#[repr(C)]pub struct DMat3(_);
Expand description
A 3x3 column major matrix.
This 3x3 matrix type features convenience methods for creating and using linear and affine transformations.
Linear transformations including 3D rotation and scale can be created using methods
such as Self::from_diagonal()
, Self::from_quat()
, Self::from_axis_angle()
,
Self::from_rotation_x()
, Self::from_rotation_y()
, or
Self::from_rotation_z()
.
The resulting matrices can be use to transform 3D vectors using regular vector multiplication.
Affine transformations including 2D translation, rotation and scale can be created
using methods such as Self::from_translation()
, Self::from_angle()
,
Self::from_scale()
and Self::from_scale_angle_translation()
.
The Self::transform_point2()
and Self::transform_vector2()
convenience methods
are provided for performing affine transforms on 2D vectors and points. These multiply
2D inputs as 3D vectors with an implicit z
value of 1
for points and 0
for
vectors respectively. These methods assume that Self
contains a valid affine
transform.
Implementations
sourceimpl DMat3
impl DMat3
sourcepub const IDENTITY: DMat3 = Self(InnerF64::IDENTITY)
pub const IDENTITY: DMat3 = Self(InnerF64::IDENTITY)
A 3x3 identity matrix, where all diagonal elements are 1
, and all off-diagonal
elements are 0
.
sourcepub const fn zero() -> DMat3
👎 Deprecated: use Mat3::ZERO instead
pub const fn zero() -> DMat3
use Mat3::ZERO instead
Creates a 3x3 matrix with all elements set to 0.0
.
sourcepub const fn identity() -> DMat3
👎 Deprecated: use Mat3::IDENTITY instead
pub const fn identity() -> DMat3
use Mat3::IDENTITY instead
Creates a 3x3 identity matrix.
sourcepub fn from_cols(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3) -> DMat3
pub fn from_cols(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3) -> DMat3
Creates a 3x3 matrix from three column vectors.
sourcepub fn from_cols_array(m: &[f64; 9]) -> DMat3
pub fn from_cols_array(m: &[f64; 9]) -> DMat3
Creates a 3x3 matrix from a [S; 9]
array stored in column major order.
If your data is stored in row major you will need to transpose
the returned
matrix.
sourcepub fn to_cols_array(&self) -> [f64; 9]
pub fn to_cols_array(&self) -> [f64; 9]
Creates a [S; 9]
array storing data in column major order.
If you require data in row major order transpose
the matrix first.
sourcepub fn from_cols_array_2d(m: &[[f64; 3]; 3]) -> DMat3
pub fn from_cols_array_2d(m: &[[f64; 3]; 3]) -> DMat3
Creates a 3x3 matrix from a [[S; 3]; 3]
2D array stored in column major order.
If your data is in row major order you will need to transpose
the returned
matrix.
sourcepub fn to_cols_array_2d(&self) -> [[f64; 3]; 3]
pub fn to_cols_array_2d(&self) -> [[f64; 3]; 3]
Creates a [[S; 3]; 3]
2D array storing data in column major order.
If you require data in row major order transpose
the matrix first.
sourcepub fn from_diagonal(diagonal: DVec3) -> DMat3
pub fn from_diagonal(diagonal: DVec3) -> DMat3
Creates a 3x3 matrix with its diagonal set to diagonal
and all other entries set to 0.
The resulting matrix is a 3D scale transfom.
sourcepub fn from_quat(rotation: DQuat) -> DMat3
pub fn from_quat(rotation: DQuat) -> DMat3
Creates a 3D rotation matrix from the given quaternion.
sourcepub fn from_axis_angle(axis: DVec3, angle: f64) -> DMat3
pub fn from_axis_angle(axis: DVec3, angle: f64) -> DMat3
Creates a 3D rotation matrix from a normalized rotation axis
and angle
(in
radians).
sourcepub fn from_rotation_ypr(yaw: f64, pitch: f64, roll: f64) -> DMat3
pub fn from_rotation_ypr(yaw: f64, pitch: f64, roll: f64) -> DMat3
Creates a 3D rotation matrix from the given yaw (around y), pitch (around x) and roll (around z) in radians.
sourcepub fn from_rotation_x(angle: f64) -> DMat3
pub fn from_rotation_x(angle: f64) -> DMat3
Creates a 3D rotation matrix from angle
(in radians) around the x axis.
sourcepub fn from_rotation_y(angle: f64) -> DMat3
pub fn from_rotation_y(angle: f64) -> DMat3
Creates a 3D rotation matrix from angle
(in radians) around the y axis.
sourcepub fn from_rotation_z(angle: f64) -> DMat3
pub fn from_rotation_z(angle: f64) -> DMat3
Creates a 3D rotation matrix from angle
(in radians) around the z axis.
sourcepub fn from_translation(translation: DVec2) -> DMat3
pub fn from_translation(translation: DVec2) -> DMat3
Creates an affine transformation matrix from the given 2D translation
.
The resulting matrix can be used to transform 2D points and vectors. See
[Self::transform_point3()
] and [Self::transform_vector3()
].
sourcepub fn from_angle(angle: f64) -> DMat3
pub fn from_angle(angle: f64) -> DMat3
Creates an affine transformation matrix from the given 2D rotation angle
(in
radians).
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
sourcepub fn from_scale_angle_translation(
scale: DVec2,
angle: f64,
translation: DVec2
) -> DMat3
pub fn from_scale_angle_translation(
scale: DVec2,
angle: f64,
translation: DVec2
) -> DMat3
Creates an affine transformation matrix from the given 2D scale
, rotation angle
(in
radians) and translation
.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
sourcepub fn from_scale(scale: DVec2) -> DMat3
pub fn from_scale(scale: DVec2) -> DMat3
Creates an affine transformation matrix from the given non-uniform 2D scale
.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
sourcepub fn is_finite(&self) -> bool
pub fn is_finite(&self) -> bool
Returns true
if, and only if, all elements are finite.
If any element is either NaN
, positive or negative infinity, this will return false
.
sourcepub fn determinant(&self) -> f64
pub fn determinant(&self) -> f64
Returns the determinant of self
.
sourcepub fn inverse(&self) -> DMat3
pub fn inverse(&self) -> DMat3
Returns the inverse of self
.
If the matrix is not invertible the returned matrix will be invalid.
sourcepub fn mul_scalar(&self, other: f64) -> DMat3
pub fn mul_scalar(&self, other: f64) -> DMat3
Multiplies a 3x3 matrix by a scalar.
sourcepub fn transform_point2(&self, other: DVec2) -> DVec2
pub fn transform_point2(&self, other: DVec2) -> DVec2
Transforms the given 2D vector as a point.
This is the equivalent of multiplying other
as a 3D vector where z
is 1
.
This method assumes that self
contains a valid affine transform.
sourcepub fn transform_vector2(&self, other: DVec2) -> DVec2
pub fn transform_vector2(&self, other: DVec2) -> DVec2
Rotates the given 2D vector.
This is the equivalent of multiplying other
as a 3D vector where z
is 0
.
This method assumes that self
contains a valid affine transform.
sourcepub fn abs_diff_eq(&self, other: DMat3, max_abs_diff: f64) -> bool
pub fn abs_diff_eq(&self, other: DMat3, max_abs_diff: f64) -> bool
Returns true if the absolute difference of all elements between self
and other
is less than or equal to max_abs_diff
.
This can be used to compare if two matrices contain similar elements. It works best
when comparing with a known value. The max_abs_diff
that should be used used
depends on the values being compared against.
For more see comparing floating point numbers.
pub fn as_f32(&self) -> Mat3
Trait Implementations
sourceimpl PartialOrd<DMat3> for DMat3
impl PartialOrd<DMat3> for DMat3
sourcefn partial_cmp(&self, other: &DMat3) -> Option<Ordering>
fn partial_cmp(&self, other: &DMat3) -> Option<Ordering>
This method returns an ordering between self
and other
values if one exists. Read more
1.0.0 · sourcefn lt(&self, other: &Rhs) -> bool
fn lt(&self, other: &Rhs) -> bool
This method tests less than (for self
and other
) and is used by the <
operator. Read more
1.0.0 · sourcefn le(&self, other: &Rhs) -> bool
fn le(&self, other: &Rhs) -> bool
This method tests less than or equal to (for self
and other
) and is used by the <=
operator. Read more
impl Copy for DMat3
Auto Trait Implementations
impl RefUnwindSafe for DMat3
impl Send for DMat3
impl Sync for DMat3
impl Unpin for DMat3
impl UnwindSafe for DMat3
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more