Return true when all components are within tolerance.

Trait Implementations

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 Copy for Mat3

impl Debug for Mat3

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

Formats the value using the given formatter.

impl From<Mat3> for [[f32; 3]; 3]

fn from(value: Mat3) -> Self

Converts to this type from the input type.

impl From<[[f32; 3]; 3]> for Mat3

fn from(value: [[f32; 3]; 3]) -> Self

Converts to this type from the input type.

impl Index<usize> for Mat3

type Output = [f32; 3]

The returned type after indexing.

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

Performs the indexing (container[index]) operation.

impl IndexMut<usize> for Mat3

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

Performs the mutable indexing (container[index]) 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.

impl PartialEq for Mat3

fn eq(&self, other: &Mat3) -> bool

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Mat3