Trait truck_modeling::base::Rotation [−]
pub trait Rotation: Copy + One + AbsDiffEq<Self, Epsilon = <Self::Space as EuclideanSpace>::Scalar, Epsilon = <Self::Space as EuclideanSpace>::Scalar, Epsilon = <Self::Space as EuclideanSpace>::Scalar> + RelativeEq<Self> + UlpsEq<Self> + Product<Self> where
<Self::Space as EuclideanSpace>::Scalar: BaseFloat, {
type Space: EuclideanSpace;
fn look_at(
dir: <Self::Space as EuclideanSpace>::Diff,
up: <Self::Space as EuclideanSpace>::Diff
) -> Self;
fn between_vectors(
a: <Self::Space as EuclideanSpace>::Diff,
b: <Self::Space as EuclideanSpace>::Diff
) -> Self;
fn rotate_vector(
&self,
vec: <Self::Space as EuclideanSpace>::Diff
) -> <Self::Space as EuclideanSpace>::Diff;
fn invert(&self) -> Self;
fn rotate_point(&self, point: Self::Space) -> Self::Space { ... }
}
Expand description
A trait for a generic rotation. A rotation is a transformation that creates a circular motion, and preserves at least one point in the space.
Associated Types
type Space: EuclideanSpace
Required methods
fn look_at(
dir: <Self::Space as EuclideanSpace>::Diff,
up: <Self::Space as EuclideanSpace>::Diff
) -> Self
fn look_at(
dir: <Self::Space as EuclideanSpace>::Diff,
up: <Self::Space as EuclideanSpace>::Diff
) -> Self
Create a rotation to a given direction with an ‘up’ vector.
fn between_vectors(
a: <Self::Space as EuclideanSpace>::Diff,
b: <Self::Space as EuclideanSpace>::Diff
) -> Self
fn between_vectors(
a: <Self::Space as EuclideanSpace>::Diff,
b: <Self::Space as EuclideanSpace>::Diff
) -> Self
Create a shortest rotation to transform vector ‘a’ into ‘b’. Both given vectors are assumed to have unit length.
fn rotate_vector(
&self,
vec: <Self::Space as EuclideanSpace>::Diff
) -> <Self::Space as EuclideanSpace>::Diff
fn rotate_vector(
&self,
vec: <Self::Space as EuclideanSpace>::Diff
) -> <Self::Space as EuclideanSpace>::Diff
Rotate a vector using this rotation.
fn invert(&self) -> Self
fn invert(&self) -> Self
Create a new rotation which “un-does” this rotation. That is,
r * r.invert()
is the identity.
Provided methods
fn rotate_point(&self, point: Self::Space) -> Self::Space
fn rotate_point(&self, point: Self::Space) -> Self::Space
Rotate a point using this rotation, by converting it to its representation as a vector.
Implementations on Foreign Types
impl<S> Rotation for Basis2<S> where
S: BaseFloat,
impl<S> Rotation for Basis2<S> where
S: BaseFloat,
type Space = Point2<S>
pub fn look_at(dir: Vector2<S>, up: Vector2<S>) -> Basis2<S>
pub fn between_vectors(a: Vector2<S>, b: Vector2<S>) -> Basis2<S>
pub fn rotate_vector(&self, vec: Vector2<S>) -> Vector2<S>
pub fn invert(&self) -> Basis2<S>
impl<S> Rotation for Quaternion<S> where
S: BaseFloat,
impl<S> Rotation for Quaternion<S> where
S: BaseFloat,
pub fn rotate_vector(&self, vec: Vector3<S>) -> Vector3<S>
pub fn rotate_vector(&self, vec: Vector3<S>) -> Vector3<S>
Evaluate the conjugation of vec
by self
.
Note that self
should be a unit quaternion (i.e. normalized) to represent a 3D rotation.