Struct SpatialMat 

#[repr(C)]
pub struct SpatialMat<S> {
    pub upper_left: Mat3<S>,
    pub upper_right: Mat3<S>,
    pub lower_left: Mat3<S>,
    pub lower_right: Mat3<S>,
}

6x6 spatial matrix, stored as four 3x3 blocks.

| upper_left  upper_right |
| lower_left  lower_right |

This eliminates the fixed_view_mut::<3,3> pain entirely. Plücker transforms and spatial inertia matrices are naturally block-structured.

Fields

upper_left: Mat3<S>

upper_right: Mat3<S>

lower_left: Mat3<S>

lower_right: Mat3<S>

Implementations

impl<S: Scalar> SpatialMat<S>

pub fn new(ul: Mat3<S>, ur: Mat3<S>, ll: Mat3<S>, lr: Mat3<S>) -> Self

pub fn zero() -> Self

pub fn identity() -> Self

pub fn mul_vec(&self, v: &SpatialVec<S>) -> SpatialVec<S>

Multiply by a spatial vector (block matrix-vector product)

pub fn mul_mat(&self, rhs: &SpatialMat<S>) -> SpatialMat<S>

Block matrix-matrix product

pub fn transpose(&self) -> SpatialMat<S>

Trait Implementations

impl<S: Scalar> Add for SpatialMat<S>

type Output = SpatialMat<S>

The resulting type after applying the + operator.

fn add(self, rhs: Self) -> Self

Performs the + operation.

impl<S: Clone> Clone for SpatialMat<S>

fn clone(&self) -> SpatialMat<S>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<S: Debug> Debug for SpatialMat<S>

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

Formats the value using the given formatter.

impl<S: Scalar> Mul<S> for SpatialMat<S>

type Output = SpatialMat<S>

The resulting type after applying the * operator.

fn mul(self, rhs: S) -> Self

Performs the * operation.

impl<S: Scalar> Mul<SpatialVec<S>> for SpatialMat<S>

type Output = SpatialVec<S>

The resulting type after applying the * operator.

fn mul(self, rhs: SpatialVec<S>) -> SpatialVec<S>

Performs the * operation.

impl<S: Scalar> Mul for SpatialMat<S>

type Output = SpatialMat<S>

The resulting type after applying the * operator.

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

Performs the * operation.

impl<S: Scalar> Neg for SpatialMat<S>

type Output = SpatialMat<S>

The resulting type after applying the - operator.

fn neg(self) -> Self

Performs the unary - operation.

impl<S: PartialEq> PartialEq for SpatialMat<S>

fn eq(&self, other: &SpatialMat<S>) -> 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<S: Scalar> Sub for SpatialMat<S>

type Output = SpatialMat<S>

The resulting type after applying the - operator.

fn sub(self, rhs: Self) -> Self

Performs the - operation.

impl<S: Copy> Copy for SpatialMat<S>

impl<S> StructuralPartialEq for SpatialMat<S>