Struct Pose

#[repr(C)]
pub struct Pose {
    pub position: Vec3,
    pub orientation: Quat,
}

Pose represents a location and orientation in space, excluding scale! The default value of a Pose use Pose.Identity . https://stereokit.net/Pages/StereoKit/Pose.html

Examples

use stereokit_rust::{ui::Ui, maths::{Vec3, Pose, Matrix}, model::Model };

let plane = Model::from_file("plane.glb", None).unwrap_or_default();
let bounds = plane.get_bounds();
let mut handle_pose = Pose::look_at(
    [0.0, -5.5, -10.0], (Vec3::Z + Vec3::X) * 100.0);

let mut window_pose = Pose::new(
    [0.0, 0.05, 0.90], Some([0.0, 200.0, 0.0].into()));

filename_scr = "screenshots/pose.jpeg";
test_screenshot!( // !!!! Get a proper main loop !!!!
    Ui::handle_begin( "Model Handle", &mut handle_pose,
                      bounds, false, None, None);
    plane.draw(token, Matrix::IDENTITY, None, None);
    Ui::handle_end();

    Ui::window_begin("My Window", &mut window_pose, None, None, None);
    Ui::text("My Text", None, None, None, Some(0.14), None, None);
    Ui::window_end();
);

Fields

position: Vec3

orientation: Quat

Implementations

impl Pose

pub const IDENTITY: Pose

The default Pose: Origin with Quat::IDENTITY orientation. https://stereokit.net/Pages/StereoKit/Pose/Identity.html

pub const ZERO: Pose

Zero may be encountered when testing some crate::system::Input crate::system::Pointer and crate::system::Controller

pub fn new(position: impl Into<Vec3>, orientation: Option<Quat>) -> Self

Basic initialization constructor! Just copies in the provided values directly, and uses Identity for the orientation. https://stereokit.net/Pages/StereoKit/Pose/Pose.html

Examples

use stereokit_rust::maths::{Vec3, Pose};
let mut handle_pose = Pose::new( [0.0, 0.05, 0.90], None);

let mut window_pose = Pose::new(
    [0.0, 0.05, 0.90], Some([0.0, 180.0 * 4.0, 0.0].into()));

assert_eq!(handle_pose, window_pose);

pub fn lerp(a: impl Into<Pose>, b: impl Into<Pose>, percent: f32) -> Self

Interpolates between two poses! It is unclamped, so values outside of (0,1) will extrapolate their position. https://stereokit.net/Pages/StereoKit/Pose/Lerp.html

Examples

use stereokit_rust::maths::{Vec3, Pose};

let mut pose1 = Pose::new( Vec3::Y, None);
let mut pose2 = Pose::new( Vec3::Y, Some([0.0, 45.0, 0.0].into()));
let mut pose3 = Pose::new( Vec3::Y, Some([0.0, 90.0, 0.0].into()));

assert_eq!(Pose::lerp(pose1, pose3, 0.5), pose2);

pub fn look_at(from: impl Into<Vec3>, at: impl Into<Vec3>) -> Self

Creates a Pose that looks from one location in the direction of another location. This leaves “Up” as the +Y axis. https://stereokit.net/Pages/StereoKit/Pose/LookAt.html

Examples

use stereokit_rust::maths::{Vec3, Pose};

let mut pose1 = Pose::look_at(Vec3::ZERO, Vec3::NEG_Z );
assert_eq!(pose1, Pose::default());

pub fn to_matrix(&self, scale: Option<Vec3>) -> Matrix

Converts this pose into a transform matrix. https://stereokit.net/Pages/StereoKit/Pose/ToMatrix.html

• scale - Let you add a scale factor if needed.

Examples

use stereokit_rust::maths::{Vec3, Matrix, Pose};

let pose1 = Pose::IDENTITY;

assert_eq!(pose1.to_matrix(None), Matrix::IDENTITY);    

pub fn to_matrix_inv(&self, scale: Option<Vec3>) -> Matrix

Converts this pose into the inverse of the Pose’s transform matrix. This can be used to transform points from the space represented by the Pose into world space. https://stereokit.net/Pages/StereoKit/Pose/ToMatrixInv.html

• scale - A scale vector! Vec3.One would be an identity scale.

Examples

use stereokit_rust::maths::{Vec3, Matrix, Pose};

let pose1 = Pose::IDENTITY;

assert_eq!(pose1.to_matrix_inv(None), Matrix::IDENTITY);    

assert_eq!(pose1.to_matrix_inv(Some(Vec3::new(0.5, 0.25, 0.125))),
            [2.0, 0.0, 0.0, 0.0,
             0.0, 4.0, 0.0, 0.0,
             0.0, 0.0, 8.0, 0.0,
             0.0, 0.0, 0.0, 1.0].into());

pub fn get_forward(&self) -> Vec3

Calculates the forward direction from this pose. This is done by multiplying the orientation with Vec3::new(0, 0, -1). Remember that Forward points down the -Z axis! https://stereokit.net/Pages/StereoKit/Pose/Forward.html

Examples

use stereokit_rust::maths::{Vec3,  Pose};

let pose1 = Pose::default();
assert_eq!(pose1.get_forward(), Vec3::NEG_Z);    

let pose2 = Pose::look_at(Vec3::new(1.0, 0.0, 0.0), Vec3::new(0.0, 0.0, 0.0));
assert_eq!(pose2.get_forward(), Vec3::NEG_X);    

pub fn get_ray(&self) -> Ray

This creates a ray starting at the Pose’s position, and pointing in the ‘Forward’ direction. The Ray direction is a unit vector/normalized. https://stereokit.net/Pages/StereoKit/Pose/Ray.html

see also Ray

Examples

use stereokit_rust::maths::{Vec3, Pose, Ray};

let pose1 = Pose::default();
let ray_forward = Ray::new( Vec3::ZERO, Vec3::NEG_Z);
assert_eq!(pose1.get_ray(), ray_forward);    

let pose2 = Pose::look_at(Vec3::new(1.0, 0.0, 0.0), Vec3::new(1.0, 2.0, 0.0));
let ray_to_the_left = Ray::new(Vec3::X, Vec3::Y);
assert_eq!(pose2.get_ray(), ray_to_the_left);   

pub fn get_right(&self) -> Vec3

Calculates the right (+X) direction from this pose. This is done by multiplying the orientation with Vec3.Right. https://stereokit.net/Pages/StereoKit/Pose/Right.html

Examples

use stereokit_rust::maths::{Vec3, Pose, Ray};

let pose1 = Pose::default();
assert_eq!(pose1.get_right(), Vec3::X);    

let pose2 = Pose::look_at(Vec3::new(1.0, 0.0, 0.0), Vec3::new(1.0, 2.0, 3.0));
assert_eq!(pose2.get_right(), Vec3::NEG_X);  

pub fn get_up(&self) -> Vec3

Calculates the up (+Y) direction from this pose. This is done by multiplying the orientation with Vec3.Up. https://stereokit.net/Pages/StereoKit/Pose/Up.html

Examples

use stereokit_rust::maths::{Vec3, Pose, Ray};

let pose1 = Pose::default();
assert_eq!(pose1.get_up(), Vec3::Y);    

let pose2 = Pose::look_at(Vec3::new(1.0, 0.0, 0.0), Vec3::new(2.0, 0.0, 3.0));
assert_eq!(pose2.get_up(), Vec3::Y);  

Trait Implementations

impl Clone for Pose

fn clone(&self) -> Pose

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Pose

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

Formats the value using the given formatter.

impl Default for Pose

fn default() -> Self

Position is Vec3::ZERO, and orientation is Quat::IDENTITY (no rotation) https://stereokit.net/Pages/StereoKit/Pose/Identity.html

impl Display for Pose

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

A string representation of the Pose, in the format of “position, Forward”. Mostly for debug visualization. https://stereokit.net/Pages/StereoKit/Pose/ToString.html

Examples

use stereokit_rust::maths::{Vec3, Pose};

let pose = Pose::new([1.1, 2.0, 3.0], Some([0.0, 90.0, 0.0].into()));
assert_eq!(format!("{}", pose),
           "[position:[x:1.1, y:2, z:3] forward:[x:0, y:0.70710677, z:0, w:0.7071067]]");

impl From<Matrix> for Pose

fn from(matrix: Matrix) -> Self

Converts to this type from the input type.

impl From<Pose> for Matrix

fn from(pose: Pose) -> Self

Converts to this type from the input type.

impl Mul<Matrix> for Pose

Transforms a Pose by the Matrix! The position and orientation are both transformed by the matrix, accounting properly for the Pose’s quaternion. https://stereokit.net/Pages/StereoKit/Matrix/op_Multiply.html

see also matrix_transform_pose

fn mul(self, rhs: Matrix) -> Self::Output

Examples

use stereokit_rust::maths::{Pose, Vec3, Matrix};

let transform = Matrix::t([1.0, 2.0, 3.0]);
let pose = Pose::new([0.0, 0.0, 0.0], None);

let transformed_pose = pose * transform;
assert_eq!(transformed_pose, Pose::new([1.0, 2.0, 3.0], None));

type Output = Pose

The resulting type after applying the * operator.

impl Mul<Pose> for Matrix

Transforms a Pose by the Matrix! The position and orientation are both transformed by the matrix, accounting properly for the Pose’s quaternion. https://stereokit.net/Pages/StereoKit/Matrix/op_Multiply.html

see also matrix_transform_pose

fn mul(self, rhs: Pose) -> Self::Output

Examples

use stereokit_rust::maths::{Pose, Vec3, Matrix};

let transform = Matrix::t([1.0, 2.0, 3.0]);
let pose = Pose::new([0.0, 0.0, 0.0], None);

let transformed_pose = transform * pose;
assert_eq!(transformed_pose, Pose::new([1.0, 2.0, 3.0], None));

type Output = Pose

The resulting type after applying the * operator.

impl MulAssign<Matrix> for Pose

Transforms a Pose by the Matrix! The position and orientation are both transformed by the matrix, accounting properly for the Pose’s quaternion. https://stereokit.net/Pages/StereoKit/Matrix/op_Multiply.html

see also matrix_transform_pose

fn mul_assign(&mut self, rhs: Matrix)

Examples

use stereokit_rust::maths::{Pose, Vec3, Matrix};

let mut pose = Pose::new([0.0, 0.0, 0.0], None);
let transform = Matrix::t([1.0, 2.0, 3.0]);

pose *= transform;
assert_eq!(pose, Pose::new([1.0, 2.0, 3.0], None));

impl PartialEq for Pose

fn eq(&self, other: &Pose) -> 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 Pose

impl StructuralPartialEq for Pose