pub type Isometry2<T> = Isometry<T, UnitComplex<T>, 2>;
Expand description
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).
struct Isometry2<T> {
pub rotation: Unit<Complex<T>>,
pub translation: Translation<T, 2>,
}
The pure rotational part of this isometry.
The pure translational part of this isometry.
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));
Creates a new isometry from the given translation coordinates.
Creates a new isometry from the given rotation angle.
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());
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);
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The type returned in the event of a conversion error.
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