Struct ultraviolet::rotor::Rotor3x8[−][src]

#[repr(C)]pub struct Rotor3x8 {
    pub s: f32x8,
    pub bv: Bivec3x8,
}

A Rotor in 3d space.

Please see the module level documentation for more information on rotors!

Fields

s: f32x8bv: Bivec3x8

Implementations

`impl Rotor3x8`[src]

`pub const fn new(scalar: f32x8, bivector: Bivec3x8) -> Self`[src]

`pub fn identity() -> Self`[src]

`pub fn from_rotation_between(from: Vec3x8, to: Vec3x8) -> Self`[src]

Construct a Rotor that rotates one vector to another.

`pub fn from_angle_plane(angle: f32x8, plane: Bivec3x8) -> Self`[src]

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 into_angle_plane(self) -> (f32x8, Bivec3x8)`[src]

Return the angle and the normalized plane of the rotation represented by self. The value of the returned angle is between 0 and PI.

`pub fn from_rotation_xy(angle: f32x8) -> Self`[src]

Create new Rotor from a rotation in the xy plane (also known as “around the z axis”).

`pub fn from_rotation_xz(angle: f32x8) -> Self`[src]

Create new Rotor from a rotation in the xz plane (also known as “around the y axis”).

`pub fn from_rotation_yz(angle: f32x8) -> Self`[src]

Create new Rotor from a rotation in the yz plane (also known as “around the x axis”).

`pub fn from_euler_angles(roll: f32x8, pitch: f32x8, yaw: f32x8) -> Self`[src]

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) -> f32x8`[src]

`pub fn mag(&self) -> f32x8`[src]

`pub fn normalize(&mut self)`[src]

`pub fn normalized(&self) -> Self`[src]

`pub fn reverse(&mut self)`[src]

`pub fn reversed(&self) -> Self`[src]

`pub fn dot(&self, rhs: Self) -> f32x8`[src]

`pub fn rotate_by(&mut self, rhs: Self)`[src]

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`[src]

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 Vec3x8)`[src]

Rotates a vector by this rotor.

self must be normalized!

`pub fn rotate_vecs(self, vecs: &mut [Vec3x8])`[src]

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) -> Mat3x8`[src]

`pub fn into_quaternion_array(self) -> [f32x8; 4]`[src]

Convert this rotor into an array that represents a quaternion. This is in the form [vector, scalar].

`pub fn from_quaternion_array(array: [f32x8; 4]) -> Self`[src]

Convert an array that represents a quaternion in the form [vector, scalar] into a rotor.

`pub fn layout() -> Layout`[src]

Trait Implementations

`impl Add<Rotor3x8> for Rotor3x8`[src]

`type Output = Self`

The resulting type after applying the + operator.

`fn add(self, rhs: Self) -> Self`[src]

`impl AddAssign<Rotor3x8> for Rotor3x8`[src]

`fn add_assign(&mut self, rhs: Self)`[src]

`impl Clone for Rotor3x8`[src]

`fn clone(&self) -> Rotor3x8`[src]

`pub fn clone_from(&mut self, source: &Self)`1.0.0[src]

`impl Copy for Rotor3x8`[src]

`impl Debug for Rotor3x8`[src]

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

`impl Default for Rotor3x8`[src]

`fn default() -> Self`[src]

`impl Div<f32x8> for Rotor3x8`[src]

`type Output = Self`

The resulting type after applying the / operator.

`fn div(self, rhs: f32x8) -> Self`[src]

`impl DivAssign<f32x8> for Rotor3x8`[src]

`fn div_assign(&mut self, rhs: f32x8)`[src]

`impl From<Rotor3x8> for Mat3x8`[src]

`fn from(rotor: Rotor3x8) -> Mat3x8`[src]

`impl Lerp<f32x8> for Rotor3x8`[src]

`fn lerp(&self, end: Self, t: f32x8) -> Self`[src]

Linearly interpolate between self and end by t between 0.0 and 1.0. i.e. (1.0 - t) * self + (t) * end.

For interpolating Rotors 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 performance 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 Rotors to be of constant angular velocity. In this case, check out Slerp.