Struct Transform3D 

pub struct Transform3D {
    pub position: [f64; 3],
    pub rotation: [f64; 4],
    pub scale: f64,
}

A 3-D transform stored as position + quaternion (xyzw) + uniform scale, using plain arrays to avoid nalgebra dependencies outside oxiphysics-core.

Fields

position: [f64; 3]

Translation (world-space position).

rotation: [f64; 4]

Rotation quaternion stored as [x, y, z, w] (unit quaternion).

scale: f64

Uniform scale factor.

Implementations

impl Transform3D

pub fn identity() -> Self

Create an identity transform (no translation, no rotation, scale = 1).

pub fn from_position(position: [f64; 3]) -> Self

Create a transform with position only (identity rotation, scale = 1).

pub fn apply(&self, point: [f64; 3]) -> [f64; 3]

Apply the transform to a point: scale * rotate(point) + position.

pub fn inverse(&self) -> Self

Compute the inverse transform.

For a transform T = (p, q, s), the inverse is (-q^-1(p)/s, q^-1, 1/s).

pub fn compose(&self, other: &Transform3D) -> Self

Compose this transform with other (self applied after other): result = self ∘ other.

Trait Implementations

impl Clone for Transform3D

fn clone(&self) -> Transform3D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Transform3D

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

Formats the value using the given formatter.

impl Default for Transform3D

fn default() -> Self

Returns the “default value” for a type.