Struct ultraviolet::rotor::DRotor2
source · [−]Expand description
A Rotor in 2d space.
Please see the module level documentation for more information on rotors!
Fields
s: f64
bv: DBivec2
Implementations
sourceimpl DRotor2
impl DRotor2
pub const fn new(scalar: f64, bivector: DBivec2) -> Self
pub fn identity() -> Self
sourcepub fn from_rotation_between(from: DVec2, to: DVec2) -> Self
pub fn from_rotation_between(from: DVec2, to: DVec2) -> Self
Construct a Rotor that rotates one vector to another.
A rotation between antiparallel vectors is undefined!
sourcepub fn from_angle_plane(angle: f64, plane: DBivec2) -> Self
pub fn from_angle_plane(angle: f64, plane: DBivec2) -> 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.
sourcepub fn from_angle(angle: f64) -> Self
pub fn from_angle(angle: f64) -> 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) -> f64
pub fn mag(&self) -> f64
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) -> f64
sourcepub fn rotate_by(&mut self, other: Self)
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.
sourcepub fn rotated_by(self, other: Self) -> Self
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.
sourcepub fn rotate_vec(self, vec: &mut DVec2)
pub fn rotate_vec(self, vec: &mut DVec2)
Rotates a vector by this rotor.
self
must be normalized!
pub fn into_matrix(self) -> DMat2
pub fn layout() -> Layout
Trait Implementations
sourceimpl AddAssign<DRotor2> for DRotor2
impl AddAssign<DRotor2> for DRotor2
sourcefn add_assign(&mut self, rhs: Self)
fn add_assign(&mut self, rhs: Self)
Performs the +=
operation. Read more
sourceimpl DivAssign<f64> for DRotor2
impl DivAssign<f64> for DRotor2
sourcefn div_assign(&mut self, rhs: f64)
fn div_assign(&mut self, rhs: f64)
Performs the /=
operation. Read more
sourceimpl Lerp<f64> for DRotor2
impl Lerp<f64> for DRotor2
sourcefn lerp(&self, end: Self, t: f64) -> Self
fn lerp(&self, end: Self, t: f64) -> 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 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 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 Rotor
s to be of constant angular velocity. In this
case, check out Slerp
.
sourceimpl Mul<DIsometry2> for DRotor2
impl Mul<DIsometry2> for DRotor2
type Output = DIsometry2
type Output = DIsometry2
The resulting type after applying the *
operator.
sourcefn mul(self, iso: DIsometry2) -> DIsometry2
fn mul(self, iso: DIsometry2) -> DIsometry2
Performs the *
operation. Read more
sourceimpl Mul<DRotor2> for DRotor2
impl Mul<DRotor2> for DRotor2
The composition of self
with q
, i.e. self * q
gives the rotation as though
you first perform q
and then self
.
sourceimpl Mul<DRotor2> for DIsometry2
impl Mul<DRotor2> for DIsometry2
type Output = DIsometry2
type Output = DIsometry2
The resulting type after applying the *
operator.
sourcefn mul(self, rotor: DRotor2) -> DIsometry2
fn mul(self, rotor: DRotor2) -> DIsometry2
Performs the *
operation. Read more
sourceimpl Mul<DRotor2> for DSimilarity2
impl Mul<DRotor2> for DSimilarity2
type Output = DSimilarity2
type Output = DSimilarity2
The resulting type after applying the *
operator.
sourcefn mul(self, rotor: DRotor2) -> DSimilarity2
fn mul(self, rotor: DRotor2) -> DSimilarity2
Performs the *
operation. Read more
sourceimpl Mul<DSimilarity2> for DRotor2
impl Mul<DSimilarity2> for DRotor2
type Output = DSimilarity2
type Output = DSimilarity2
The resulting type after applying the *
operator.
sourcefn mul(self, iso: DSimilarity2) -> DSimilarity2
fn mul(self, iso: DSimilarity2) -> DSimilarity2
Performs the *
operation. Read more
sourceimpl MulAssign<f64> for DRotor2
impl MulAssign<f64> for DRotor2
sourcefn mul_assign(&mut self, rhs: f64)
fn mul_assign(&mut self, rhs: f64)
Performs the *=
operation. Read more
sourceimpl Slerp<f64> for DRotor2
impl Slerp<f64> for DRotor2
sourcefn slerp(&self, end: Self, t: f64) -> Self
fn slerp(&self, end: Self, t: f64) -> 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 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!
sourceimpl SubAssign<DRotor2> for DRotor2
impl SubAssign<DRotor2> for DRotor2
sourcefn sub_assign(&mut self, rhs: Self)
fn sub_assign(&mut self, rhs: Self)
Performs the -=
operation. Read more
impl Copy for DRotor2
impl Pod for DRotor2
impl StructuralPartialEq for DRotor2
Auto Trait Implementations
impl RefUnwindSafe for DRotor2
impl Send for DRotor2
impl Sync for DRotor2
impl Unpin for DRotor2
impl UnwindSafe for DRotor2
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more