Struct Pose 

pub struct Pose { /* private fields */ }

A 3D position and local-frame orientation after evaluating a linkage step.

Pose and coordinate values

let rotation = Mat3::yaw(FRAC_PI_2) * Mat3::IDENTITY;
let forward = rotation.forward();
let left = rotation.left();
let up = rotation.up();
assert!(forward.is_close_to(&Vec3::from([0.0, 1.0, 0.0]), 1e-5));
assert!(left[0] < 0.0);
assert_eq!(up.into_array(), [0.0, 0.0, 1.0]);
assert!((rotation.as_array()[0][0]).abs() < 1e-5);
let position = Vec3::from([1.0, 2.0, 3.0]);
let offset = (position + Vec3::from([1.0, 0.0, 0.0])) * 2.0;
assert_eq!(offset[0], 4.0);
assert!(offset.distance_to(position) > 0.0);
assert!(offset.is_close_to(&Vec3::from([4.0, 4.0, 6.0]), 1e-5));
let pose = Pose::new(rotation, position);
let start = Pose::start();
let _orientation = pose.orientation();
let _position = pose.position();
let _screen = pose.project(&Projection::front_orthographic(Point::new(0, 0), 10.0));
assert!(!pose.is_close_to(&start, 1e-5));

Implementations

impl Pose

pub const fn new(orientation: Mat3, position: Vec3) -> Self

Create a pose from an orientation and position.

See the pose and coordinate example.

pub fn project(self, projection: &Projection) -> (f32, f32)

Project this pose’s position through projection into screen-space (x, y).

See the pose and coordinate example.

pub const fn start() -> Self

Return the origin pose with identity orientation.

See the pose and coordinate example.

pub const fn orientation(self) -> Mat3

Return this pose’s orientation matrix.

pub const fn position(self) -> Vec3

Return this pose’s position.

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

Return true when all orientation and position components are within tolerance.

Trait Implementations

impl Clone for Pose

fn clone(&self) -> Pose

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Pose

impl Debug for Pose

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

Formats the value using the given formatter.