Struct ultraviolet::rotor::Rotor2
source · #[repr(C)]pub struct Rotor2 {
pub s: f32,
pub bv: Bivec2,
}
Expand description
A Rotor in 2d space.
Please see the module level documentation for more information on rotors!
Fields§
§s: f32
§bv: Bivec2
Implementations§
source§impl Rotor2
impl Rotor2
pub const fn new(scalar: f32, bivector: Bivec2) -> Self
pub fn identity() -> Self
sourcepub fn from_rotation_between(from: Vec2, to: Vec2) -> 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!
sourcepub fn from_angle_plane(angle: f32, plane: Bivec2) -> Self
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.
sourcepub fn from_angle(angle: f32) -> Self
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
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 Vec2)
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§
source§impl AddAssign<Rotor2> for Rotor2
impl AddAssign<Rotor2> for Rotor2
source§fn add_assign(&mut self, rhs: Self)
fn add_assign(&mut self, rhs: Self)
+=
operation. Read moresource§impl<'de> Deserialize<'de> for Rotor2
impl<'de> Deserialize<'de> for Rotor2
source§fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>where
D: Deserializer<'de>,
fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>where D: Deserializer<'de>,
source§impl DivAssign<f32> for Rotor2
impl DivAssign<f32> for Rotor2
source§fn div_assign(&mut self, rhs: f32)
fn div_assign(&mut self, rhs: f32)
/=
operation. Read moresource§impl Lerp<f32> for Rotor2
impl Lerp<f32> for Rotor2
source§fn lerp(&self, end: Self, t: f32) -> Self
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 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
.
source§impl Mul<Rotor2> for Rotor2
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
.
source§impl Mul<Rotor2> for Similarity2
impl Mul<Rotor2> for Similarity2
§type Output = Similarity2
type Output = Similarity2
*
operator.source§impl Mul<Similarity2> for Rotor2
impl Mul<Similarity2> for Rotor2
§type Output = Similarity2
type Output = Similarity2
*
operator.source§fn mul(self, iso: Similarity2) -> Similarity2
fn mul(self, iso: Similarity2) -> Similarity2
*
operation. Read moresource§impl MulAssign<f32> for Rotor2
impl MulAssign<f32> for Rotor2
source§fn mul_assign(&mut self, rhs: f32)
fn mul_assign(&mut self, rhs: f32)
*=
operation. Read moresource§impl PartialEq<Rotor2> for Rotor2
impl PartialEq<Rotor2> for Rotor2
source§impl Slerp<f32> for Rotor2
impl Slerp<f32> for Rotor2
source§fn slerp(&self, end: Self, t: f32) -> Self
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 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!
source§impl SubAssign<Rotor2> for Rotor2
impl SubAssign<Rotor2> for Rotor2
source§fn sub_assign(&mut self, rhs: Self)
fn sub_assign(&mut self, rhs: Self)
-=
operation. Read moreimpl Copy for Rotor2
impl Pod for Rotor2
impl StructuralPartialEq for Rotor2
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§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
source§impl<T> CheckedBitPattern for Twhere
T: AnyBitPattern,
impl<T> CheckedBitPattern for Twhere T: AnyBitPattern,
§type Bits = T
type Bits = T
Self
must have the same layout as the specified Bits
except for
the possible invalid bit patterns being checked during
is_valid_bit_pattern
.source§fn is_valid_bit_pattern(_bits: &T) -> bool
fn is_valid_bit_pattern(_bits: &T) -> bool
bits
as &Self
.