Trait Vec3Ext 

pub trait Vec3Ext {
    // Required method
    fn into_cross_matrix(self) -> Mat3;
}

Extension trait for 3D vectors to support cross-product matrix operations.

The cross-product matrix (also known as skew-symmetric matrix) is a fundamental tool in spatial algebra for converting cross products into matrix multiplications. This enables efficient computation of spatial transformations and dynamics.

Required Methods

fn into_cross_matrix(self) -> Mat3

Convert a 3D vector to its cross-product matrix.

The cross-product matrix [v]× satisfies: [v] × u = v × u for any vector u

Mathematical Definition

For vector v = [x, y, z]ᵀ, the cross-product matrix is:

[v]× = |  0  -z   y |
      |  z   0  -x |
      | -y   x   0 |

Implementors

impl Vec3Ext for Vec3