Struct nannou::math::Basis3

pub struct Basis3<S> { /* fields omitted */ }

A three-dimensional rotation matrix.

The matrix is guaranteed to be orthogonal, so some operations, specifically inversion, can be implemented more efficiently than the implementations for math::Matrix3. To ensure orthogonality is maintained, the operations have been restricted to a subset of those implemented on Matrix3.

Methods

impl<S> Basis3<S> where
    S: BaseFloat, 

pub fn from_quaternion(quaternion: &Quaternion<S>) -> Basis3<S>

Create a new rotation matrix from a quaternion.

Trait Implementations

impl<S> Clone for Basis3<S> where
    S: Clone, 

fn clone(&self) -> Basis3<S>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<S> Serialize for Basis3<S> where
    S: Serialize, 

fn serialize<__S>(
    &self,
    __serializer: __S
) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error> where
    __S: Serializer, 

Serialize this value into the given Serde serializer.

impl<S> ApproxEq for Basis3<S> where
    S: BaseFloat, 

type Epsilon = <S as ApproxEq>::Epsilon

Used for specifying relative comparisons.

fn default_epsilon() -> <S as ApproxEq>::Epsilon

The default tolerance to use when testing values that are close together.

fn default_max_relative() -> <S as ApproxEq>::Epsilon

The default relative tolerance for testing values that are far-apart.

fn default_max_ulps() -> u32

The default ULPs to tolerate when testing values that are far-apart.

fn relative_eq(
    &self,
    other: &Basis3<S>,
    epsilon: <S as ApproxEq>::Epsilon,
    max_relative: <S as ApproxEq>::Epsilon
) -> bool

A test for equality that uses a relative comparison if the values are far apart.

fn ulps_eq(
    &self,
    other: &Basis3<S>,
    epsilon: <S as ApproxEq>::Epsilon,
    max_ulps: u32
) -> bool

A test for equality that uses units in the last place (ULP) if the values are far apart.

fn relative_ne(
    &self,
    other: &Self,
    epsilon: Self::Epsilon,
    max_relative: Self::Epsilon
) -> bool

The inverse of ApproxEq::relative_eq.

fn ulps_ne(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool

The inverse of ApproxEq::ulps_eq.

impl<S> From<Basis3<S>> for Matrix3<S> where
    S: BaseFloat, 

fn from(b: Basis3<S>) -> Matrix3<S>

Performs the conversion.

impl<S> From<Basis3<S>> for Quaternion<S> where
    S: BaseFloat, 

fn from(b: Basis3<S>) -> Quaternion<S>

Performs the conversion.

impl<A> From<Euler<A>> for Basis3<<A as Angle>::Unitless> where
    A: Angle + Into<Rad<<A as Angle>::Unitless>>, 

fn from(src: Euler<A>) -> Basis3<<A as Angle>::Unitless>

Create a three-dimensional rotation matrix from a set of euler angles.

impl<S> From<Quaternion<S>> for Basis3<S> where
    S: BaseFloat, 

fn from(quat: Quaternion<S>) -> Basis3<S>

Performs the conversion.

impl<S> AsRef<Matrix3<S>> for Basis3<S>

fn as_ref(&self) -> &Matrix3<S>

Performs the conversion.

impl<S> Rotation3<S> for Basis3<S> where
    S: BaseFloat, 

fn from_axis_angle<A>(axis: Vector3<S>, angle: A) -> Basis3<S> where
    A: Into<Rad<S>>, 

Create a rotation using an angle around a given axis.

fn from_angle_x<A>(theta: A) -> Basis3<S> where
    A: Into<Rad<S>>, 

Create a rotation from an angle around the x axis (pitch).

fn from_angle_y<A>(theta: A) -> Basis3<S> where
    A: Into<Rad<S>>, 

Create a rotation from an angle around the y axis (yaw).

fn from_angle_z<A>(theta: A) -> Basis3<S> where
    A: Into<Rad<S>>, 

Create a rotation from an angle around the z axis (roll).

impl<'a, S> Mul<Basis3<S>> for &'a Basis3<S> where
    S: BaseFloat, 

type Output = Basis3<S>

The resulting type after applying the * operator.

fn mul(self, other: Basis3<S>) -> Basis3<S>

Performs the * operation.

impl<S> Mul<Basis3<S>> for Basis3<S> where
    S: BaseFloat, 

type Output = Basis3<S>

The resulting type after applying the * operator.

fn mul(self, other: Basis3<S>) -> Basis3<S>

Performs the * operation.

impl<'a, 'b, S> Mul<&'a Basis3<S>> for &'b Basis3<S> where
    S: BaseFloat, 

type Output = Basis3<S>

The resulting type after applying the * operator.

fn mul(self, other: &'a Basis3<S>) -> Basis3<S>

Performs the * operation.

impl<'a, S> Mul<&'a Basis3<S>> for Basis3<S> where
    S: BaseFloat, 

type Output = Basis3<S>

The resulting type after applying the * operator.

fn mul(self, other: &'a Basis3<S>) -> Basis3<S>

Performs the * operation.

impl<S> Debug for Basis3<S> where
    S: Debug, 

fn fmt(&self, f: &mut Formatter) -> Result<(), Error>

Formats the value using the given formatter.

impl<S> Copy for Basis3<S> where
    S: Copy, 

impl<S> PartialEq<Basis3<S>> for Basis3<S> where
    S: PartialEq<S>, 

fn eq(&self, other: &Basis3<S>) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Basis3<S>) -> bool

This method tests for !=.

impl<S> Product<Basis3<S>> for Basis3<S> where
    S: BaseFloat, 

fn product<I>(iter: I) -> Basis3<S> where
    I: Iterator<Item = Basis3<S>>, 

Method which takes an iterator and generates Self from the elements by multiplying the items.

impl<'a, S> Product<&'a Basis3<S>> for Basis3<S> where
    S: 'a + BaseFloat, 

fn product<I>(iter: I) -> Basis3<S> where
    I: Iterator<Item = &'a Basis3<S>>, 

Method which takes an iterator and generates Self from the elements by multiplying the items.

impl<S> Rotation<Point3<S>> for Basis3<S> where
    S: BaseFloat, 

fn look_at(dir: Vector3<S>, up: Vector3<S>) -> Basis3<S>

Create a rotation to a given direction with an 'up' vector.

fn between_vectors(a: Vector3<S>, b: Vector3<S>) -> Basis3<S>

Create a shortest rotation to transform vector 'a' into 'b'. Both given vectors are assumed to have unit length.

fn rotate_vector(&self, vec: Vector3<S>) -> Vector3<S>

Rotate a vector using this rotation.

fn invert(&self) -> Basis3<S>

Create a new rotation which "un-does" this rotation. That is, r * r.invert() is the identity.

fn rotate_point(&self, point: P) -> P

Rotate a point using this rotation, by converting it to its representation as a vector.

impl<S> One for Basis3<S> where
    S: BaseFloat, 

fn one() -> Basis3<S>

Returns the multiplicative identity element of Self, 1.

fn set_one(&mut self)

Sets self to the multiplicative identity element of Self, 1.

fn is_one(&self) -> bool where
    Self: PartialEq<Self>, 

Returns true if self is equal to the multiplicative identity.

impl<'de, S> Deserialize<'de> for Basis3<S> where
    S: Deserialize<'de>, 

fn deserialize<__D>(
    __deserializer: __D
) -> Result<Basis3<S>, <__D as Deserializer<'de>>::Error> where
    __D: Deserializer<'de>, 

Deserialize this value from the given Serde deserializer.