Struct TypedRigidTransform3D

#[repr(C)]
pub struct TypedRigidTransform3D<T, Src, Dst> {
    pub rotation: TypedRotation3D<T, Src, Dst>,
    pub translation: TypedVector3D<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: TypedRotation3D<T, Src, Dst>

translation: TypedVector3D<T, Dst>

Implementations

impl<T: Float + ApproxEq<T>, Src, Dst> TypedRigidTransform3D<T, Src, Dst>

pub fn new( rotation: TypedRotation3D<T, Src, Dst>, translation: TypedVector3D<T, Dst>, ) -> Self

Construct a new rigid transformation, where the rotation applies first

pub fn identity() -> Self

Construct an identity transform

pub fn new_from_reversed( translation: TypedVector3D<T, Src>, rotation: TypedRotation3D<T, Src, Dst>, ) -> Self

Construct a new rigid transformation, where the translation applies first

pub fn from_rotation(rotation: TypedRotation3D<T, Src, Dst>) -> Self

pub fn from_translation(translation: TypedVector3D<T, Dst>) -> Self

pub fn decompose_reversed( &self, ) -> (TypedVector3D<T, Src>, TypedRotation3D<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 post_mul<Dst2>( &self, other: &TypedRigidTransform3D<T, Dst, Dst2>, ) -> TypedRigidTransform3D<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 pre_mul<Src2>( &self, other: &TypedRigidTransform3D<T, Src2, Src>, ) -> TypedRigidTransform3D<T, Src2, Dst>

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

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

pub fn inverse(&self) -> TypedRigidTransform3D<T, Dst, Src>

Inverts the transformation

pub fn to_transform(&self) -> TypedTransform3D<T, Src, Dst>

where T: Trig,

Trait Implementations

impl<T: Clone, Src: Clone, Dst: Clone> Clone for TypedRigidTransform3D<T, Src, Dst>

fn clone(&self) -> TypedRigidTransform3D<T, Src, Dst>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug, Src: Debug, Dst: Debug> Debug for TypedRigidTransform3D<T, Src, Dst>

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

Formats the value using the given formatter.

impl<'de, T, Src, Dst> Deserialize<'de> for TypedRigidTransform3D<T, Src, Dst>

where T: Deserialize<'de>, Src: Deserialize<'de>, Dst: Deserialize<'de>,

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<T: Float + ApproxEq<T>, Src, Dst> From<TypedRotation3D<T, Src, Dst>> for TypedRigidTransform3D<T, Src, Dst>

fn from(rot: TypedRotation3D<T, Src, Dst>) -> Self

Converts to this type from the input type.

impl<T: Float + ApproxEq<T>, Src, Dst> From<TypedVector3D<T, Dst>> for TypedRigidTransform3D<T, Src, Dst>

fn from(t: TypedVector3D<T, Dst>) -> Self

Converts to this type from the input type.

impl<T: Hash, Src: Hash, Dst: Hash> Hash for TypedRigidTransform3D<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: PartialEq, Dst: PartialEq> PartialEq for TypedRigidTransform3D<T, Src, Dst>

fn eq(&self, other: &TypedRigidTransform3D<T, Src, Dst>) -> 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, Src, Dst> Serialize for TypedRigidTransform3D<T, Src, Dst>

where T: Serialize, Src: Serialize, Dst: Serialize,

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<T: Copy, Src: Copy, Dst: Copy> Copy for TypedRigidTransform3D<T, Src, Dst>

impl<T: Eq, Src: Eq, Dst: Eq> Eq for TypedRigidTransform3D<T, Src, Dst>

impl<T, Src, Dst> StructuralPartialEq for TypedRigidTransform3D<T, Src, Dst>