Crate rs_math3d 

rs-math3d

A no_std 3D mathematics library for Rust, providing vectors, matrices, quaternions, and geometric primitives for computer graphics applications.

Features

• No standard library required: Works in embedded and WASM environments
• Generic types: All types are generic over scalar types (f32, f64, i32, i64)
• Column-major matrices: Compatible with OpenGL and similar APIs
• Comprehensive operations: Full suite of vector, matrix, and quaternion operations
• Geometric primitives: Rays, planes, triangles, spheres, and more

Quick Start

use rs_math3d::{Vector, Vector3, Matrix4, Quat, EPS_F32};
use rs_math3d::transforms;

// Create vectors
let v1 = Vector3::new(1.0, 2.0, 3.0);
let v2 = Vector3::new(4.0, 5.0, 6.0);
let dot_product = Vector3::dot(&v1, &v2);

// Create transformation matrices
let translation = transforms::translate(Vector3::new(10.0, 0.0, 0.0));
let rotation = transforms::rotation_from_axis_angle(
    &Vector3::new(0.0, 1.0, 0.0),
    std::f32::consts::PI / 4.0,
    EPS_F32,
).unwrap();

// Use quaternions for rotations
let q = Quat::of_axis_angle(
    &Vector3::new(0.0, 0.0, 1.0),
    std::f32::consts::PI / 2.0,
    EPS_F32,
).unwrap();
let rotation_matrix = q.mat4();

Modules

• vector: 2D, 3D, and 4D vectors with arithmetic operations
• matrix: 2x2, 3x3, and 4x4 matrices with linear algebra operations
• quaternion: Quaternions for 3D rotations
• transforms: Common transformation matrices (translate, rotate, scale, project)
• primitives: Geometric primitives (rays, planes, triangles, boxes, spheres)
• queries: Intersection and distance queries between primitives
• basis: Coordinate system basis representation
• scalar: Traits for generic numeric operations

Re-exports

pub use matrix::Matrix2;

pub use matrix::Matrix3;

pub use matrix::Matrix4;

pub use quaternion::Quat;

pub use scalar::FloatScalar;

pub use scalar::Scalar;

pub use scalar::EPS_F32;

pub use scalar::EPS_F64;

pub use vector::CrossProduct;

pub use vector::FloatVector;

pub use vector::Swizzle2;

pub use vector::Swizzle3;

pub use vector::Vector;

pub use vector::Vector2;

pub use vector::Vector3;

pub use vector::Vector4;

pub use basis::*;

pub use primitives::*;

pub use queries::*;

pub use transforms::*;

Modules

basis

Coordinate basis and reference frame utilities.

matrix

Matrix mathematics module providing 2x2, 3x3, and 4x4 matrices.

primitives

Geometric primitives for 3D graphics and collision detection.

quaternion

Quaternion operations and conversions. Quaternion math for rotations and orientation.

queries

Intersection and distance query traits and helpers. Intersection and distance query traits and implementations.

scalar

Scalar trait definitions for generic numeric operations.

transforms

3D transformation functions for computer graphics.

vector

Vector mathematics module providing 2D, 3D, and 4D vector operations.

Functions

color4b

Creates an RGBA color from byte components.

Type Aliases

Basisd

Double-precision basis.

Basisf

Single-precision basis.

Box3d

3D double-precision axis-aligned bounding box.

Box3f

3D single-precision axis-aligned bounding box.

Color4b

4-component byte color (RGBA).

Dimensionf

Single-precision dimensions.

Dimensioni

Integer dimensions.

Line2d

2D double-precision line.

Line2f

2D single-precision line.

Line3d

3D double-precision line.

Line3f

3D single-precision line.

Mat2d

2x2 double-precision matrix.

Mat2f

2x2 single-precision matrix.

Mat3d

3x3 double-precision matrix.

Mat3f

3x3 single-precision matrix.

Mat4d

4x4 double-precision matrix.

Mat4f

4x4 single-precision matrix.

ParametricPlaned

Double-precision parametric plane.

ParametricPlanef

Single-precision parametric plane.

Planed

Double-precision plane.

Planef

Single-precision plane.

Quatd

Double-precision quaternion.

Quatf

Single-precision quaternion.

Ray3d

3D double-precision ray.

Ray3f

3D single-precision ray.

Rectd

Double-precision rectangle.

Rectf

Single-precision rectangle.

Recti

Integer rectangle.

Segment2d

2D double-precision line segment.

Segment2f

2D single-precision line segment.

Segment3d

3D double-precision line segment.

Segment3f

3D single-precision line segment.

Vec2d

2D double-precision float vector.

Vec2f

2D single-precision float vector.

Vec2i

2D integer vector.

Vec3d

3D double-precision float vector.

Vec3f

3D single-precision float vector.

Vec3i

3D integer vector.

Vec4d

4D double-precision float vector.

Vec4f

4D single-precision float vector.

Vec4i

4D integer vector.