Struct LocalTransform 

pub struct LocalTransform {
    pub translation: [f64; 3],
    pub rot: [[f64; 3]; 3],
}

A 3-D rigid transform: translation + 3×3 rotation matrix (row-major).

The rotation rot[i] is the i-th row of the rotation matrix. The matrix must be orthonormal; no validation is performed.

Fields

translation: [f64; 3]

Translation vector.

rot: [[f64; 3]; 3]

Rotation matrix stored row-major: rot[row][col].

Implementations

impl LocalTransform

pub fn identity() -> Self

Identity transform (no rotation, no translation).

pub fn from_translation(t: [f64; 3]) -> Self

Pure translation (no rotation).

pub fn local_to_world(&self, p: [f64; 3]) -> [f64; 3]

Transform a point from local space to world space.

world_p = rot * local_p + translation

pub fn world_to_local(&self, p: [f64; 3]) -> [f64; 3]

Transform a point from world space to local space.

local_p = rot^T * (world_p - translation)

pub fn local_to_world_dir(&self, v: [f64; 3]) -> [f64; 3]

Transform a direction vector from local space to world space (no translation).

pub fn world_to_local_dir(&self, v: [f64; 3]) -> [f64; 3]

Transform a direction vector from world space to local space (no translation).

Trait Implementations

impl Clone for LocalTransform

fn clone(&self) -> LocalTransform

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for LocalTransform

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

Formats the value using the given formatter.