Struct IsoTransform

pub struct IsoTransform {
    pub rotation: Quat,
    pub translation: Vec3A,
}

An isometric transform represented by translation * rotation.

An isometric transform conserves distances and angles.

The operations are applied right-to-left, so when transforming a point it will first be rotated and finally translated.

Fields

rotation: Quat

Normalized

translation: Vec3A

Final translation. This is where the input origin will end up, so for many circumstances this can be thought of as the position.

Implementations

impl IsoTransform

pub const IDENTITY: Self

The identity transform: doesn’t transform at all. Like multiplying with 1.

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

A transform that first rotates around the origin and then moves all points by a set amount.

Equivalent to IsoTransform::from_translation(translation) * IsoTransform::from_quat(rotation).

The given rotation should be normalized.

pub fn from_rotation_around_point(rotation: Quat, point: Vec3) -> Self

A rotation around a given point

pub fn from_quat(rotation: Quat) -> Self

A pure rotation without any translation.

The given rotation should be normalized.

pub fn from_translation(translation: Vec3) -> Self

A pure translation without any rotation.

pub fn from_mat4(t: &Mat4) -> Option<Self>

Tries to convert a 4x4 matrix to a IsoTransform.

This may return None as a Mat4 can represent things that a IsoTransform cannot, such as scale, shearing and projection.

Panics

Will panic if the determinant of t is zero and the assert feature is enabled.

pub fn look_at_rh(eye: Vec3, target: Vec3, up: Vec3) -> Option<Self>

Creates a right-handed view transform using a camera position, a point to look at, and an up direction.

The result transforms from world coordinates to view coordinates.

For a view coordinate system with +X=right, +Y=up and +Z=back.

Will return None if any argument is zero, non-finite, or if forward and up are colinear.

pub fn rotation(&self) -> Quat

pub fn set_rotation(&mut self, rotation: Quat)

pub fn translation(&self) -> Vec3

pub fn set_translation(&mut self, translation: Vec3)

pub fn is_finite(&self) -> bool

True if every value is finite

pub fn is_nan(&self) -> bool

Returns true if any elements are NaN.

pub fn to_mat4(self) -> Mat4

Convert to an equivalent Mat4 transformation matrix.

pub fn inverse(&self) -> Self

Get the transform that undoes this transform so that t.inverse() * t == IDENTITY.

pub fn normalize(&self) -> Self

Returns self normalized. You generally don’t need to call this unless you’ve multiplied A LOT of IsoTransforms.

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

Rotate and translate a point.

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

Rotate a vector.

Trait Implementations

impl Clone for IsoTransform

fn clone(&self) -> IsoTransform

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for IsoTransform

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

Formats the value using the given formatter.

impl Default for IsoTransform

Identity transform

fn default() -> Self

Identity transform

impl From<IsoTransform> for Affine3A

fn from(iso: IsoTransform) -> Self

Converts to this type from the input type.

impl From<IsoTransform> for Conformal3

fn from(c: IsoTransform) -> Self

Converts to this type from the input type.

impl From<IsoTransform> for Mat4

fn from(t: IsoTransform) -> Self

Converts to this type from the input type.

impl Mul<Affine3A> for IsoTransform

iso * affine3a -> affine3a

type Output = Affine3A

The resulting type after applying the * operator.

fn mul(self, rhs: Affine3A) -> Affine3A

Performs the * operation.

impl Mul<Conformal3> for IsoTransform

type Output = Conformal3

The resulting type after applying the * operator.

fn mul(self, rhs: Conformal3) -> Conformal3

Performs the * operation.

impl Mul<IsoTransform> for &IsoTransform

iso * iso -> iso

type Output = IsoTransform

The resulting type after applying the * operator.

fn mul(self, rhs: IsoTransform) -> IsoTransform

Performs the * operation.

impl Mul<IsoTransform> for Affine3A

affine3a * iso -> affine3a

type Output = Affine3A

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<IsoTransform> for Conformal3

type Output = Conformal3

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<IsoTransform> for Mat4

iso * mat4 -> mat4

type Output = Mat4

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<Mat4> for IsoTransform

mat4 * iso -> mat4

type Output = Mat4

The resulting type after applying the * operator.

fn mul(self, rhs: Mat4) -> Mat4

Performs the * operation.

impl Mul<Ray3> for IsoTransform

type Output = Ray3

The resulting type after applying the * operator.

fn mul(self, rhs: Ray3) -> Ray3

Performs the * operation.

impl Mul for &IsoTransform

iso * iso -> iso

type Output = IsoTransform

The resulting type after applying the * operator.

fn mul(self, rhs: &IsoTransform) -> IsoTransform

Performs the * operation.

impl Mul for IsoTransform

iso * iso -> iso

type Output = IsoTransform

The resulting type after applying the * operator.

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

Performs the * operation.

impl PartialEq for IsoTransform

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for IsoTransform

impl StructuralPartialEq for IsoTransform