Struct Transform3D 

pub struct Transform3D<S: RealField + Copy> {
    pub tx: S,
    pub ty: S,
    pub tz: S,
    pub rx: S,
    pub ry: S,
    pub rz: S,
}

A 3D rigid transformation (rotation + translation).

Fields

tx: S

Translation in x direction.

ty: S

Translation in y direction.

tz: S

Translation in z direction.

rx: S

Rotation around x axis (roll) in radians.

ry: S

Rotation around y axis (pitch) in radians.

rz: S

Rotation around z axis (yaw) in radians.

Implementations

impl<S: RealField + Copy> Transform3D<S>

pub fn identity() -> Self

Creates a new identity transform.

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

Creates a new transform with translation only.

pub fn rotation(rx: S, ry: S, rz: S) -> Self

Creates a new transform with rotation only (Euler angles XYZ).

pub fn new(tx: S, ty: S, tz: S, rx: S, ry: S, rz: S) -> Self

Creates a new transform with both translation and rotation.

pub fn to_isometry(&self) -> Isometry3<S>

Converts to a nalgebra Isometry3.

pub fn from_isometry(iso: &Isometry3<S>) -> Self

Creates from a nalgebra Isometry3.

pub fn transform_point(&self, x: S, y: S, z: S) -> (S, S, S)

Transforms a 3D point.

pub fn transform_points(&self, points: &[(S, S, S)]) -> Vec<(S, S, S)>

Transforms a vector of 3D points.

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

Composes two transforms: self then other.

pub fn inverse(&self) -> Self

Returns the inverse transform.

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

Checks if this is approximately an identity transform.

Trait Implementations

impl<S: Clone + RealField + Copy> Clone for Transform3D<S>

fn clone(&self) -> Transform3D<S>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<S: Debug + RealField + Copy> Debug for Transform3D<S>

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

Formats the value using the given formatter.

impl<S: RealField + Copy> Default for Transform3D<S>

fn default() -> Self

Returns the “default value” for a type.

impl<S: PartialEq + RealField + Copy> PartialEq for Transform3D<S>

fn eq(&self, other: &Transform3D<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: Copy + RealField + Copy> Copy for Transform3D<S>

impl<S: RealField + Copy> StructuralPartialEq for Transform3D<S>