Struct ultraviolet::transform::WIsometry3

#[repr(C)]
pub struct WIsometry3 {
    pub translation: Wec3,
    pub rotation: WRotor3,
}

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: Wec3

rotation: WRotor3

Methods

impl WIsometry3

pub fn new(translation: Wec3, rotation: WRotor3) -> Self

pub fn identity() -> Self

pub fn prepend_rotation(&mut self, rotor: WRotor3)

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: WRotor3)

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: Wec3)

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: Wec3)

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: Wec3) -> Wec3

pub fn into_homogeneous_matrix(self) -> Wat4

Trait Implementations

impl Clone for WIsometry3

fn clone(&self) -> WIsometry3

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for WIsometry3

impl Default for WIsometry3

fn default() -> Self

Returns the "default value" for a type.

impl Debug for WIsometry3

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

Formats the value using the given formatter.

impl Mul<WIsometry3> for WRotor3

type Output = WIsometry3

The resulting type after applying the * operator.

fn mul(self, iso: WIsometry3) -> WIsometry3

Performs the * operation.

impl Mul<WRotor3> for WIsometry3

type Output = WIsometry3

The resulting type after applying the * operator.

fn mul(self, rotor: WRotor3) -> WIsometry3

Performs the * operation.

impl Mul<Wec3> for WIsometry3

type Output = Wec3

The resulting type after applying the * operator.

fn mul(self, vec: Wec3) -> Wec3

Performs the * operation.

impl Mul<WIsometry3> for WIsometry3

type Output = Self

The resulting type after applying the * operator.

fn mul(self, base: WIsometry3) -> WIsometry3

Performs the * operation.