Struct Rotor 

pub struct Rotor<const D: usize> { /* private fields */ }

A rotor — performs rotations in D dimensions.

Internally stores the rotation matrix. This is optimal for the hot path (applying rotations to many points) and avoids lossy rotor↔matrix round-trips. Construction uses geometric algebra (bivectors, plane-angle), but once built the matrix is the canonical representation.

Stack-allocated via SMatrix<f64, D, D>.

Implementations

impl<const D: usize> Rotor<D>

pub fn identity() -> Self

Identity rotor (no rotation).

pub fn from_plane_angle(plane: &Bivector<D>, angle: f64) -> Self

Rotation by angle radians in the plane defined by plane bivector.

Positive angle rotates from the first axis toward the second axis of the plane (e.g., unit_plane(0,1) with positive angle rotates x→y).

Uses Rodrigues formula: M = I - sin(θ)*B̂ + (1-cos(θ))*B̂² (The sign on sin is negative because our bivector convention has B̂[i,j]=+1, B̂[j,i]=-1, producing clockwise rotation. The negation makes positive angles go counterclockwise: axis_i → axis_j.)

pub fn from_vectors(from: &SVector<f64, D>, to: &SVector<f64, D>) -> Self

Rotation from unit vector from to unit vector to.

pub fn from_matrix(mat: SMatrix<f64, D, D>) -> Self

Direct construction from a rotation matrix (must be orthogonal, det=+1).

pub fn to_matrix(&self) -> &SMatrix<f64, D, D>

Get the rotation matrix.

pub fn reverse(&self) -> Self

Reverse (inverse): R† = R^T for rotation matrices.

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

Compose: apply other first, then self.

pub fn rotate_point(&self, point: &Point<D>) -> Point<D>

Rotate a point.

pub fn rotate_vector(&self, v: &SVector<f64, D>) -> SVector<f64, D>

Rotate a vector.

pub fn slerp(&self, t: f64) -> Self

Slerp: identity at t=0, this rotation at t=1.

Extracts the rotation angle and plane from the matrix, then builds a partial rotation.

Trait Implementations

impl<const D: usize> Clone for Rotor<D>

fn clone(&self) -> Rotor<D>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const D: usize> Debug for Rotor<D>

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

Formats the value using the given formatter.

impl<const D: usize> Default for Rotor<D>

fn default() -> Self

Returns the “default value” for a type.