#[repr(transparent)]pub struct Mat4(_);
Expand description
A 4x4 column major matrix.
This 4x4 matrix type features convenience methods for creating and using affine transforms and perspective projections.
Affine transformations including 3D translation, rotation and scale can be created
using methods such as Self::from_translation()
, Self::from_quat()
,
Self::from_scale()
and Self::from_scale_rotation_translation()
.
Othographic projections can be created using the methods Self::orthographic_lh()
for
left-handed coordinate systems and Self::orthographic_rh()
for right-handed
systems. The resulting matrix is also an affine transformation.
The Self::transform_point3()
and Self::transform_vector3()
convenience methods
are provided for performing affine transformations on 3D vectors and points. These
multiply 3D inputs as 4D vectors with an implicit w
value of 1
for points and 0
for vectors respectively. These methods assume that Self
contains a valid affine
transform.
Perspective projections can be created using methods such as
Self::perspective_lh()
, Self::perspective_infinite_lh()
and
Self::perspective_infinite_reverse_lh()
for left-handed co-ordinate systems and
Self::perspective_rh()
, Self::perspective_infinite_rh()
and
Self::perspective_infinite_reverse_rh()
for right-handed co-ordinate systems.
The resulting perspective project can be use to transform 3D vectors as points with
perspective correction using the Self::project_point3()
convenience method.
Implementations
sourceimpl Mat4
impl Mat4
sourcepub const IDENTITY: Mat4 = Self(InnerF32::IDENTITY)
pub const IDENTITY: Mat4 = Self(InnerF32::IDENTITY)
A 4x4 identity matrix, where all diagonal elements are 1
, and all off-diagonal elements are 0
.
sourcepub const fn zero() -> Mat4
👎 Deprecated: use Mat4::ZERO instead
pub const fn zero() -> Mat4
use Mat4::ZERO instead
Creates a 4x4 matrix with all elements set to 0.0
.
sourcepub const fn identity() -> Mat4
👎 Deprecated: use Mat4::IDENTITY instead
pub const fn identity() -> Mat4
use Mat4::IDENTITY instead
Creates a 4x4 identity matrix.
sourcepub fn from_cols(x_axis: Vec4, y_axis: Vec4, z_axis: Vec4, w_axis: Vec4) -> Mat4
pub fn from_cols(x_axis: Vec4, y_axis: Vec4, z_axis: Vec4, w_axis: Vec4) -> Mat4
Creates a 4x4 matrix from four column vectors.
sourcepub fn from_cols_array(m: &[f32; 16]) -> Mat4
pub fn from_cols_array(m: &[f32; 16]) -> Mat4
Creates a 4x4 matrix from a [S; 16]
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) -> [f32; 16]
pub fn to_cols_array(&self) -> [f32; 16]
Creates a [S; 16]
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: &[[f32; 4]; 4]) -> Mat4
pub fn from_cols_array_2d(m: &[[f32; 4]; 4]) -> Mat4
Creates a 4x4 matrix from a [[S; 4]; 4]
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) -> [[f32; 4]; 4]
pub fn to_cols_array_2d(&self) -> [[f32; 4]; 4]
Creates a [[S; 4]; 4]
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: Vec4) -> Mat4
pub fn from_diagonal(diagonal: Vec4) -> Mat4
Creates a 4x4 matrix with its diagonal set to diagonal
and all other entries set to 0.
sourcepub fn from_scale_rotation_translation(
scale: Vec3,
rotation: Quat,
translation: Vec3
) -> Mat4
pub fn from_scale_rotation_translation(
scale: Vec3,
rotation: Quat,
translation: Vec3
) -> Mat4
Creates an affine transformation matrix from the given 3D scale
, rotation
and
translation
.
The resulting matrix can be used to transform 3D points and vectors. See
Self::transform_point3()
and Self::transform_vector3()
.
sourcepub fn from_rotation_translation(rotation: Quat, translation: Vec3) -> Mat4
pub fn from_rotation_translation(rotation: Quat, translation: Vec3) -> Mat4
Creates an affine transformation matrix from the given 3D translation
.
The resulting matrix can be used to transform 3D points and vectors. See
Self::transform_point3()
and Self::transform_vector3()
.
sourcepub fn to_scale_rotation_translation(&self) -> (Vec3, Quat, Vec3)
pub fn to_scale_rotation_translation(&self) -> (Vec3, Quat, Vec3)
Extracts scale
, rotation
and translation
from self
. The input matrix is
expected to be a 3D affine transformation matrix otherwise the output will be invalid.
sourcepub fn from_quat(rotation: Quat) -> Mat4
pub fn from_quat(rotation: Quat) -> Mat4
Creates an affine transformation matrix from the given rotation
quaternion.
The resulting matrix can be used to transform 3D points and vectors. See
Self::transform_point3()
and Self::transform_vector3()
.
sourcepub fn from_translation(translation: Vec3) -> Mat4
pub fn from_translation(translation: Vec3) -> Mat4
Creates an affine transformation matrix from the given 3D translation
.
The resulting matrix can be used to transform 3D points and vectors. See
Self::transform_point3()
and Self::transform_vector3()
.
sourcepub fn from_axis_angle(axis: Vec3, angle: f32) -> Mat4
pub fn from_axis_angle(axis: Vec3, angle: f32) -> Mat4
Creates an affine transformation matrix containing a 3D rotation around a normalized
rotation axis
of angle
(in radians).
The resulting matrix can be used to transform 3D points and vectors. See
Self::transform_point3()
and Self::transform_vector3()
.
sourcepub fn from_rotation_ypr(yaw: f32, pitch: f32, roll: f32) -> Mat4
pub fn from_rotation_ypr(yaw: f32, pitch: f32, roll: f32) -> Mat4
Creates a affine transformation matrix containing a rotation from the given yaw (around y), pitch (around x) and roll (around z) in radians.
The resulting matrix can be used to transform 3D points and vectors. See
Self::transform_point3()
and Self::transform_vector3()
.
sourcepub fn from_rotation_x(angle: f32) -> Mat4
pub fn from_rotation_x(angle: f32) -> Mat4
Creates an affine transformation matrix containing a 3D rotation around the x axis of
angle
(in radians).
The resulting matrix can be used to transform 3D points and vectors. See
Self::transform_point3()
and Self::transform_vector3()
.
sourcepub fn from_rotation_y(angle: f32) -> Mat4
pub fn from_rotation_y(angle: f32) -> Mat4
Creates an affine transformation matrix containing a 3D rotation around the y axis of
angle
(in radians).
The resulting matrix can be used to transform 3D points and vectors. See
Self::transform_point3()
and Self::transform_vector3()
.
sourcepub fn from_rotation_z(angle: f32) -> Mat4
pub fn from_rotation_z(angle: f32) -> Mat4
Creates an affine transformation matrix containing a 3D rotation around the z axis of
angle
(in radians).
The resulting matrix can be used to transform 3D points and vectors. See
Self::transform_point3()
and Self::transform_vector3()
.
sourcepub fn from_scale(scale: Vec3) -> Mat4
pub fn from_scale(scale: Vec3) -> Mat4
Creates an affine transformation matrix containing the given 3D non-uniform scale
.
The resulting matrix can be used to transform 3D points and vectors. See
Self::transform_point3()
and Self::transform_vector3()
.
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) -> f32
pub fn determinant(&self) -> f32
Returns the determinant of self
.
sourcepub fn inverse(&self) -> Mat4
pub fn inverse(&self) -> Mat4
Returns the inverse of self
.
If the matrix is not invertible the returned matrix will be invalid.
sourcepub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Mat4
pub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Mat4
Creates a left-handed view matrix using a camera position, an up direction, and a focal point.
sourcepub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Mat4
pub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Mat4
Creates a right-handed view matrix using a camera position, an up direction, and a focal point.
sourcepub fn perspective_rh_gl(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32,
z_far: f32
) -> Mat4
pub fn perspective_rh_gl(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32,
z_far: f32
) -> Mat4
Creates a right-handed perspective projection matrix with [-1,1] depth range.
This is the same as the OpenGL gluPerspective
function.
See https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/gluPerspective.xml
sourcepub fn perspective_lh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32,
z_far: f32
) -> Mat4
pub fn perspective_lh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32,
z_far: f32
) -> Mat4
Creates a left-handed perspective projection matrix with [0,1] depth range.
sourcepub fn perspective_rh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32,
z_far: f32
) -> Mat4
pub fn perspective_rh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32,
z_far: f32
) -> Mat4
Creates a right-handed perspective projection matrix with [0,1] depth range.
sourcepub fn perspective_infinite_lh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32
) -> Mat4
pub fn perspective_infinite_lh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32
) -> Mat4
Creates an infinite left-handed perspective projection matrix with [0,1] depth range.
sourcepub fn perspective_infinite_reverse_lh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32
) -> Mat4
pub fn perspective_infinite_reverse_lh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32
) -> Mat4
Creates an infinite left-handed perspective projection matrix with [0,1] depth range.
sourcepub fn perspective_infinite_rh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32
) -> Mat4
pub fn perspective_infinite_rh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32
) -> Mat4
Creates an infinite right-handed perspective projection matrix with [0,1] depth range.
sourcepub fn perspective_infinite_reverse_rh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32
) -> Mat4
pub fn perspective_infinite_reverse_rh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32
) -> Mat4
Creates an infinite reverse right-handed perspective projection matrix with [0,1] depth range.
sourcepub fn orthographic_rh_gl(
left: f32,
right: f32,
bottom: f32,
top: f32,
near: f32,
far: f32
) -> Mat4
pub fn orthographic_rh_gl(
left: f32,
right: f32,
bottom: f32,
top: f32,
near: f32,
far: f32
) -> Mat4
Creates a right-handed orthographic projection matrix with [-1,1] depth
range. This is the same as the OpenGL glOrtho
function in OpenGL.
See
https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glOrtho.xml
sourcepub fn orthographic_lh(
left: f32,
right: f32,
bottom: f32,
top: f32,
near: f32,
far: f32
) -> Mat4
pub fn orthographic_lh(
left: f32,
right: f32,
bottom: f32,
top: f32,
near: f32,
far: f32
) -> Mat4
Creates a left-handed orthographic projection matrix with [0,1] depth range.
sourcepub fn orthographic_rh(
left: f32,
right: f32,
bottom: f32,
top: f32,
near: f32,
far: f32
) -> Mat4
pub fn orthographic_rh(
left: f32,
right: f32,
bottom: f32,
top: f32,
near: f32,
far: f32
) -> Mat4
Creates a right-handed orthographic projection matrix with [0,1] depth range.
sourcepub fn mul_scalar(&self, other: f32) -> Mat4
pub fn mul_scalar(&self, other: f32) -> Mat4
Multiplies this matrix by a scalar value.
sourcepub fn project_point3(&self, other: Vec3) -> Vec3
pub fn project_point3(&self, other: Vec3) -> Vec3
Transforms the given 3D vector as a point, applying perspective correction.
This is the equivalent of multiplying the 3D vector as a 4D vector where w
is 1.0
.
The perspective divide is performed meaning the resulting 3D vector is divided by w
.
This method assumes that self
contains a projective transform.
sourcepub fn transform_point3(&self, other: Vec3) -> Vec3
pub fn transform_point3(&self, other: Vec3) -> Vec3
Transforms the given 3D vector as a point.
This is the equivalent of multiplying the 3D vector as a 4D vector where w
is
1.0
.
This method assumes that self
contains a valid affine transform. It does not perform
a persective divide, if self
contains a perspective transform, or if you are unsure,
the Self::project_point3()
method should be used instead.
sourcepub fn transform_vector3(&self, other: Vec3) -> Vec3
pub fn transform_vector3(&self, other: Vec3) -> Vec3
Transforms the give 3D vector as a direction.
This is the equivalent of multiplying the 3D vector as a 4D vector where w
is
0.0
.
This method assumes that self
contains a valid affine transform.
sourcepub fn abs_diff_eq(&self, other: Mat4, max_abs_diff: f32) -> bool
pub fn abs_diff_eq(&self, other: Mat4, max_abs_diff: f32) -> 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 4x4 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.
sourcepub fn transform_point3a(&self, other: Vec3A) -> Vec3A
pub fn transform_point3a(&self, other: Vec3A) -> Vec3A
Transforms the given Vec3A
as 3D point.
This is the equivalent of multiplying the Vec3A
as a 4D vector where w
is 1.0
.
sourcepub fn transform_vector3a(&self, other: Vec3A) -> Vec3A
pub fn transform_vector3a(&self, other: Vec3A) -> Vec3A
Transforms the give Vec3A
as 3D vector.
This is the equivalent of multiplying the Vec3A
as a 4D vector where w
is 0.0
.
pub fn as_f64(&self) -> DMat4
Trait Implementations
sourceimpl PartialOrd<Mat4> for Mat4
impl PartialOrd<Mat4> for Mat4
sourcefn partial_cmp(&self, other: &Mat4) -> Option<Ordering>
fn partial_cmp(&self, other: &Mat4) -> 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 Mat4
Auto Trait Implementations
impl RefUnwindSafe for Mat4
impl Send for Mat4
impl Sync for Mat4
impl Unpin for Mat4
impl UnwindSafe for Mat4
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