Struct Transform 

pub struct Transform {
    pub position: Vec3,
    pub rotation: Quat,
}

Transform representing position and orientation in 3D space.

Fields

position: Vec3

Position in world space.

rotation: Quat

Orientation as a unit quaternion.

Implementations

impl Transform

pub fn from_position(position: Vec3) -> Self

Create a new transform with the given position and identity rotation.

pub fn new(position: Vec3, rotation: Quat) -> Self

Create a new transform with the given position and rotation.

pub fn transform_point(&self, point: &Vec3) -> Vec3

Transform a point from local space to world space.

pub fn transform_vector(&self, vector: &Vec3) -> Vec3

Transform a vector (direction) from local space to world space.

pub fn inverse(&self) -> Self

Compute the inverse transform.

pub fn compose(&self, other: &Transform) -> Self

Compose this transform with another (self * other).

impl Transform

pub fn to_matrix4(&self) -> [[f64; 4]; 4]

Convert to a 4x4 transformation matrix (column-major).

The matrix is [R | t; 0 0 0 1] where R is the rotation matrix.

pub fn euler_angles(&self) -> (f64, f64, f64)

Extract Euler angles (roll, pitch, yaw) from the rotation.

pub fn from_axis_angle(position: Vec3, axis: Vec3, angle: f64) -> Self

Create a transform from an axis-angle rotation and a position.

pub fn lerp(&self, other: &Transform, t: f64) -> Transform

Linear interpolation between two transforms.

Trait Implementations

impl Clone for Transform

fn clone(&self) -> Transform

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Transform

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

Formats the value using the given formatter.

impl Default for Transform

fn default() -> Self

Returns the “default value” for a type.