Struct rerun::Transform3D

pub struct Transform3D {
    pub transform: Transform3D,
}

Archetype: A 3D transform.

Example

Variety of 3D transforms

use std::f32::consts::TAU;

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_transform3d").spawn()?;

    let arrow = rerun::Arrows3D::from_vectors([(0.0, 1.0, 0.0)]).with_origins([(0.0, 0.0, 0.0)]);

    rec.log("base", &arrow)?;

    rec.log(
        "base/translated",
        &rerun::Transform3D::from_translation([1.0, 0.0, 0.0]),
    )?;

    rec.log("base/translated", &arrow)?;

    rec.log(
        "base/rotated_scaled",
        &rerun::Transform3D::from_rotation_scale(
            rerun::RotationAxisAngle::new([0.0, 0.0, 1.0], rerun::Angle::Radians(TAU / 8.0)),
            rerun::Scale3D::from(2.0),
        ),
    )?;

    rec.log("base/rotated_scaled", &arrow)?;

    Ok(())
}

Fields

transform: Transform3D

The transform

Implementations

impl Transform3D

pub const NUM_COMPONENTS: usize = 3usize

impl Transform3D

pub fn new(transform: impl Into<Transform3D>) -> Transform3D

impl Transform3D

pub const IDENTITY: Transform3D = _

Identity transform, i.e. parent & child are in the same space.

pub fn from_translation(translation: impl Into<Vec3D>) -> Transform3D

From a translation.

pub fn from_rotation(rotation: impl Into<Rotation3D>) -> Transform3D

From a rotation

pub fn from_scale(scale: impl Into<Scale3D>) -> Transform3D

From a scale

pub fn from_translation_rotation( translation: impl Into<Vec3D>, rotation: impl Into<Rotation3D> ) -> Transform3D

From a translation applied after a rotation, known as a rigid transformation.

pub fn from_translation_mat3x3( translation: impl Into<Vec3D>, mat3x3: impl Into<Mat3x3> ) -> Transform3D

From a translation applied after a 3x3 matrix.

pub fn from_translation_rotation_scale( translation: impl Into<Vec3D>, rotation: impl Into<Rotation3D>, scale: impl Into<Scale3D> ) -> Transform3D

From a translation, applied after a rotation & scale, known as an affine transformation.

pub fn from_rotation_scale( rotation: impl Into<Rotation3D>, scale: impl Into<Scale3D> ) -> Transform3D

From a rotation & scale

pub fn from_parent(self) -> Transform3D

Indicate that this transform is from parent to child. This is the oppositve of the default, which is from child to parent.

Trait Implementations

impl Archetype for Transform3D

type Indicator = GenericIndicatorComponent<Transform3D>

The associated indicator component, whose presence indicates that the high-level archetype-based APIs were used to log the data.

fn name() -> ArchetypeName

The fully-qualified name of this archetype, e.g. rerun.archetypes.Points2D.

fn indicator() -> MaybeOwnedComponentBatch<'static>

Creates a ComponentBatch out of the associated Self::Indicator component.

fn required_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that must be provided by the user when constructing this archetype.

fn recommended_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that should be provided by the user when constructing this archetype.

fn optional_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that may be provided by the user when constructing this archetype.

fn all_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that must, should and may be provided by the user when constructing this archetype.

fn from_arrow_components( arrow_data: impl IntoIterator<Item = (ComponentName, Box<dyn Array>)> ) -> Result<Transform3D, DeserializationError>

Given an iterator of Arrow arrays and their respective ComponentNames, deserializes them into this archetype.

fn from_arrow( data: impl IntoIterator<Item = (Field, Box<dyn Array>)> ) -> Result<Self, DeserializationError>

where Self: Sized,

Given an iterator of Arrow arrays and their respective field metadata, deserializes them into this archetype.

impl AsComponents for Transform3D

fn as_component_batches(&self) -> Vec<MaybeOwnedComponentBatch<'_>>

Exposes the object’s contents as a set of ComponentBatchs.

fn num_instances(&self) -> usize

The number of instances in each batch.

fn to_arrow(&self) -> Result<Vec<(Field, Box<dyn Array>)>, SerializationError>

Serializes all non-null Components of this bundle into Arrow arrays.

impl Clone for Transform3D

fn clone(&self) -> Transform3D

Returns a copy 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<(), Error>

Formats the value using the given formatter.

impl PartialEq for Transform3D

fn eq(&self, other: &Transform3D) -> bool

This method tests for self and other values to be equal, and is used by ==.

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

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl SizeBytes for Transform3D

fn heap_size_bytes(&self) -> u64

Returns the total size of self on the heap, in bytes.

fn is_pod() -> bool

Is Self just plain old data?

fn total_size_bytes(&self) -> u64

Returns the total size of self in bytes, accounting for both stack and heap space.

fn stack_size_bytes(&self) -> u64

Returns the total size of self on the stack, in bytes.

impl StructuralPartialEq for Transform3D