Struct euclid::RigidTransform3D
source · #[repr(C)]pub struct RigidTransform3D<T, Src, Dst> {
pub rotation: Rotation3D<T, Src, Dst>,
pub translation: Vector3D<T, Dst>,
}
Expand description
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§
source§impl<T, Src, Dst> RigidTransform3D<T, Src, Dst>
impl<T, Src, Dst> RigidTransform3D<T, Src, Dst>
sourcepub const fn new(
rotation: Rotation3D<T, Src, Dst>,
translation: Vector3D<T, Dst>
) -> Self
pub const fn new( rotation: Rotation3D<T, Src, Dst>, translation: Vector3D<T, Dst> ) -> Self
Construct a new rigid transformation, where the rotation
applies first
source§impl<T: Copy, Src, Dst> RigidTransform3D<T, Src, Dst>
impl<T: Copy, Src, Dst> RigidTransform3D<T, Src, Dst>
pub fn cast_unit<Src2, Dst2>(&self) -> RigidTransform3D<T, Src2, Dst2>
source§impl<T: Real + ApproxEq<T>, Src, Dst> RigidTransform3D<T, Src, Dst>
impl<T: Real + ApproxEq<T>, Src, Dst> RigidTransform3D<T, Src, Dst>
sourcepub fn new_from_reversed(
translation: Vector3D<T, Src>,
rotation: Rotation3D<T, Src, Dst>
) -> Self
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
sourcepub fn decompose_reversed(&self) -> (Vector3D<T, Src>, Rotation3D<T, Src, Dst>)
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
sourcepub fn then<Dst2>(
&self,
other: &RigidTransform3D<T, Dst, Dst2>
) -> RigidTransform3D<T, Src, Dst2>
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
sourcepub fn inverse(&self) -> RigidTransform3D<T, Dst, Src>
pub fn inverse(&self) -> RigidTransform3D<T, Dst, Src>
Inverts the transformation
pub fn to_transform(&self) -> Transform3D<T, Src, Dst>where
T: Trig,
sourcepub fn to_untyped(&self) -> RigidTransform3D<T, UnknownUnit, UnknownUnit>
pub fn to_untyped(&self) -> RigidTransform3D<T, UnknownUnit, UnknownUnit>
Drop the units, preserving only the numeric value.
sourcepub fn from_untyped(
transform: &RigidTransform3D<T, UnknownUnit, UnknownUnit>
) -> Self
pub fn from_untyped( transform: &RigidTransform3D<T, UnknownUnit, UnknownUnit> ) -> Self
Tag a unitless value with units.
Trait Implementations§
source§impl<T: Clone, Src, Dst> Clone for RigidTransform3D<T, Src, Dst>
impl<T: Clone, Src, Dst> Clone for RigidTransform3D<T, Src, Dst>
source§impl<T: Real + ApproxEq<T>, Src, Dst> From<Rotation3D<T, Src, Dst>> for RigidTransform3D<T, Src, Dst>
impl<T: Real + ApproxEq<T>, Src, Dst> From<Rotation3D<T, Src, Dst>> for RigidTransform3D<T, Src, Dst>
source§fn from(rot: Rotation3D<T, Src, Dst>) -> Self
fn from(rot: Rotation3D<T, Src, Dst>) -> Self
source§impl<T: Real + ApproxEq<T>, Src, Dst> From<Vector3D<T, Dst>> for RigidTransform3D<T, Src, Dst>
impl<T: Real + ApproxEq<T>, Src, Dst> From<Vector3D<T, Dst>> for RigidTransform3D<T, Src, Dst>
source§impl<T: PartialEq, Src: PartialEq, Dst: PartialEq> PartialEq for RigidTransform3D<T, Src, Dst>
impl<T: PartialEq, Src: PartialEq, Dst: PartialEq> PartialEq for RigidTransform3D<T, Src, Dst>
source§fn eq(&self, other: &RigidTransform3D<T, Src, Dst>) -> bool
fn eq(&self, other: &RigidTransform3D<T, Src, Dst>) -> bool
self
and other
values to be equal, and is used
by ==
.