[−][src]Struct ultraviolet::rotor::Rotor3
A Rotor in 3d space.
Please see the module level documentation for more information on rotors!
Fields
s: f32
bv: Bivec3
Implementations
impl Rotor3
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pub const fn new(scalar: f32, bivector: Bivec3) -> Self
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pub fn identity() -> Self
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pub fn from_rotation_between(from: Vec3, to: Vec3) -> Self
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Construct a Rotor that rotates one vector to another.
pub fn from_angle_plane(angle: f32, plane: Bivec3) -> Self
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Construct a rotor given a bivector which defines a plane and rotation orientation, and a rotation angle.
plane
must be normalized!
This is the equivalent of an axis-angle rotation.
pub fn from_rotation_xy(angle: f32) -> Self
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Create new Rotor from a rotation in the xy plane (also known as "around the z axis").
pub fn from_rotation_xz(angle: f32) -> Self
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Create new Rotor from a rotation in the xz plane (also known as "around the y axis").
pub fn from_rotation_yz(angle: f32) -> Self
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Create new Rotor from a rotation in the yz plane (also known as "around the x axis").
pub fn from_euler_angles(roll: f32, pitch: f32, yaw: f32) -> Self
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Angles are applied in the order roll -> pitch -> yaw
- Roll is rotation inside the xy plane ("around the z axis")
- Pitch is rotation inside the yz plane ("around the x axis")
- Yaw is rotation inside the xz plane ("around the y axis")
pub fn mag_sq(&self) -> f32
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pub fn mag(&self) -> f32
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pub fn normalize(&mut self)
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pub fn normalized(&self) -> Self
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pub fn reverse(&mut self)
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pub fn reversed(&self) -> Self
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pub fn dot(&self, rhs: Self) -> f32
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pub fn rotate_by(&mut self, rhs: Self)
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Rotates this rotor by another rotor in-place. Note that if you are looking to compose rotations which will then be applied to another object/vector (you probably are), you should NOT use this operation. Rather, just use regular left-multiplication as in matrix composition, i.e.
second_rotor * first_rotor
pub fn rotated_by(self, rhs: Self) -> Self
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Rotates this rotor by another rotor and returns the result. Note that if you are looking to compose rotations, you should NOT use this operation and rather just use regular left-multiplication like as in matrix composition, i.e.
second_rotor * first_rotor
pub fn rotate_vec(self, vec: &mut Vec3)
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Rotates a vector by this rotor.
self
must be normalized!
pub fn rotate_vecs(self, vecs: &mut [Vec3])
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Rotates multiple vectors by this rotor.
This will be faster than calling rotate_vec
individually on many vecs
as intermediate values can be precomputed once and applied to each vector.
self
must be normalized!
pub fn into_matrix(self) -> Mat3
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pub fn layout() -> Layout
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Trait Implementations
impl Add<Rotor3> for Rotor3
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type Output = Self
The resulting type after applying the +
operator.
fn add(self, rhs: Self) -> Self
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impl AddAssign<Rotor3> for Rotor3
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fn add_assign(&mut self, rhs: Self)
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impl Clone for Rotor3
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impl Copy for Rotor3
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impl Debug for Rotor3
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impl Default for Rotor3
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impl Div<f32> for Rotor3
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type Output = Self
The resulting type after applying the /
operator.
fn div(self, rhs: f32) -> Self
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impl DivAssign<f32> for Rotor3
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fn div_assign(&mut self, rhs: f32)
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impl From<Rotor3> for Mat3
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impl Lerp<f32> for Rotor3
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fn lerp(&self, end: Self, t: f32) -> Self
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Linearly interpolate between self
and end
by t
between 0.0 and 1.0.
i.e. (1.0 - t) * self + (t) * end
.
For interpolating Rotor
s with linear interpolation, you almost certainly
want to normalize the returned Rotor
. For example,
let interpolated_rotor = rotor1.lerp(rotor2, 0.5).normalized();
For most cases (especially where perfomrance is the primary concern, like in
animation interpolation for games, this 'normalized lerp' or 'nlerp' is probably
what you want to use. However, there are situations in which you really want
the interpolation between two Rotor
s to be of constant angular velocity. In this
case, check out Slerp
.
impl Mul<Isometry3> for Rotor3
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type Output = Isometry3
The resulting type after applying the *
operator.
fn mul(self, iso: Isometry3) -> Isometry3
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impl Mul<Rotor3> for Rotor3
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The composition of self
with q
, i.e. self * q
gives the rotation as though
you first perform q
and then self
.
type Output = Self
The resulting type after applying the *
operator.
fn mul(self, q: Self) -> Self
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The composition of self
with q
, i.e. self * q
gives the rotation as though
you first perform q
and then self
.
impl Mul<Rotor3> for f32
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type Output = Rotor3
The resulting type after applying the *
operator.
fn mul(self, rotor: Rotor3) -> Rotor3
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impl Mul<Rotor3> for Isometry3
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type Output = Isometry3
The resulting type after applying the *
operator.
fn mul(self, rotor: Rotor3) -> Isometry3
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impl Mul<Rotor3> for Similarity3
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type Output = Similarity3
The resulting type after applying the *
operator.
fn mul(self, rotor: Rotor3) -> Similarity3
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impl Mul<Similarity3> for Rotor3
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type Output = Similarity3
The resulting type after applying the *
operator.
fn mul(self, iso: Similarity3) -> Similarity3
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impl Mul<Vec3> for Rotor3
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type Output = Vec3
The resulting type after applying the *
operator.
fn mul(self, rhs: Vec3) -> Vec3
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impl Mul<f32> for Rotor3
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type Output = Self
The resulting type after applying the *
operator.
fn mul(self, rhs: f32) -> Self
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impl MulAssign<f32> for Rotor3
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fn mul_assign(&mut self, rhs: f32)
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impl PartialEq<Rotor3> for Rotor3
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impl Slerp<f32> for Rotor3
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fn slerp(&self, end: Self, t: f32) -> Self
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Spherical-linear interpolation between self
and end
based on t
from 0.0 to 1.0.
self
and end
should both be normalized or something bad will happen!
Basically, interpolation that maintains a constant angular velocity
from one orientation on a unit hypersphere to another. This is sorta the "high quality" interpolation
for Rotor
s, and it can also be used to interpolate other things, one example being interpolation of
3d normal vectors.
Note that you should often normalize the result returned by this operation, when working with Rotor
s, etc!
impl Sub<Rotor3> for Rotor3
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type Output = Self
The resulting type after applying the -
operator.
fn sub(self, rhs: Self) -> Self
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impl SubAssign<Rotor3> for Rotor3
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fn sub_assign(&mut self, rhs: Self)
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Auto Trait Implementations
impl RefUnwindSafe for Rotor3
impl Send for Rotor3
impl Sync for Rotor3
impl Unpin for Rotor3
impl UnwindSafe for Rotor3
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
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fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,