Struct Transform3D

pub struct Transform3D {
    pub matrix: Matrix<f32, Const<4>, Const<4>, ArrayStorage<f32, 4, 4>>,
}

A 3D transformation that can be applied to points and point clouds

Fields

matrix: Matrix<f32, Const<4>, Const<4>, ArrayStorage<f32, 4, 4>>

Implementations

impl Transform3D

pub fn identity() -> Transform3D

Create an identity transformation

pub fn translation( translation: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>, ) -> Transform3D

Create a translation transformation

pub fn rotation(rotation: Unit<Quaternion<f32>>) -> Transform3D

Create a rotation transformation from a quaternion

pub fn scaling( scale: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>, ) -> Transform3D

Create a scaling transformation

pub fn uniform_scaling(scale: f32) -> Transform3D

Create a uniform scaling transformation

pub fn from_translation_rotation( translation: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>, rotation: Unit<Quaternion<f32>>, ) -> Transform3D

Create a transformation from translation and rotation

pub fn transform_point( &self, point: &OPoint<f32, Const<3>>, ) -> OPoint<f32, Const<3>>

Apply the transformation to a point

pub fn transform_vector( &self, vector: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>, ) -> Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>

Apply the transformation to a vector

pub fn compose(self, other: Transform3D) -> Transform3D

Compose this transformation with another

pub fn inverse(self) -> Option<Transform3D>

Get the inverse transformation

pub fn is_identity(&self, epsilon: f32) -> bool

Check if this is approximately the identity transformation

Trait Implementations

impl Clone for Transform3D

fn clone(&self) -> Transform3D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Transform3D

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

Formats the value using the given formatter.

impl Default for Transform3D

fn default() -> Transform3D

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for Transform3D

fn deserialize<__D>( __deserializer: __D, ) -> Result<Transform3D, <__D as Deserializer<'de>>::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl From<Isometry<f32, Unit<Quaternion<f32>>, 3>> for Transform3D

fn from(isometry: Isometry<f32, Unit<Quaternion<f32>>, 3>) -> Transform3D

Converts to this type from the input type.

impl From<Matrix<f32, Const<4>, Const<4>, ArrayStorage<f32, 4, 4>>> for Transform3D

fn from( matrix: Matrix<f32, Const<4>, Const<4>, ArrayStorage<f32, 4, 4>>, ) -> Transform3D

Converts to this type from the input type.

impl From<Transform<f32, TGeneral, 3>> for Transform3D

fn from(transform: Transform<f32, TGeneral, 3>) -> Transform3D

Converts to this type from the input type.

impl Mul for Transform3D

type Output = Transform3D

The resulting type after applying the * operator.

fn mul(self, rhs: Transform3D) -> <Transform3D as Mul>::Output

Performs the * operation.

impl PartialEq for Transform3D

fn eq(&self, other: &Transform3D) -> 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 Serialize for Transform3D

fn serialize<__S>( &self, __serializer: __S, ) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for Transform3D

impl StructuralPartialEq for Transform3D