Struct Transform 

pub struct Transform {
    pub m: [f32; 16],
}

A 4x4 homogeneous transform: a rotation and a translation in one matrix.

Stored row-major, this is the building block of forward kinematics: each joint contributes one transform, and chaining them places the tool relative to the base.

Fields

m: [f32; 16]

The sixteen elements in row-major order (row 0 first).

Implementations

impl Transform

pub fn identity() -> Self

Returns the identity transform: no rotation, no translation.

Returns

The identity.

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

Returns the product self * other, the transform that applies other then self.

Arguments

• other - the transform applied first (the one further down the chain).

Returns

The composed transform.

pub fn position(&self) -> (f32, f32, f32)

Returns the translation part: the position this transform places the origin at.

Returns

(x, y, z), the last column of the matrix.

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 Copy for Transform

impl Debug for Transform

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

Formats the value using the given formatter.

impl PartialEq for Transform

fn eq(&self, other: &Transform) -> bool

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Transform