Struct Matrix3 

pub struct Matrix3<T> { /* private fields */ }

A 3×3 matrix stored as three column vectors.

Implementations

impl<T> Matrix3<T>

pub const fn from_cols( x_col: Vector3<T>, y_col: Vector3<T>, z_col: Vector3<T>, ) -> Self

Constructs a matrix from its three column vectors.

pub fn map<U, F: FnMut(T) -> U>(self, f: F) -> Matrix3<U>

Applies f to every element in column-major order, returning the resulting matrix.

pub fn zip_map<U, R, F: FnMut(T, U) -> R>( self, rhs: Matrix3<U>, f: F, ) -> Matrix3<R>

Combines self and rhs element-wise in column-major order through f.

impl<T: Copy> Matrix3<T>

pub fn from_rows( x_row: Vector3<T>, y_row: Vector3<T>, z_row: Vector3<T>, ) -> Self

Constructs a matrix from its three row vectors.

pub fn from_cols_array(m: &[T; 9]) -> Self

Constructs a matrix from a column-major array of nine elements.

pub fn to_cols_array(&self) -> [T; 9]

Returns the elements as a column-major array of nine elements.

pub fn col(&self, index: usize) -> Vector3<T>

Returns the column at index.

Panics

Panics if index is greater than 2.

pub fn row(&self, index: usize) -> Vector3<T>

Returns the row at index.

Panics

Panics if index is greater than 2.

pub fn transpose(&self) -> Self

Returns the transpose, exchanging rows and columns.

impl<T: Copy + Default> Matrix3<T>

pub fn from_diagonal(diagonal: Vector3<T>) -> Self

Constructs a diagonal matrix whose diagonal is diagonal and whose off-diagonal elements are the default (zero) value of T.

pub fn diagonal(&self) -> Vector3<T>

Returns the main diagonal as a vector.

impl<V: Scalar> Matrix3<V>

pub const ZERO: Self

The zero matrix.

pub const IDENTITY: Self

The identity matrix.

pub fn from_scale(scale: Vector3<V>) -> Self

Constructs a non-uniform scaling matrix from the per-axis factors in scale.

pub fn outer_product(a: Vector3<V>, b: Vector3<V>) -> Self

Constructs the outer (dyadic) product a ⊗ b, the 3×3 matrix whose (i, j) entry is aᵢ · bⱼ.

pub fn from_rotation_x(angle: V) -> Self

Constructs a right-handed rotation of angle radians about the x axis.

pub fn from_rotation_y(angle: V) -> Self

Constructs a right-handed rotation of angle radians about the y axis.

pub fn from_rotation_z(angle: V) -> Self

Constructs a right-handed rotation of angle radians about the z axis.

pub fn from_axis_angle(axis: Vector3<V>, angle: V) -> Self

Constructs a right-handed rotation of angle radians about the unit vector axis (Rodrigues’ rotation formula).

axis is assumed to be normalized; a non-unit axis yields a matrix that also scales.

pub fn trace(&self) -> V

Returns the trace, the sum of the diagonal elements.

pub fn determinant(&self) -> V

Returns the determinant.

pub fn is_invertible(&self) -> bool

Returns true if the matrix has a finite, non-zero determinant and is therefore invertible.

pub fn try_inverse(&self) -> Option<Self>

Returns the inverse, or None if the matrix is not invertible.

pub fn inverse(&self) -> Self

Returns the inverse.

Panics

Panics if the matrix is not invertible; use try_inverse to handle singular matrices.

Trait Implementations

impl<T: Add<Output = T>> Add for Matrix3<T>

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

Returns the component-wise sum of self and rhs.

type Output = Matrix3<T>

The resulting type after applying the + operator.

impl<T: AddAssign> AddAssign for Matrix3<T>

fn add_assign(&mut self, rhs: Self)

Performs the += operation.

impl<T: Clone> Clone for Matrix3<T>

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Copy> Copy for Matrix3<T>

impl<T: Debug> Debug for Matrix3<T>

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

Formats the value using the given formatter.

impl<T: Default> Default for Matrix3<T>

fn default() -> Self

Returns the zero matrix.

impl<T: Div<S, Output = T> + Copy, S: Scalar> Div<S> for Matrix3<T>

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

Divides every element by the scalar rhs.

type Output = Matrix3<T>

The resulting type after applying the / operator.

impl<T: DivAssign<S> + Copy, S: Scalar> DivAssign<S> for Matrix3<T>

fn div_assign(&mut self, rhs: S)

Performs the /= operation.

impl<V: Scalar> Mul for Matrix3<V>

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

Returns the matrix product self * rhs.

type Output = Matrix3<V>

The resulting type after applying the * operator.

impl<T: Mul<S, Output = T> + Copy, S: Scalar> Mul<S> for Matrix3<T>

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

Scales every element by the scalar rhs.

type Output = Matrix3<T>

The resulting type after applying the * operator.

impl<V: Scalar> Mul<Vector3<V>> for Matrix3<V>

fn mul(self, rhs: Vector3<V>) -> Vector3<V>

Applies the matrix to the vector, returning self * rhs.

type Output = Vector3<V>

The resulting type after applying the * operator.

impl<V: Scalar> MulAssign for Matrix3<V>

fn mul_assign(&mut self, rhs: Self)

Performs the *= operation.

impl<T: MulAssign<S> + Copy, S: Scalar> MulAssign<S> for Matrix3<T>

fn mul_assign(&mut self, rhs: S)

Performs the *= operation.

impl<T: Neg<Output = T>> Neg for Matrix3<T>

fn neg(self) -> Self

Returns the component-wise negation of self.

type Output = Matrix3<T>

The resulting type after applying the - operator.

impl<T: PartialEq> PartialEq for Matrix3<T>

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<T: Sub<Output = T>> Sub for Matrix3<T>

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

Returns the component-wise difference of self and rhs.

type Output = Matrix3<T>

The resulting type after applying the - operator.

impl<T: SubAssign> SubAssign for Matrix3<T>

fn sub_assign(&mut self, rhs: Self)

Performs the -= operation.