Type Definition nalgebra::geometry::Rotation2

pub type Rotation2<N> = Rotation<N, U2>;

A 2-dimensional rotation matrix.

Implementations

impl<N: Real> Rotation2<N>

pub fn new(angle: N) -> Self

Builds a 2 dimensional rotation matrix from an angle in radian.

Example

let rot = Rotation2::new(f32::consts::FRAC_PI_2);

assert_relative_eq!(rot * Point2::new(3.0, 4.0), Point2::new(-4.0, 3.0));

pub fn from_scaled_axis<SB: Storage<N, U1>>(
    axisangle: Vector<N, U1, SB>
) -> Self

Builds a 2 dimensional rotation matrix from an angle in radian wrapped in a 1-dimensional vector.

This is generally used in the context of generic programming. Using the ::new(angle) method instead is more common.

pub fn rotation_between<SB, SC>(
    a: &Vector<N, U2, SB>,
    b: &Vector<N, U2, SC>
) -> Selfwhere
    SB: Storage<N, U2>,
    SC: Storage<N, U2>,

The rotation matrix required to align a and b but with its angle.

This is the rotation R such that (R * a).angle(b) == 0 && (R * a).dot(b).is_positive().

Example

let a = Vector2::new(1.0, 2.0);
let b = Vector2::new(2.0, 1.0);
let rot = Rotation2::rotation_between(&a, &b);
assert_relative_eq!(rot * a, b);
assert_relative_eq!(rot.inverse() * b, a);

pub fn scaled_rotation_between<SB, SC>(
    a: &Vector<N, U2, SB>,
    b: &Vector<N, U2, SC>,
    s: N
) -> Selfwhere
    SB: Storage<N, U2>,
    SC: Storage<N, U2>,

The smallest rotation needed to make a and b collinear and point toward the same direction, raised to the power s.

Example

let a = Vector2::new(1.0, 2.0);
let b = Vector2::new(2.0, 1.0);
let rot2 = Rotation2::scaled_rotation_between(&a, &b, 0.2);
let rot5 = Rotation2::scaled_rotation_between(&a, &b, 0.5);
assert_relative_eq!(rot2 * rot2 * rot2 * rot2 * rot2 * a, b, epsilon = 1.0e-6);
assert_relative_eq!(rot5 * rot5 * a, b, epsilon = 1.0e-6);

impl<N: Real> Rotation2<N>

pub fn angle(&self) -> N

The rotation angle.

Example

let rot = Rotation2::new(1.78);
assert_eq!(rot.angle(), 1.78);

pub fn angle_to(&self, other: &Rotation2<N>) -> N

The rotation angle needed to make self and other coincide.

Example

let rot1 = Rotation2::new(0.1);
let rot2 = Rotation2::new(1.7);
assert_relative_eq!(rot1.angle_to(&rot2), 1.6);

pub fn rotation_to(&self, other: &Rotation2<N>) -> Rotation2<N>

The rotation matrix needed to make self and other coincide.

The result is such that: self.rotation_to(other) * self == other.

Example

let rot1 = Rotation2::new(0.1);
let rot2 = Rotation2::new(1.7);
let rot_to = rot1.rotation_to(&rot2);

assert_relative_eq!(rot_to * rot1, rot2);
assert_relative_eq!(rot_to.inverse() * rot2, rot1);

pub fn powf(&self, n: N) -> Rotation2<N>

Raise the quaternion to a given floating power, i.e., returns the rotation with the angle of self multiplied by n.

Example

let rot = Rotation2::new(0.78);
let pow = rot.powf(2.0);
assert_eq!(pow.angle(), 2.0 * 0.78);

pub fn scaled_axis(&self) -> VectorN<N, U1>

The rotation angle returned as a 1-dimensional vector.

This is generally used in the context of generic programming. Using the .angle() method instead is more common.

Trait Implementations

impl<N1, N2> SubsetOf<Unit<Complex<N2>>> for Rotation2<N1>where
    N1: Real,
    N2: Real + SupersetOf<N1>,

fn to_superset(&self) -> UnitComplex<N2>

The inclusion map: converts self to the equivalent element of its superset.

fn is_in_subset(q: &UnitComplex<N2>) -> bool

Checks if element is actually part of the subset Self (and can be converted to it).

unsafe fn from_superset_unchecked(q: &UnitComplex<N2>) -> Self

Use with care! Same as self.to_superset but without any property checks. Always succeeds.

fn from_superset(element: &T) -> Option<Self>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset.