Struct Basis 

#[repr(C)]
pub struct Basis<T: Scalar> {
    pub x_axis: Vector3<T>,
    pub y_axis: Vector3<T>,
    pub z_axis: Vector3<T>,
    pub center: Vector3<T>,
}

A 3D coordinate basis (reference frame).

Represents a local coordinate system with three orthogonal axes and an origin point. This is useful for transformations between different coordinate spaces.

Fields

x_axis: Vector3<T>

Basis X axis.

y_axis: Vector3<T>

Basis Y axis.

z_axis: Vector3<T>

Basis Z axis.

center: Vector3<T>

Basis origin (center).

Implementations

impl<T: Scalar> Basis<T>

pub fn center(&self) -> &Vector3<T>

Returns the center (origin) of the basis.

pub fn center_mut(&mut self) -> &mut Vector3<T>

Returns a mutable reference to the center.

pub fn to_mat4(&self) -> Matrix4<T>

Converts the basis to a 4x4 transformation matrix.

The resulting matrix transforms from local basis space to world space:

• Columns 0-2: The basis axes (rotation/scale)
• Column 3: The center point (translation)

pub fn of_mat4(mat: &Matrix4<T>) -> Self

Creates a basis from a 4x4 transformation matrix.

Extracts the axes from columns 0-2 and center from column 3.

pub fn default() -> Self

Returns the default right-handed basis at the origin.

pub fn default_with_center(center: &Vector3<T>) -> Self

Returns the default right-handed basis with a custom center.

pub fn plane_axis(&self, plane: BasisPlane) -> (&Vector3<T>, &Vector3<T>)

Returns the two axes spanning the given plane.

pub fn plane_axis_mut( &mut self, plane: BasisPlane, ) -> (&mut Vector3<T>, &mut Vector3<T>)

Returns mutable references to the two axes spanning the given plane.

pub fn to_mat3(&self) -> Matrix3<T>

Converts the basis axes to a 3x3 rotation matrix.

The matrix contains only the rotation part, without translation.

pub fn of_center_mat3(center: &Vector3<T>, m: Matrix3<T>) -> Self

Creates a basis from a center point and a 3x3 rotation matrix.

The matrix columns become the basis axes.

Trait Implementations

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

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

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

Formats the value using the given formatter.

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