Struct ultraviolet::transform::WIsometry2

#[repr(C)]
pub struct WIsometry2 {
    pub translation: Wec2,
    pub rotation: WRotor2,
}

An Isometry, also known as a "rigid body transformation", i.e. a rotation followed by a translation.

You may want to us this type over the corresponding type of homogeneous transformation matrix because it will be faster in most operations, especially composition and inverse.

Fields

translation: Wec2

rotation: WRotor2

Methods

impl WIsometry2

pub fn new(translation: Wec2, rotation: WRotor2) -> Self

pub fn identity() -> Self

pub fn prepend_rotation(&mut self, rotor: WRotor2)

Add a rotation before this isometry.

This means the rotation will only affect the rotational part of this isometry, not the translational part.

pub fn append_rotation(&mut self, rotor: WRotor2)

Add a rotation after this isometry.

This means the rotation will affect both the rotational and translational parts of this isometry, since it is being applied 'after' this isometry's translational part.

pub fn prepend_translation(&mut self, translation: Wec2)

Add a translation before this isometry.

Doing so will mean that the translation being added will get transformed by this isometry's rotational part.

pub fn append_translation(&mut self, translation: Wec2)

Add a translation after this isometry.

Doing so will mean that the translation being added will not transformed by this isometry's rotational part.

pub fn prepend_isometry(&mut self, other: Self)

Prepend transformation by another isometry.

This means that the transformation being applied will take place before this isometry, i.e. both its translation and rotation will be rotated by this isometry's rotational part.

pub fn append_isometry(&mut self, other: Self)

Append transformation by another isometry.

This means that the transformation being applied will take place after this isometry, i.e. this isometry's translation and rotation will be rotated by the other isometry's rotational part.

pub fn inverse(&mut self)

pub fn inversed(self) -> Self

pub fn transform_vec(&self, vec: Wec2) -> Wec2

pub fn into_homogeneous_matrix(self) -> Wat3

Trait Implementations

impl Clone for WIsometry2

fn clone(&self) -> WIsometry2

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for WIsometry2

impl Default for WIsometry2

fn default() -> Self

Returns the "default value" for a type.

impl Debug for WIsometry2

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

Formats the value using the given formatter.

impl Mul<WIsometry2> for WRotor2

type Output = WIsometry2

The resulting type after applying the * operator.

fn mul(self, iso: WIsometry2) -> WIsometry2

Performs the * operation.

impl Mul<WRotor2> for WIsometry2

type Output = WIsometry2

The resulting type after applying the * operator.

fn mul(self, rotor: WRotor2) -> WIsometry2

Performs the * operation.

impl Mul<Wec2> for WIsometry2

type Output = Wec2

The resulting type after applying the * operator.

fn mul(self, vec: Wec2) -> Wec2

Performs the * operation.

impl Mul<WIsometry2> for WIsometry2

type Output = Self

The resulting type after applying the * operator.

fn mul(self, base: WIsometry2) -> WIsometry2

Performs the * operation.