Type Definition nalgebra::geometry::Isometry2 [−][src]
type Isometry2<T> = Isometry<T, UnitComplex<T>, 2>;
A 2-dimensional direct isometry using a unit complex number for its rotational part.
Because this is an alias, not all its methods are listed here. See the Isometry
type too.
Also known as a 2D rigid-body motion, or as an element of SE(2).
Implementations
impl<T: SimdRealField> Isometry2<T> where
T::Element: SimdRealField,
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impl<T: SimdRealField> Isometry2<T> where
T::Element: SimdRealField,
[src]pub fn new(translation: Vector2<T>, angle: T) -> Self
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Creates a new 2D isometry from a translation and a rotation angle.
Its rotational part is represented as an unit complex number.
Example
let iso = IsometryMatrix2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2); assert_eq!(iso * Point2::new(3.0, 4.0), Point2::new(-3.0, 5.0));
pub fn translation(x: T, y: T) -> Self
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Creates a new isometry from the given translation coordinates.
pub fn rotation(angle: T) -> Self
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Creates a new isometry from the given rotation angle.
pub fn cast<To: Scalar>(self) -> Isometry2<To> where
Isometry2<To>: SupersetOf<Self>,
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Isometry2<To>: SupersetOf<Self>,
Cast the components of self
to another type.
Example
let iso = Isometry2::<f64>::identity(); let iso2 = iso.cast::<f32>(); assert_eq!(iso2, Isometry2::<f32>::identity());
impl<T: SimdRealField> Isometry2<T>
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impl<T: SimdRealField> Isometry2<T>
[src]pub fn lerp_slerp(&self, other: &Self, t: T) -> Self where
T: RealField,
[src]
T: RealField,
Interpolates between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.
Panics if the angle between both rotations is 180 degrees (in which case the interpolation
is not well-defined). Use .try_lerp_slerp
instead to avoid the panic.
Examples:
let t1 = Translation2::new(1.0, 2.0); let t2 = Translation2::new(4.0, 8.0); let q1 = UnitComplex::new(std::f32::consts::FRAC_PI_4); let q2 = UnitComplex::new(-std::f32::consts::PI); let iso1 = Isometry2::from_parts(t1, q1); let iso2 = Isometry2::from_parts(t2, q2); let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0); assert_eq!(iso3.translation.vector, Vector2::new(2.0, 4.0)); assert_relative_eq!(iso3.rotation.angle(), std::f32::consts::FRAC_PI_2);