Struct Matrix3 

pub struct Matrix3 {
    pub m11: f64,
    pub m12: f64,
    pub m13: f64,
    pub m21: f64,
    pub m22: f64,
    pub m23: f64,
    pub m31: f64,
    pub m32: f64,
    pub m33: f64,
}

A 3x3 matrix for rotations and coordinate transformations.

The matrix is stored in row-major order:

| m11 m12 m13 |
| m21 m22 m23 |
| m31 m32 m33 |

Fields

m11: f64

m12: f64

m13: f64

m21: f64

m22: f64

m23: f64

m31: f64

m32: f64

m33: f64

Implementations

impl Matrix3

pub fn new( m11: f64, m12: f64, m13: f64, m21: f64, m22: f64, m23: f64, m31: f64, m32: f64, m33: f64, ) -> Self

Create a new Matrix3 from individual elements.

pub fn identity() -> Self

Create an identity matrix.

pub fn zero() -> Self

Create a zero matrix.

pub fn from_rows(row1: Vector3, row2: Vector3, row3: Vector3) -> Self

Create a matrix from row vectors.

pub fn from_cols(col1: Vector3, col2: Vector3, col3: Vector3) -> Self

Create a matrix from column vectors.

pub fn rotation_x(angle: f64) -> Self

Create a rotation matrix about the X axis.

pub fn rotation_y(angle: f64) -> Self

Create a rotation matrix about the Y axis.

pub fn rotation_z(angle: f64) -> Self

Create a rotation matrix about the Z axis. This rotates vectors counter-clockwise when viewed from +Z axis.

pub fn row(&self, index: usize) -> Vector3

Get a row as a Vector3.

pub fn col(&self, index: usize) -> Vector3

Get a column as a Vector3.

pub fn transpose(&self) -> Self

Transpose the matrix.

pub fn determinant(&self) -> f64

Compute the determinant.

pub fn inverse(&self) -> Option<Self>

Compute the inverse of the matrix. Returns None if the matrix is singular.

pub fn mul_vec(&self, v: &Vector3) -> Vector3

Multiply the matrix by a vector.

pub fn mul_mat(&self, other: &Matrix3) -> Self

Multiply two matrices.

pub fn scale(&self, scalar: f64) -> Self

Scale the matrix by a scalar.

pub fn is_identity(&self, epsilon: f64) -> bool

Check if this is approximately an identity matrix.

pub fn is_rotation(&self, epsilon: f64) -> bool

Check if this is approximately a rotation matrix (orthogonal with det = 1).

Trait Implementations

impl Clone for Matrix3

fn clone(&self) -> Matrix3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Matrix3

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

Formats the value using the given formatter.

impl Default for Matrix3

fn default() -> Self

Returns the “default value” for a type.

impl Mul<&Vector3> for Matrix3

type Output = Vector3

The resulting type after applying the * operator.

fn mul(self, v: &Vector3) -> Vector3

Performs the * operation.

impl Mul<Vector3> for Matrix3

type Output = Vector3

The resulting type after applying the * operator.

fn mul(self, v: Vector3) -> Vector3

Performs the * operation.

impl Mul<f64> for Matrix3

type Output = Matrix3

The resulting type after applying the * operator.

fn mul(self, scalar: f64) -> Self

Performs the * operation.

impl Mul for Matrix3

type Output = Matrix3

The resulting type after applying the * operator.

fn mul(self, other: Self) -> Self

Performs the * operation.

impl PartialEq for Matrix3

fn eq(&self, other: &Matrix3) -> bool

Tests for self and other values to be equal, and is used by ==.

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

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

impl Copy for Matrix3

impl StructuralPartialEq for Matrix3