Struct Transform2D 

pub struct Transform2D {
    pub tx: f64,
    pub ty: f64,
    pub angle: f64,
}

A 2D rigid transformation (rotation + translation).

Internally uses nalgebra Isometry2 for correct composition and inversion. The representation stores translation (tx, ty) and rotation angle in radians.

Example

use u_geometry::transform::Transform2D;
use std::f64::consts::PI;

let t = Transform2D::new(10.0, 20.0, PI / 2.0);
let (x, y) = t.apply(1.0, 0.0);
assert!((x - 10.0).abs() < 1e-10);
assert!((y - 21.0).abs() < 1e-10);

Fields

tx: f64

Translation x.

ty: f64

Translation y.

angle: f64

Rotation angle in radians.

Implementations

impl Transform2D

pub fn identity() -> Self

Identity transform (no rotation, no translation).

pub fn translation(tx: f64, ty: f64) -> Self

Creates a translation-only transform.

pub fn rotation(angle: f64) -> Self

Creates a rotation-only transform (about the origin).

pub fn new(tx: f64, ty: f64, angle: f64) -> Self

Creates a transform with translation and rotation.

pub fn to_isometry(&self) -> Isometry2<f64>

Converts to a nalgebra Isometry2.

pub fn from_isometry(iso: &Isometry2<f64>) -> Self

Creates from a nalgebra Isometry2.

pub fn apply(&self, x: f64, y: f64) -> (f64, f64)

Applies this transform to a point.

pub fn apply_point(&self, p: &Point2) -> Point2

Applies this transform to a Point2.

pub fn apply_points(&self, points: &[(f64, f64)]) -> Vec<(f64, f64)>

Transforms a slice of points.

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

Composes two transforms: applies self first, then other.

pub fn inverse(&self) -> Self

Returns the inverse transform.

pub fn is_identity(&self, epsilon: f64) -> bool

Whether this is approximately an identity transform.

Trait Implementations

impl Clone for Transform2D

fn clone(&self) -> Transform2D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Transform2D

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

Formats the value using the given formatter.

impl Default for Transform2D

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for Transform2D

fn eq(&self, other: &Transform2D) -> 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 Transform2D

impl StructuralPartialEq for Transform2D