[−][src]Struct ultraviolet::rotor::Rotor2
A Rotor in 2d space.
Please see the module level documentation for more information on rotors!
Fields
s: f32
bv: Bivec2
Implementations
impl Rotor2
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pub const fn new(scalar: f32, bivector: Bivec2) -> Self
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pub fn identity() -> Self
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pub fn from_rotation_between(from: Vec2, to: Vec2) -> Self
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Construct a Rotor that rotates one vector to another.
pub fn from_angle_plane(angle: f32, plane: Bivec2) -> 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_angle(angle: f32) -> Self
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Construct a rotor given only an angle. This is possible in 2d since there is only one possible plane of rotation. However, there are two possible orientations. This function uses the common definition of positive angle in 2d as meaning the direction which brings the x unit vector towards the y unit vector.
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, other: Self)
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Rotates this rotor by another rotor in-place. Note that if you are looking to compose rotations, you should NOT use this operation and rather just use regular left-multiplication like for matrix composition.
pub fn rotated_by(self, other: 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 for matrix composition.
pub fn rotate_vec(self, vec: &mut Vec2)
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Rotates a vector by this rotor.
self
must be normalized!
pub fn into_matrix(self) -> Mat2
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pub fn layout() -> Layout
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Trait Implementations
impl Add<Rotor2> for Rotor2
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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<Rotor2> for Rotor2
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fn add_assign(&mut self, rhs: Self)
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impl Clone for Rotor2
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impl Copy for Rotor2
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impl Debug for Rotor2
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impl Default for Rotor2
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impl Div<f32> for Rotor2
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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 Rotor2
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fn div_assign(&mut self, rhs: f32)
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impl From<Rotor2> for Mat2
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impl Lerp<f32> for Rotor2
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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<Isometry2> for Rotor2
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type Output = Isometry2
The resulting type after applying the *
operator.
fn mul(self, iso: Isometry2) -> Isometry2
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impl Mul<Rotor2> for Rotor2
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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, rhs: Self) -> Self
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impl Mul<Rotor2> for f32
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type Output = Rotor2
The resulting type after applying the *
operator.
fn mul(self, rotor: Rotor2) -> Rotor2
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impl Mul<Rotor2> for Isometry2
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type Output = Isometry2
The resulting type after applying the *
operator.
fn mul(self, rotor: Rotor2) -> Isometry2
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impl Mul<Rotor2> for Similarity2
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type Output = Similarity2
The resulting type after applying the *
operator.
fn mul(self, rotor: Rotor2) -> Similarity2
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impl Mul<Similarity2> for Rotor2
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type Output = Similarity2
The resulting type after applying the *
operator.
fn mul(self, iso: Similarity2) -> Similarity2
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impl Mul<Vec2> for Rotor2
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type Output = Vec2
The resulting type after applying the *
operator.
fn mul(self, rhs: Vec2) -> Vec2
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impl Mul<f32> for Rotor2
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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 Rotor2
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fn mul_assign(&mut self, rhs: f32)
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impl PartialEq<Rotor2> for Rotor2
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impl Slerp<f32> for Rotor2
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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!
The implementation for SIMD types also requires that the two things being interpolated between are not exactly aligned, or else the result is undefined.
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<Rotor2> for Rotor2
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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<Rotor2> for Rotor2
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fn sub_assign(&mut self, rhs: Self)
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Auto Trait Implementations
impl RefUnwindSafe for Rotor2
impl Send for Rotor2
impl Sync for Rotor2
impl Unpin for Rotor2
impl UnwindSafe for Rotor2
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>,