Struct Matrix4 

#[repr(C)]
pub struct Matrix4<T: Scalar> {
    pub col: [Vector4<T>; 4],
}

A 4x4 matrix stored in column-major order.

The standard matrix for 3D transformations using homogeneous coordinates.

Layout

[m₀₀ m₀₁ m₀₂ m₀₃]
[m₁₀ m₁₁ m₁₂ m₁₃]
[m₂₀ m₂₁ m₂₂ m₂₃]
[m₃₀ m₃₁ m₃₂ m₃₃]

Fields

col: [Vector4<T>; 4]

Column vectors of the matrix

Implementations

impl<T: Scalar> Matrix4<T>

pub fn new( m0: T, m1: T, m2: T, m3: T, m4: T, m5: T, m6: T, m7: T, m8: T, m9: T, m10: T, m11: T, m12: T, m13: T, m14: T, m15: T, ) -> Self

Creates a new 4x4 matrix from column-major elements.

pub fn identity() -> Self

Returns the 4x4 identity matrix.

pub fn determinant(&self) -> T

Computes the determinant of the matrix.

Uses Laplace expansion along the first column. A non-zero determinant indicates the matrix is invertible.

pub fn transpose(&self) -> Self

Returns the transpose of the matrix.

Mᵀ[i,j] = M[j,i]

pub fn is_affine(&self, epsilon: T) -> bool

Returns true if the matrix is affine (last row equals [0, 0, 0, 1]).

pub fn inverse(&self) -> Self

Computes the inverse of the matrix.

Uses the adjugate matrix method:

M⁻¹ = (1/det(M)) * adj(M)

Note

Returns NaN or Inf if the matrix is singular (determinant = 0).

pub fn inverse_affine(&self) -> Self

Computes the inverse of an affine matrix (rotation/scale + translation).

Assumes the last row is [0, 0, 0, 1].

pub fn mul_matrix_matrix(l: &Self, r: &Self) -> Self

Multiplies two 4x4 matrices.

Matrix multiplication follows the rule:

C[i,j] = Σₖ A[i,k] * B[k,j]

pub fn mul_matrix_vector(l: &Self, r: &Vector4<T>) -> Vector4<T>

Multiplies a 4x4 matrix by a 4D vector.

v' = M * v

pub fn mul_vector_matrix(l: &Vector4<T>, r: &Self) -> Vector4<T>

Multiplies a 4D vector by a 4x4 matrix (row vector).

v' = vᵀ * M

pub fn add_matrix_matrix(l: &Self, r: &Self) -> Self

Adds two matrices element-wise.

C[i,j] = A[i,j] + B[i,j]

pub fn sub_matrix_matrix(l: &Self, r: &Self) -> Self

Subtracts two matrices element-wise.

C[i,j] = A[i,j] - B[i,j]

Trait Implementations

impl<T: Scalar> Add for Matrix4<T>

type Output = Matrix4<T>

The resulting type after applying the + operator.

fn add(self, rhs: Matrix4<T>) -> Matrix4<T>

Performs the + operation.

impl<T: Clone + Scalar> Clone for Matrix4<T>

fn clone(&self) -> Matrix4<T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug + Scalar> Debug for Matrix4<T>

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

Formats the value using the given formatter.

impl<T: Scalar> Matrix4Extension<T> for Matrix4<T>

fn mat3(&self) -> Matrix3<T>

Returns the upper-left 3x3 rotation/scale submatrix.

impl<T: Scalar> Mul<Matrix4<T>> for Vector3<T>

type Output = Vector3<T>

The resulting type after applying the * operator.

fn mul(self, rhs: Matrix4<T>) -> Vector3<T>

Performs the * operation.

impl<T: Scalar> Mul<Matrix4<T>> for Vector4<T>

type Output = Vector4<T>

The resulting type after applying the * operator.

fn mul(self, rhs: Matrix4<T>) -> Vector4<T>

Performs the * operation.

impl<T: Scalar> Mul<Vector3<T>> for Matrix4<T>

type Output = Vector3<T>

The resulting type after applying the * operator.

fn mul(self, rhs: Vector3<T>) -> Vector3<T>

Performs the * operation.

impl<T: Scalar> Mul<Vector4<T>> for Matrix4<T>

type Output = Vector4<T>

The resulting type after applying the * operator.

fn mul(self, rhs: Vector4<T>) -> Vector4<T>

Performs the * operation.

impl<T: Scalar> Mul for Matrix4<T>

type Output = Matrix4<T>

The resulting type after applying the * operator.

fn mul(self, rhs: Matrix4<T>) -> Matrix4<T>

Performs the * operation.

impl<T: Scalar> Sub for Matrix4<T>

type Output = Matrix4<T>

The resulting type after applying the - operator.

fn sub(self, rhs: Matrix4<T>) -> Matrix4<T>

Performs the - operation.

impl<T: Copy + Scalar> Copy for Matrix4<T>