Struct Rotation3

pub struct Rotation3<S>(/* private fields */)
where
    S: Ring + MaybeSerDes;

Orthogonal 3x3 matrix with determinant +1, i.e. a member of the 3D rotation group $SO(3)$ of special orthogonal matrices

Implementations

impl<S> Rotation3<S>

where S: Ring + MaybeSerDes,

pub fn identity() -> Self

Identity rotation

pub fn from_angle_x(angle: Rad<S>) -> Self

where S: Real,

Construct a rotation around the X axis.

Positive angles are counter-clockwise.

pub fn from_angle_y(angle: Rad<S>) -> Self

where S: Real,

Construct a rotation around the Y axis

Positive angles are counter-clockwise.

pub fn from_angle_z(angle: Rad<S>) -> Self

where S: Real,

Construct a rotation around the Z axis

Positive angles are counter-clockwise.

pub fn from_angles_intrinsic(yaw: Rad<S>, pitch: Rad<S>, roll: Rad<S>) -> Self

where S: Real,

Construct a rotation from intrinsic ZX’Y’’ Euler angles:

• yaw: rotation around Z axis
• pitch: rotation around X’ axis
• roll: rotation around Y’’ axis

pub fn from_axis_angle(axis: Vector3<S>, angle: Rad<S>) -> Self

where S: Real,

Construct a rotation around the given axis vector with the given angle

pub fn orthonormalize( v1: Vector3<S>, v2: Vector3<S>, v3: Vector3<S>, ) -> Option<Self>

where S: Field + Sqrt,

Construct an orthonormal matrix from a set of linearly-independent vectors using the Gram-Schmidt process

pub fn look_at(point: Point3<S>) -> Self

where S: Float + FloatConst + RelativeEq<Epsilon = S> + Debug,

Returns a rotation with zero roll and oriented towards the target point.

Returns the identity rotation if point is the origin.

pub fn new(mat: Matrix3<S>) -> Option<Self>

Returns None if called with a matrix that is not orthonormal with determinant +1.

This method checks whether mat * mat^T == I and mat.determinant() == 1.

pub fn new_approx(mat: Matrix3<S>) -> Option<Self>

where S: RelativeEq<Epsilon = S>,

Returns None if called with a matrix that is not orthonormal with determinant +1.

This method checks whether mat * mat^T == I and mat.determinant() == 1 (approximately using relative equality).

pub fn noisy(mat: Matrix3<S>) -> Self

Panic if the given matrix is not orthogonal with determinant +1.

This method checks whether mat * mat^T == I and mat.determinant() == 1.

pub fn noisy_approx(mat: Matrix3<S>) -> Self

where S: RelativeEq<Epsilon = S> + Debug,

Panic if the given matrix is not orthogonal with determinant +1.

This method checks whether mat * mat^T == I and mat.determinant() == 1 (approximately using relative equality).

pub fn unchecked(mat: Matrix3<S>) -> Self

where S: Debug,

It is a debug panic if the given matrix is not orthogonal with determinant +1.

This method checks whether mat * mat^T == I and mat.determinant() == 1.

pub fn unchecked_approx(mat: Matrix3<S>) -> Self

where S: RelativeEq<Epsilon = S> + Debug,

It is a debug panic if the given matrix is not orthogonal with determinant +1.

This method checks whether mat * mat^T == I and mat.determinant() == 1 (approximately using relative equality).

pub fn intrinsic_angles(&self) -> (Rad<S>, Rad<S>, Rad<S>)

where S: Real,

Return intrinsic yaw (Z), pitch (X’), roll (Y’’) angles.

NOTE: this function returns the raw output of the atan2 operations used to compute the angles. This function returns values in the range [-\pi, \pi].

pub fn versor(self) -> Versor<S>

where S: Real + MaybeSerDes + Real + RelativeEq<Epsilon = S>,

Convert to versor (unit quaternion) representation.

https://stackoverflow.com/a/63745757

Methods from Deref<Target = Matrix3<S>>

pub const ROW_COUNT: usize = 3usize

pub const COL_COUNT: usize = 3usize

pub fn row_count(&self) -> usize

Convenience for getting the number of rows of this matrix.

pub fn col_count(&self) -> usize

Convenience for getting the number of columns of this matrix.

pub fn is_packed(&self) -> bool

Are all elements of this matrix tightly packed together in memory ?

This might not be the case for matrices in the repr_simd module (it depends on the target architecture).

pub fn as_col_ptr(&self) -> *const T

Gets a const pointer to this matrix’s elements.

Panics

Panics if the matrix’s elements are not tightly packed in memory, which may be the case for matrices in the repr_simd module. You may check this with the is_packed() method.

pub fn as_col_slice(&self) -> &[T]

View this matrix as an immutable slice.

Panics

Panics if the matrix’s elements are not tightly packed in memory, which may be the case for matrices in the repr_simd module. You may check this with the is_packed() method.

pub const GL_SHOULD_TRANSPOSE: bool = false

pub fn gl_should_transpose(&self) -> bool

Gets the transpose parameter to pass to OpenGL glUniformMatrix*() functions.

The return value is a plain bool which you may directly cast to a GLboolean.

This takes &self to prevent surprises when changing the type of matrix you plan to send.

Trait Implementations

impl<S> Clone for Rotation3<S>

where S: Ring + MaybeSerDes + Clone,

fn clone(&self) -> Rotation3<S>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<S> Debug for Rotation3<S>

where S: Ring + MaybeSerDes + Debug,

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

Formats the value using the given formatter.

impl<S> Default for Rotation3<S>

where S: Ring + MaybeSerDes + Default,

fn default() -> Rotation3<S>

Returns the “default value” for a type.

impl<S> Deref for Rotation3<S>

where S: Ring + MaybeSerDes,

type Target = Mat3<S>

The resulting type after dereferencing.

fn deref(&self) -> &Self::Target

Dereferences the value.

impl<S> Div for Rotation3<S>

where S: Ring + MaybeSerDes,

type Output = Rotation3<S>

The resulting type after applying the / operator.

fn div(self, rhs: Self) -> Self::Output

Performs the / operation.

impl<S> DivAssign for Rotation3<S>

where S: Ring + MaybeSerDes,

fn div_assign(&mut self, rhs: Self)

Performs the /= operation.

impl<S> From<Angles3<S>> for Rotation3<S>

where S: Real + MaybeSerDes + Real,

fn from(angles: Angles3<S>) -> Self

Converts to this type from the input type.

impl<S> From<Rotation3<S>> for Angles3<S>

where S: Real + MaybeSerDes,

fn from(rotation: Rotation3<S>) -> Self

Converts to this type from the input type.

impl<S> From<Rotation3<S>> for Versor<S>

where S: Real + MaybeSerDes + Real + RelativeEq<Epsilon = S>,

fn from(rot: Rotation3<S>) -> Self

Converts to this type from the input type.

impl<S> Inv for Rotation3<S>

where S: Ring + MaybeSerDes,

type Output = Rotation3<S>

The result after applying the operator.

fn inv(self) -> Self::Output

Returns the multiplicative inverse of self.

impl<S> Mul<Rotation3<S>> for Vector3<S>

where S: Ring + MaybeSerDes,

type Output = Vec3<S>

The resulting type after applying the * operator.

fn mul(self, rhs: Rotation3<S>) -> Self::Output

Performs the * operation.

impl<S> Mul<Vec3<S>> for Rotation3<S>

where S: Ring + MaybeSerDes,

type Output = Vec3<S>

The resulting type after applying the * operator.

fn mul(self, rhs: Vector3<S>) -> Self::Output

Performs the * operation.

impl<S> Mul for Rotation3<S>

where S: Ring + MaybeSerDes,

type Output = Rotation3<S>

The resulting type after applying the * operator.

fn mul(self, rhs: Self) -> Self::Output

Performs the * operation.

impl<S> MulAssign for Rotation3<S>

where S: Ring + MaybeSerDes,

fn mul_assign(&mut self, rhs: Self)

Performs the *= operation.

impl<S> One for Rotation3<S>

where S: Ring + MaybeSerDes + Zero + One,

fn one() -> Self

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,

Returns true if self is equal to the multiplicative identity.

impl<S> PartialEq for Rotation3<S>

where S: Ring + MaybeSerDes + PartialEq,

fn eq(&self, other: &Rotation3<S>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<S> Copy for Rotation3<S>

where S: Ring + MaybeSerDes + Copy,

impl<S> MultiplicativeGroup for Rotation3<S>

where S: Ring + MaybeSerDes,

impl<S> MultiplicativeMonoid for Rotation3<S>

where S: Ring + MaybeSerDes,

impl<S> StructuralPartialEq for Rotation3<S>

where S: Ring + MaybeSerDes,