Struct Matrix3 

pub struct Matrix3<T> {
    pub data: [[T; 3]; 3],
}

A 3x3 matrix stored in row-major order.

Fields

data: [[T; 3]; 3]

data[row][col]

Implementations

impl<T: Default + Copy> Matrix3<T>

pub fn zeros() -> Self

All-zero matrix.

impl Matrix3<f64>

pub fn identity() -> Self

Identity.

pub fn from_columns( c0: &Vector3<f64>, c1: &Vector3<f64>, c2: &Vector3<f64>, ) -> Self

Build from three column vectors (nalgebra compat).

pub fn from_iterator<I: IntoIterator<Item = f64>>(iter: I) -> Self

Build from a column-major iterator (nalgebra compat: column-major flat).

pub fn transpose(&self) -> Self

Transpose.

pub fn determinant(&self) -> f64

Determinant.

pub fn try_inverse(&self) -> Option<Self>

Try to invert.

pub fn svd(&self, compute_u: bool, compute_v: bool) -> Svd3

SVD decomposition. Returns (u, sigma, v_t) where each is Option<Matrix3> for compatibility with nalgebra’s SVD API. Uses Jacobi one-sided SVD.

pub fn column(&self, c: usize) -> Vector3<f64>

Column as Vector3.

pub fn mul_vec(&self, v: &Vector3<f64>) -> Vector3<f64>

Multiply by Vector3.

Trait Implementations

impl Add for Matrix3<f64>

type Output = Matrix3<f64>

The resulting type after applying the + operator.

fn add(self, rhs: Self) -> Self

Performs the + operation.

impl AddAssign for Matrix3<f64>

fn add_assign(&mut self, rhs: Self)

Performs the += operation.

impl<T: Clone> Clone for Matrix3<T>

fn clone(&self) -> Matrix3<T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Copy> Copy for Matrix3<T>

impl<T: Debug> Debug for Matrix3<T>

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

Formats the value using the given formatter.

impl<'de, T> Deserialize<'de> for Matrix3<T>

where T: Deserialize<'de>,

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Index<(usize, usize)> for Matrix3<f64>

type Output = f64

The returned type after indexing.

fn index(&self, (r, c): (usize, usize)) -> &f64

Performs the indexing (container[index]) operation.

impl IndexMut<(usize, usize)> for Matrix3<f64>

fn index_mut(&mut self, (r, c): (usize, usize)) -> &mut f64

Performs the mutable indexing (container[index]) operation.

impl Mul for Matrix3<f64>

type Output = Matrix3<f64>

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<Matrix3<f64>> for Matrix6x3

Matrix6x3 * Matrix3 → Matrix6x3 (P * H^T * S^{-1})

type Output = Matrix6x3

The resulting type after applying the * operator.

fn mul(self, rhs: Matrix3<f64>) -> Self

Performs the * operation.

impl Mul<Matrix3<f64>> for f64

type Output = Matrix3<f64>

The resulting type after applying the * operator.

fn mul(self, rhs: Matrix3<f64>) -> Matrix3<f64>

Performs the * operation.

impl Mul<Point3<f64>> for Matrix3<f64>

Matrix3 * Point3 → Point3 (transform point).

type Output = Point3<f64>

The resulting type after applying the * operator.

fn mul(self, rhs: Point3<f64>) -> Point3<f64>

Performs the * operation.

impl Mul<Vector3<f64>> for Matrix3<f64>

Matrix3 * Vector3 → Vector3

type Output = Vector3<f64>

The resulting type after applying the * operator.

fn mul(self, rhs: Vector3<f64>) -> Vector3<f64>

Performs the * operation.

impl Mul<f64> for Matrix3<f64>

type Output = Matrix3<f64>

The resulting type after applying the * operator.

fn mul(self, rhs: f64) -> Self

Performs the * operation.

impl<T: PartialEq> PartialEq for Matrix3<T>

fn eq(&self, other: &Matrix3<T>) -> 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<T> Serialize for Matrix3<T>

where T: Serialize,

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<T> StructuralPartialEq for Matrix3<T>