[−][src]Struct nalgebra::geometry::Transform

#[repr(C)]
pub struct Transform<N: RealField, D: DimNameAdd<U1>, C: TCategory> where
    DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,  { /* fields omitted */ }

A transformation matrix in homogeneous coordinates.

It is stored as a matrix with dimensions (D + 1, D + 1), e.g., it stores a 4x4 matrix for a 3D transformation.

Methods

`impl<N: RealField, D: DimNameAdd<U1>, C: TCategory> Transform<N, D, C> where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,` [src]

`pub fn from_matrix_unchecked(matrix: MatrixN<N, DimNameSum<D, U1>>) -> Self`[src]

Creates a new transformation from the given homogeneous matrix. The transformation category of Self is not checked to be verified by the given matrix.

`pub fn into_inner(self) -> MatrixN<N, DimNameSum<D, U1>>`[src]

Retrieves the underlying matrix.

Examples


let m = Matrix3::new(1.0, 2.0, 0.0,
                     3.0, 4.0, 0.0,
                     0.0, 0.0, 1.0);
let t = Transform2::from_matrix_unchecked(m);
assert_eq!(t.into_inner(), m);

`pub fn unwrap(self) -> MatrixN<N, DimNameSum<D, U1>>`[src]

Deprecated:

use .into_inner() instead

Retrieves the underlying matrix. Deprecated: Use Transform::into_inner instead.

`pub fn matrix(&self) -> &MatrixN<N, DimNameSum<D, U1>>`[src]

A reference to the underlying matrix.

Examples


let m = Matrix3::new(1.0, 2.0, 0.0,
                     3.0, 4.0, 0.0,
                     0.0, 0.0, 1.0);
let t = Transform2::from_matrix_unchecked(m);
assert_eq!(*t.matrix(), m);

`pub fn matrix_mut_unchecked(&mut self) -> &mut MatrixN<N, DimNameSum<D, U1>>`[src]

A mutable reference to the underlying matrix.

It is _unchecked because direct modifications of this matrix may break invariants identified by this transformation category.

Examples


let m = Matrix3::new(1.0, 2.0, 0.0,
                     3.0, 4.0, 0.0,
                     0.0, 0.0, 1.0);
let mut t = Transform2::from_matrix_unchecked(m);
t.matrix_mut_unchecked().m12 = 42.0;
t.matrix_mut_unchecked().m23 = 90.0;


let expected = Matrix3::new(1.0, 42.0, 0.0,
                            3.0, 4.0,  90.0,
                            0.0, 0.0,  1.0);
assert_eq!(*t.matrix(), expected);

`pub fn set_category<CNew: SuperTCategoryOf<C>>(self) -> Transform<N, D, CNew>`[src]

Sets the category of this transform.

This can be done only if the new category is more general than the current one, e.g., a transform with category TProjective cannot be converted to a transform with category TAffine because not all projective transformations are affine (the other way-round is valid though).

`pub fn clone_owned(&self) -> Transform<N, D, C>`[src]

Deprecated:

This method is redundant with automatic Copy and the .clone() method and will be removed in a future release.

Clones this transform into one that owns its data.

`pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>`[src]

Converts this transform into its equivalent homogeneous transformation matrix.

Examples


let m = Matrix3::new(1.0, 2.0, 0.0,
                     3.0, 4.0, 0.0,
                     0.0, 0.0, 1.0);
let t = Transform2::from_matrix_unchecked(m);
assert_eq!(t.into_inner(), m);

`pub fn try_inverse(self) -> Option<Transform<N, D, C>>`[src]

Attempts to invert this transformation. You may use .inverse instead of this transformation has a subcategory of TProjective (i.e. if it is a Projective{2,3} or Affine{2,3}).

Examples


let m = Matrix3::new(2.0, 2.0, -0.3,
                     3.0, 4.0, 0.1,
                     0.0, 0.0, 1.0);
let t = Transform2::from_matrix_unchecked(m);
let inv_t = t.try_inverse().unwrap();
assert_relative_eq!(t * inv_t, Transform2::identity());
assert_relative_eq!(inv_t * t, Transform2::identity());

// Non-invertible case.
let m = Matrix3::new(0.0, 2.0, 1.0,
                     3.0, 0.0, 5.0,
                     0.0, 0.0, 0.0);
let t = Transform2::from_matrix_unchecked(m);
assert!(t.try_inverse().is_none());

`pub fn inverse(self) -> Transform<N, D, C> where C: SubTCategoryOf<TProjective>,` [src]

Inverts this transformation. Use .try_inverse if this transform has the TGeneral category (i.e., a Transform{2,3} may not be invertible).

Examples


let m = Matrix3::new(2.0, 2.0, -0.3,
                     3.0, 4.0, 0.1,
                     0.0, 0.0, 1.0);
let proj = Projective2::from_matrix_unchecked(m);
let inv_t = proj.inverse();
assert_relative_eq!(proj * inv_t, Projective2::identity());
assert_relative_eq!(inv_t * proj, Projective2::identity());

`pub fn try_inverse_mut(&mut self) -> bool`[src]

Attempts to invert this transformation in-place. You may use .inverse_mut instead of this transformation has a subcategory of TProjective.

Examples


let m = Matrix3::new(2.0, 2.0, -0.3,
                     3.0, 4.0, 0.1,
                     0.0, 0.0, 1.0);
let t = Transform2::from_matrix_unchecked(m);
let mut inv_t = t;
assert!(inv_t.try_inverse_mut());
assert_relative_eq!(t * inv_t, Transform2::identity());
assert_relative_eq!(inv_t * t, Transform2::identity());

// Non-invertible case.
let m = Matrix3::new(0.0, 2.0, 1.0,
                     3.0, 0.0, 5.0,
                     0.0, 0.0, 0.0);
let mut t = Transform2::from_matrix_unchecked(m);
assert!(!t.try_inverse_mut());

`pub fn inverse_mut(&mut self) where C: SubTCategoryOf<TProjective>,` [src]

Inverts this transformation in-place. Use .try_inverse_mut if this transform has the TGeneral category (it may not be invertible).

Examples


let m = Matrix3::new(2.0, 2.0, -0.3,
                     3.0, 4.0, 0.1,
                     0.0, 0.0, 1.0);
let proj = Projective2::from_matrix_unchecked(m);
let mut inv_t = proj;
inv_t.inverse_mut();
assert_relative_eq!(proj * inv_t, Projective2::identity());
assert_relative_eq!(inv_t * proj, Projective2::identity());

`impl<N, D: DimNameAdd<U1>, C> Transform<N, D, C> where N: RealField, C: TCategory, DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>> + Allocator<N, DimNameSum<D, U1>> + Allocator<N, D, D> + Allocator<N, D>,` [src]

`pub fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D>`[src]

Transform the given point by this transformation.

This is the same as the multiplication self * pt.

`pub fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>`[src]

Transform the given vector by this transformation, ignoring the translational component of the transformation.

This is the same as the multiplication self * v.

`impl<N: RealField, D: DimNameAdd<U1>, C: TCategory> Transform<N, D, C> where C: SubTCategoryOf<TProjective>, DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>> + Allocator<N, DimNameSum<D, U1>> + Allocator<N, D, D> + Allocator<N, D>,` [src]

`pub fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D>`[src]

Transform the given point by the inverse of this transformation. This may be cheaper than inverting the transformation and transforming the point.

`pub fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>`[src]

Transform the given vector by the inverse of this transformation. This may be cheaper than inverting the transformation and transforming the vector.

`impl<N: RealField, D: DimNameAdd<U1>> Transform<N, D, TGeneral> where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,` [src]

`pub fn matrix_mut(&mut self) -> &mut MatrixN<N, DimNameSum<D, U1>>`[src]

A mutable reference to underlying matrix. Use .matrix_mut_unchecked instead if this transformation category is not TGeneral.

`impl<N: RealField, D: DimNameAdd<U1>, C: TCategory> Transform<N, D, C> where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,` [src]

`pub fn identity() -> Self`[src]

Creates a new identity transform.

Example


let pt = Point2::new(1.0, 2.0);
let t = Projective2::identity();
assert_eq!(t * pt, pt);

let aff = Affine2::identity();
assert_eq!(aff * pt, pt);

let aff = Transform2::identity();
assert_eq!(aff * pt, pt);

// Also works in 3D.
let pt = Point3::new(1.0, 2.0, 3.0);
let t = Projective3::identity();
assert_eq!(t * pt, pt);

let aff = Affine3::identity();
assert_eq!(aff * pt, pt);

let aff = Transform3::identity();
assert_eq!(aff * pt, pt);

Trait Implementations

`impl<N: RealField, D: DimNameAdd<U1> + Copy, C: TCategory> Copy for Transform<N, D, C> where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>, Owned<N, DimNameSum<D, U1>, DimNameSum<D, U1>>: Copy,` [src]

`impl<N: RealField, D: DimNameAdd<U1>, C: TCategory> PartialEq<Transform<N, D, C>> for Transform<N, D, C> where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,` [src]

`fn eq(&self, right: &Self) -> bool`[src]

`#[must_use] fn ne(&self, other: &Rhs) -> bool`
1.0.0
[src]

This method tests for !=.

`impl<N: RealField, D: DimName, C> From<Transform<N, D, C>> for MatrixN<N, DimNameSum<D, U1>> where D: DimNameAdd<U1>, C: TCategory, DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,` [src]

`fn from(t: Transform<N, D, C>) -> Self`[src]

`impl<N: RealField, D: DimNameAdd<U1>, C: TCategory> Clone for Transform<N, D, C> where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,` [src]

`fn clone(&self) -> Self`[src]

`fn clone_from(&mut self, source: &Self)`
1.0.0
[src]

Performs copy-assignment from source. Read more

`impl<N: RealField + Eq, D: DimNameAdd<U1>, C: TCategory> Eq for Transform<N, D, C> where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,` [src]