Struct RigidTransform3D

#[repr(C)]
pub struct RigidTransform3D<T, Src, Dst> {
    pub rotation: Rotation3D<T, Src, Dst>,
    pub translation: Vector3D<T, Dst>,
}

A rigid transformation. All lengths are preserved under such a transformation.

Internally, this is a rotation and a translation, with the rotation applied first (i.e. Rotation * Translation, in row-vector notation)

This can be more efficient to use over full matrices, especially if you have to deal with the decomposed quantities often.

Fields

rotation: Rotation3D<T, Src, Dst>

translation: Vector3D<T, Dst>

Implementations

impl<T, Src, Dst> RigidTransform3D<T, Src, Dst>

pub const fn new( rotation: Rotation3D<T, Src, Dst>, translation: Vector3D<T, Dst>, ) -> Self

Construct a new rigid transformation, where the rotation applies first

impl<T: Copy, Src, Dst> RigidTransform3D<T, Src, Dst>

pub fn cast_unit<Src2, Dst2>(&self) -> RigidTransform3D<T, Src2, Dst2>

impl<T: Real + ApproxEq<T>, Src, Dst> RigidTransform3D<T, Src, Dst>

pub fn identity() -> Self

Construct an identity transform

pub fn new_from_reversed( translation: Vector3D<T, Src>, rotation: Rotation3D<T, Src, Dst>, ) -> Self

Construct a new rigid transformation, where the translation applies first

pub fn from_rotation(rotation: Rotation3D<T, Src, Dst>) -> Self

pub fn from_translation(translation: Vector3D<T, Dst>) -> Self

pub fn decompose_reversed(&self) -> (Vector3D<T, Src>, Rotation3D<T, Src, Dst>)

Decompose this into a translation and an rotation to be applied in the opposite order

i.e., the translation is applied first

pub fn then<Dst2>( &self, other: &RigidTransform3D<T, Dst, Dst2>, ) -> RigidTransform3D<T, Src, Dst2>

Returns the multiplication of the two transforms such that other’s transformation applies after self’s transformation.

i.e., this produces self * other in row-vector notation

pub fn inverse(&self) -> RigidTransform3D<T, Dst, Src>

Inverts the transformation

pub fn to_transform(&self) -> Transform3D<T, Src, Dst>

where T: Trig,

pub fn to_untyped(&self) -> RigidTransform3D<T, UnknownUnit, UnknownUnit>

Drop the units, preserving only the numeric value.

pub fn from_untyped( transform: &RigidTransform3D<T, UnknownUnit, UnknownUnit>, ) -> Self

Tag a unitless value with units.

Trait Implementations

impl<T: Clone, Src, Dst> Clone for RigidTransform3D<T, Src, Dst>

fn clone(&self) -> Self

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<T: Debug, Src, Dst> Debug for RigidTransform3D<T, Src, Dst>

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

Formats the value using the given formatter.

impl<T: Real + ApproxEq<T>, Src, Dst> From<Rotation3D<T, Src, Dst>> for RigidTransform3D<T, Src, Dst>

fn from(rot: Rotation3D<T, Src, Dst>) -> Self

Converts to this type from the input type.

impl<T: Real + ApproxEq<T>, Src, Dst> From<Vector3D<T, Dst>> for RigidTransform3D<T, Src, Dst>

fn from(t: Vector3D<T, Dst>) -> Self

Converts to this type from the input type.

impl<T: Hash, Src, Dst> Hash for RigidTransform3D<T, Src, Dst>

fn hash<H: Hasher>(&self, state: &mut H)

Feeds this value into the given Hasher.

fn hash_slice<H>(data: &[Self], state: &mut H)

where H: Hasher, Self: Sized,

Feeds a slice of this type into the given Hasher.

impl<T: PartialEq, Src, Dst> PartialEq for RigidTransform3D<T, Src, Dst>

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: Copy, Src, Dst> Copy for RigidTransform3D<T, Src, Dst>

impl<T: Eq, Src, Dst> Eq for RigidTransform3D<T, Src, Dst>