Struct ultraviolet::rotor::Rotor2

#[repr(C)]
pub struct Rotor2 {
    pub s: f32,
    pub bv: Bivec2,
}

A Rotor in 2d space.

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

Fields

s: f32

bv: Bivec2

Implementations

impl Rotor2

pub const fn new(scalar: f32, bivector: Bivec2) -> Self

pub fn identity() -> Self

pub fn from_rotation_between(from: Vec2, to: Vec2) -> Self

Construct a Rotor that rotates one vector to another.

A rotation between antiparallel vectors is undefined!

pub fn from_angle_plane(angle: f32, plane: Bivec2) -> Self

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

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

pub fn mag(&self) -> f32

pub fn normalize(&mut self)

pub fn normalized(&self) -> Self

pub fn reverse(&mut self)

pub fn reversed(&self) -> Self

pub fn dot(&self, rhs: Self) -> f32

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

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

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)

Rotates a vector by this rotor.

self must be normalized!

pub fn into_matrix(self) -> Mat2

pub fn layout() -> Layout

Trait Implementations

impl Add<Rotor2> for Rotor2

type Output = Self

The resulting type after applying the + operator.

fn add(self, rhs: Self) -> Self

Performs the + operation.

impl AddAssign<Rotor2> for Rotor2

fn add_assign(&mut self, rhs: Self)

Performs the += operation.

impl Clone for Rotor2

fn clone(&self) -> Rotor2

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Rotor2

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

Formats the value using the given formatter.

impl Default for Rotor2

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for Rotor2

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error> where
    D: Deserializer<'de>, 

Deserialize this value from the given Serde deserializer.

impl Div<f32> for Rotor2

type Output = Self

The resulting type after applying the / operator.

fn div(self, rhs: f32) -> Self

Performs the / operation.

impl DivAssign<f32> for Rotor2

fn div_assign(&mut self, rhs: f32)

Performs the /= operation.

impl From<Rotor2> for Mat2

fn from(rotor: Rotor2) -> Mat2

Performs the conversion.

impl Lerp<f32> for Rotor2

fn lerp(&self, end: Self, t: f32) -> Self

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.

impl Mul<Isometry2> for Rotor2

type Output = Isometry2

The resulting type after applying the * operator.

fn mul(self, iso: Isometry2) -> Isometry2

Performs the * operation.

impl Mul<Rotor2> for Rotor2

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

Performs the * operation.

impl Mul<Rotor2> for f32

type Output = Rotor2

The resulting type after applying the * operator.

fn mul(self, rotor: Rotor2) -> Rotor2

Performs the * operation.

impl Mul<Rotor2> for Isometry2

type Output = Isometry2

The resulting type after applying the * operator.

fn mul(self, rotor: Rotor2) -> Isometry2

Performs the * operation.

impl Mul<Rotor2> for Similarity2

type Output = Similarity2

The resulting type after applying the * operator.

fn mul(self, rotor: Rotor2) -> Similarity2

Performs the * operation.

impl Mul<Similarity2> for Rotor2

type Output = Similarity2

The resulting type after applying the * operator.

fn mul(self, iso: Similarity2) -> Similarity2

Performs the * operation.

impl Mul<Vec2> for Rotor2

type Output = Vec2

The resulting type after applying the * operator.

fn mul(self, rhs: Vec2) -> Vec2

Performs the * operation.

impl Mul<f32> for Rotor2

type Output = Self

The resulting type after applying the * operator.

fn mul(self, rhs: f32) -> Self

Performs the * operation.

impl MulAssign<f32> for Rotor2

fn mul_assign(&mut self, rhs: f32)

Performs the *= operation.

impl PartialEq<Rotor2> for Rotor2

fn eq(&self, other: &Rotor2) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rotor2) -> bool

This method tests for !=.

impl Serialize for Rotor2

fn serialize<T>(&self, serializer: T) -> Result<T::Ok, T::Error> where
    T: Serializer, 

Serialize this value into the given Serde serializer.

impl Slerp<f32> for Rotor2

fn slerp(&self, end: Self, t: f32) -> Self

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 Rotors, 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 Rotors, etc!

impl Sub<Rotor2> for Rotor2

type Output = Self

The resulting type after applying the - operator.

fn sub(self, rhs: Self) -> Self

Performs the - operation.

impl SubAssign<Rotor2> for Rotor2

fn sub_assign(&mut self, rhs: Self)

Performs the -= operation.

impl Zeroable for Rotor2

fn zeroed() -> Self

Calls zeroed.

impl Copy for Rotor2

impl Pod for Rotor2

impl StructuralPartialEq for Rotor2