Struct ultraviolet::rotor::DRotor3
source · [−]Expand description
A Rotor in 3d space.
Please see the module level documentation for more information on rotors!
Fields
s: f64
bv: DBivec3
Implementations
sourceimpl DRotor3
impl DRotor3
pub const fn new(scalar: f64, bivector: DBivec3) -> Self
pub fn identity() -> Self
sourcepub fn from_rotation_between(from: DVec3, to: DVec3) -> Self
pub fn from_rotation_between(from: DVec3, to: DVec3) -> Self
Construct a Rotor that rotates one vector to another.
sourcepub fn from_angle_plane(angle: f64, plane: DBivec3) -> Self
pub fn from_angle_plane(angle: f64, plane: DBivec3) -> 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 into_angle_plane(self) -> (f64, DBivec3)
pub fn into_angle_plane(self) -> (f64, DBivec3)
Return the angle and the normalized plane of the rotation represented by self. The value of the returned angle is between 0 and PI.
sourcepub fn scale_by(&mut self, scale: f64)
pub fn scale_by(&mut self, scale: f64)
Multiply the angle of the rotation represented by self by scale
.
sourcepub fn scaled_by(self, scale: f64) -> Self
pub fn scaled_by(self, scale: f64) -> Self
Return a rotor representing the same rotatation as self
but with an angle
multiplied by scale
sourcepub fn from_rotation_xy(angle: f64) -> Self
pub fn from_rotation_xy(angle: f64) -> Self
Create new Rotor from a rotation in the xy plane (also known as “around the z axis”).
sourcepub fn from_rotation_xz(angle: f64) -> Self
pub fn from_rotation_xz(angle: f64) -> Self
Create new Rotor from a rotation in the xz plane (also known as “around the y axis”).
sourcepub fn from_rotation_yz(angle: f64) -> Self
pub fn from_rotation_yz(angle: f64) -> Self
Create new Rotor from a rotation in the yz plane (also known as “around the x axis”).
sourcepub fn from_euler_angles(roll: f64, pitch: f64, yaw: f64) -> Self
pub fn from_euler_angles(roll: f64, pitch: f64, yaw: f64) -> Self
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) -> 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, rhs: Self)
pub fn rotate_by(&mut self, rhs: Self)
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
sourcepub fn rotated_by(self, rhs: Self) -> Self
pub fn rotated_by(self, rhs: 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 as in matrix composition, i.e.
second_rotor * first_rotor
sourcepub fn rotate_vec(self, vec: &mut DVec3)
pub fn rotate_vec(self, vec: &mut DVec3)
Rotates a vector by this rotor.
self
must be normalized!
sourcepub fn rotate_vecs(self, vecs: &mut [DVec3])
pub fn rotate_vecs(self, vecs: &mut [DVec3])
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) -> DMat3
sourcepub fn into_quaternion_array(self) -> [f64; 4]
pub fn into_quaternion_array(self) -> [f64; 4]
Convert this rotor into an array that represents a quaternion. This is in the form
[vector, scalar]
.
sourcepub fn from_quaternion_array(array: [f64; 4]) -> Self
pub fn from_quaternion_array(array: [f64; 4]) -> Self
Convert an array that represents a quaternion in the form [vector, scalar]
into a
rotor.
pub fn layout() -> Layout
Trait Implementations
sourceimpl AddAssign<DRotor3> for DRotor3
impl AddAssign<DRotor3> for DRotor3
sourcefn add_assign(&mut self, rhs: Self)
fn add_assign(&mut self, rhs: Self)
Performs the +=
operation. Read more
sourceimpl DivAssign<f64> for DRotor3
impl DivAssign<f64> for DRotor3
sourcefn div_assign(&mut self, rhs: f64)
fn div_assign(&mut self, rhs: f64)
Performs the /=
operation. Read more
sourceimpl Lerp<f64> for DRotor3
impl Lerp<f64> for DRotor3
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<DIsometry3> for DRotor3
impl Mul<DIsometry3> for DRotor3
type Output = DIsometry3
type Output = DIsometry3
The resulting type after applying the *
operator.
sourcefn mul(self, iso: DIsometry3) -> DIsometry3
fn mul(self, iso: DIsometry3) -> DIsometry3
Performs the *
operation. Read more
sourceimpl Mul<DRotor3> for DRotor3
impl Mul<DRotor3> for DRotor3
The composition of self
with q
, i.e. self * q
gives the rotation as though
you first perform q
and then self
.
sourceimpl Mul<DRotor3> for DIsometry3
impl Mul<DRotor3> for DIsometry3
type Output = DIsometry3
type Output = DIsometry3
The resulting type after applying the *
operator.
sourcefn mul(self, rotor: DRotor3) -> DIsometry3
fn mul(self, rotor: DRotor3) -> DIsometry3
Performs the *
operation. Read more
sourceimpl Mul<DRotor3> for DSimilarity3
impl Mul<DRotor3> for DSimilarity3
type Output = DSimilarity3
type Output = DSimilarity3
The resulting type after applying the *
operator.
sourcefn mul(self, rotor: DRotor3) -> DSimilarity3
fn mul(self, rotor: DRotor3) -> DSimilarity3
Performs the *
operation. Read more
sourceimpl Mul<DSimilarity3> for DRotor3
impl Mul<DSimilarity3> for DRotor3
type Output = DSimilarity3
type Output = DSimilarity3
The resulting type after applying the *
operator.
sourcefn mul(self, iso: DSimilarity3) -> DSimilarity3
fn mul(self, iso: DSimilarity3) -> DSimilarity3
Performs the *
operation. Read more
sourceimpl MulAssign<f64> for DRotor3
impl MulAssign<f64> for DRotor3
sourcefn mul_assign(&mut self, rhs: f64)
fn mul_assign(&mut self, rhs: f64)
Performs the *=
operation. Read more
sourceimpl Slerp<f64> for DRotor3
impl Slerp<f64> for DRotor3
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!
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<DRotor3> for DRotor3
impl SubAssign<DRotor3> for DRotor3
sourcefn sub_assign(&mut self, rhs: Self)
fn sub_assign(&mut self, rhs: Self)
Performs the -=
operation. Read more
impl Copy for DRotor3
impl Pod for DRotor3
impl StructuralPartialEq for DRotor3
Auto Trait Implementations
impl RefUnwindSafe for DRotor3
impl Send for DRotor3
impl Sync for DRotor3
impl Unpin for DRotor3
impl UnwindSafe for DRotor3
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