Struct ultraviolet::rotor::DRotor3[−][src]

#[repr(C)]pub struct DRotor3 {
    pub s: f64,
    pub bv: DBivec3,
}

Expand description

A Rotor in 3d space.

Please see the module level documentation for more information on rotors!

Fields

s: f64bv: DBivec3

Implementations

`impl DRotor3`[src]

`pub const fn new(scalar: f64, bivector: DBivec3) -> Self`[src]

`pub fn identity() -> Self`[src]

`pub fn from_rotation_between(from: DVec3, to: DVec3) -> Self`[src]

Construct a Rotor that rotates one vector to another.

`pub fn from_angle_plane(angle: f64, plane: DBivec3) -> Self`[src]

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.

`pub fn into_angle_plane(self) -> (f64, DBivec3)`[src]

Return the angle and the normalized plane of the rotation represented by self. The value of the returned angle is between 0 and PI.

`pub fn from_rotation_xy(angle: f64) -> Self`[src]

Create new Rotor from a rotation in the xy plane (also known as “around the z axis”).

`pub fn from_rotation_xz(angle: f64) -> Self`[src]

Create new Rotor from a rotation in the xz plane (also known as “around the y axis”).

`pub fn from_rotation_yz(angle: f64) -> Self`[src]

Create new Rotor from a rotation in the yz plane (also known as “around the x axis”).

`pub fn from_euler_angles(roll: f64, pitch: f64, yaw: f64) -> Self`[src]

Angles are applied in the order roll -> pitch -> yaw

Roll is rotation inside the xy plane (“around the z axis”)
Pitch is rotation inside the yz plane (“around the x axis”)
Yaw is rotation inside the xz plane (“around the y axis”)

`pub fn mag_sq(&self) -> f64`[src]

`pub fn mag(&self) -> f64`[src]

`pub fn normalize(&mut self)`[src]

#[must_use = "Did you mean to use `.normalize()` to normalize `self` in place?"] pub fn normalized(&self) -> Self [src]

`pub fn reverse(&mut self)`[src]

`pub fn reversed(&self) -> Self`[src]

`pub fn dot(&self, rhs: Self) -> f64`[src]

`pub fn rotate_by(&mut self, rhs: Self)`[src]

Rotates this rotor by another rotor in-place. Note that if you are looking to compose rotations which will then be applied to another object/vector (you probably are), you should NOT use this operation. Rather, just use regular left-multiplication as in matrix composition, i.e.

second_rotor * first_rotor

`pub fn rotated_by(self, rhs: Self) -> Self`[src]

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 as in matrix composition, i.e.

second_rotor * first_rotor

`pub fn rotate_vec(self, vec: &mut DVec3)`[src]

Rotates a vector by this rotor.

self must be normalized!

`pub fn rotate_vecs(self, vecs: &mut [DVec3])`[src]

Rotates multiple vectors by this rotor.

This will be faster than calling rotate_vec individually on many vecs as intermediate values can be precomputed once and applied to each vector.

self must be normalized!

`pub fn into_matrix(self) -> DMat3`[src]

`pub fn into_quaternion_array(self) -> [f64; 4]`[src]

Convert this rotor into an array that represents a quaternion. This is in the form [vector, scalar].

`pub fn from_quaternion_array(array: [f64; 4]) -> Self`[src]

Convert an array that represents a quaternion in the form [vector, scalar] into a rotor.

`pub fn layout() -> Layout`[src]

Trait Implementations

`impl Add<DRotor3> for DRotor3`[src]

`type Output = Self`

The resulting type after applying the + operator.

`fn add(self, rhs: Self) -> Self`[src]

Performs the + operation. Read more

`impl AddAssign<DRotor3> for DRotor3`[src]

`fn add_assign(&mut self, rhs: Self)`[src]

Performs the += operation. Read more

`impl Clone for DRotor3`[src]

`fn clone(&self) -> DRotor3`[src]

Returns a copy of the value. Read more

`fn clone_from(&mut self, source: &Self)`1.0.0 [src]

Performs copy-assignment from source. Read more

`impl Debug for DRotor3`[src]

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

Formats the value using the given formatter. Read more

`impl Default for DRotor3`[src]

`fn default() -> Self`[src]

Returns the “default value” for a type. Read more

`impl Div<f64> for DRotor3`[src]

`type Output = Self`

The resulting type after applying the / operator.

`fn div(self, rhs: f64) -> Self`[src]

Performs the / operation. Read more

`impl DivAssign<f64> for DRotor3`[src]

`fn div_assign(&mut self, rhs: f64)`[src]

Performs the /= operation. Read more

`impl From<DRotor3> for DMat3`[src]

`fn from(rotor: DRotor3) -> DMat3`[src]

Performs the conversion.

`impl Lerp<f64> for DRotor3`[src]

`fn lerp(&self, end: Self, t: f64) -> Self`[src]

Linearly interpolate between self and end by t between 0.0 and 1.0. i.e. (1.0 - t) * self + (t) * end.

For interpolating Rotors 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 Rotors to be of constant angular velocity. In this case, check out Slerp.

`impl Mul<DIsometry3> for DRotor3`[src]

`type Output = DIsometry3`

The resulting type after applying the * operator.

`fn mul(self, iso: DIsometry3) -> DIsometry3`[src]

Performs the * operation. Read more

`impl Mul<DRotor3> for DRotor3`[src]

The composition of self with q, i.e. self * q gives the rotation as though you first perform q and then self.

`fn mul(self, q: Self) -> Self`[src]

The composition of self with q, i.e. self * q gives the rotation as though you first perform q and then self.

`type Output = Self`

The resulting type after applying the * operator.

`impl Mul<DRotor3> for DIsometry3`[src]

`type Output = DIsometry3`

The resulting type after applying the * operator.

`fn mul(self, rotor: DRotor3) -> DIsometry3`[src]

Performs the * operation. Read more

`impl Mul<DRotor3> for DSimilarity3`[src]

`type Output = DSimilarity3`

The resulting type after applying the * operator.

`fn mul(self, rotor: DRotor3) -> DSimilarity3`[src]

Performs the * operation. Read more

`impl Mul<DSimilarity3> for DRotor3`[src]

`type Output = DSimilarity3`

The resulting type after applying the * operator.

`fn mul(self, iso: DSimilarity3) -> DSimilarity3`[src]

Performs the * operation. Read more

`impl Mul<DVec3> for DRotor3`[src]

`type Output = DVec3`

The resulting type after applying the * operator.

`fn mul(self, rhs: DVec3) -> DVec3`[src]

Performs the * operation. Read more

`impl Mul<f64> for DRotor3`[src]

`type Output = Self`

The resulting type after applying the * operator.

`fn mul(self, rhs: f64) -> Self`[src]

Performs the * operation. Read more

`impl MulAssign<f64> for DRotor3`[src]

`fn mul_assign(&mut self, rhs: f64)`[src]

Performs the *= operation. Read more

`impl PartialEq<DRotor3> for DRotor3`[src]

`fn eq(&self, other: &DRotor3) -> bool`[src]

This method tests for self and other values to be equal, and is used by ==. Read more

`fn ne(&self, other: &DRotor3) -> bool`[src]

This method tests for !=.

`impl Slerp<f64> for DRotor3`[src]

`fn slerp(&self, end: Self, t: f64) -> Self`[src]

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!

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 Rotors, 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 Rotors, etc!

`impl Sub<DRotor3> for DRotor3`[src]

`type Output = Self`

The resulting type after applying the - operator.

`fn sub(self, rhs: Self) -> Self`[src]

Performs the - operation. Read more

`impl SubAssign<DRotor3> for DRotor3`[src]

`fn sub_assign(&mut self, rhs: Self)`[src]

Performs the -= operation. Read more

`impl Zeroable for DRotor3`[src]

`fn zeroed() -> Self`[src]

Calls zeroed. Read more

`impl Copy for DRotor3`[src]

`impl Pod for DRotor3`[src]

`impl StructuralPartialEq for DRotor3`[src]

Auto Trait Implementations

`impl RefUnwindSafe for DRotor3`

`impl Send for DRotor3`

`impl Sync for DRotor3`

`impl Unpin for DRotor3`

`impl UnwindSafe for DRotor3`

Blanket Implementations

`impl<T> Any for T where T: 'static + ?Sized,` [src]

`pub fn type_id(&self) -> TypeId`[src]

Gets the TypeId of self. Read more

`impl<T> Borrow<T> for T where T: ?Sized,` [src]

`pub fn borrow(&self) -> &T`[src]

Immutably borrows from an owned value. Read more

`impl<T> BorrowMut<T> for T where T: ?Sized,` [src]

`pub fn borrow_mut(&mut self) -> &mut T`[src]

Mutably borrows from an owned value. Read more

`impl<T> From<T> for T`[src]

`pub fn from(t: T) -> T`[src]

Performs the conversion.

`impl<T, U> Into for T where U: From<T>,` [src]

`pub fn into(self) -> U`[src]

Performs the conversion.

`impl<T> ToOwned for T where T: Clone,` [src]

`type Owned = T`

The resulting type after obtaining ownership.

`pub fn to_owned(&self) -> T`[src]

Creates owned data from borrowed data, usually by cloning. Read more

`pub fn clone_into(&self, target: &mut T)`[src]

🔬 This is a nightly-only experimental API. (toowned_clone_into)

recently added

Uses borrowed data to replace owned data, usually by cloning. Read more

`impl<T, U> TryFrom for T where U: Into<T>,` [src]

`type Error = Infallible`

The type returned in the event of a conversion error.

`pub fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>`[src]

Performs the conversion.

`impl<T, U> TryInto for T where U: TryFrom<T>,` [src]

`type Error = >::Error`

The type returned in the event of a conversion error.

`pub fn try_into(self) -> Result<U, >::Error>`[src]

Performs the conversion.

Struct ultraviolet::rotor::DRotor3[−][src]

Fields

Implementations

impl DRotor3[src]

pub const fn new(scalar: f64, bivector: DBivec3) -> Self[src]

pub fn identity() -> Self[src]

pub fn from_rotation_between(from: DVec3, to: DVec3) -> Self[src]

pub fn from_angle_plane(angle: f64, plane: DBivec3) -> Self[src]

pub fn into_angle_plane(self) -> (f64, DBivec3)[src]

pub fn from_rotation_xy(angle: f64) -> Self[src]

pub fn from_rotation_xz(angle: f64) -> Self[src]

pub fn from_rotation_yz(angle: f64) -> Self[src]

pub fn from_euler_angles(roll: f64, pitch: f64, yaw: f64) -> Self[src]

pub fn mag_sq(&self) -> f64[src]

pub fn mag(&self) -> f64[src]

pub fn normalize(&mut self)[src]

#[must_use = "Did you mean to use `.normalize()` to normalize `self` in place?"]pub fn normalized(&self) -> Self[src]

pub fn reverse(&mut self)[src]

pub fn reversed(&self) -> Self[src]

pub fn dot(&self, rhs: Self) -> f64[src]

pub fn rotate_by(&mut self, rhs: Self)[src]

pub fn rotated_by(self, rhs: Self) -> Self[src]

pub fn rotate_vec(self, vec: &mut DVec3)[src]

pub fn rotate_vecs(self, vecs: &mut [DVec3])[src]

pub fn into_matrix(self) -> DMat3[src]

pub fn into_quaternion_array(self) -> [f64; 4][src]

pub fn from_quaternion_array(array: [f64; 4]) -> Self[src]

pub fn layout() -> Layout[src]

Trait Implementations

impl Add<DRotor3> for DRotor3[src]

type Output = Self

fn add(self, rhs: Self) -> Self[src]

impl AddAssign<DRotor3> for DRotor3[src]

fn add_assign(&mut self, rhs: Self)[src]

impl Clone for DRotor3[src]

fn clone(&self) -> DRotor3[src]

fn clone_from(&mut self, source: &Self)1.0.0[src]

impl Debug for DRotor3[src]

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

impl Default for DRotor3[src]

fn default() -> Self[src]

impl Div<f64> for DRotor3[src]

type Output = Self

fn div(self, rhs: f64) -> Self[src]

impl DivAssign<f64> for DRotor3[src]

fn div_assign(&mut self, rhs: f64)[src]

impl From<DRotor3> for DMat3[src]

fn from(rotor: DRotor3) -> DMat3[src]

impl Lerp<f64> for DRotor3[src]

fn lerp(&self, end: Self, t: f64) -> Self[src]

impl Mul<DIsometry3> for DRotor3[src]

type Output = DIsometry3

fn mul(self, iso: DIsometry3) -> DIsometry3[src]

impl Mul<DRotor3> for DRotor3[src]

fn mul(self, q: Self) -> Self[src]

type Output = Self

impl Mul<DRotor3> for DIsometry3[src]

type Output = DIsometry3

fn mul(self, rotor: DRotor3) -> DIsometry3[src]

impl Mul<DRotor3> for DSimilarity3[src]

type Output = DSimilarity3

fn mul(self, rotor: DRotor3) -> DSimilarity3[src]

impl Mul<DSimilarity3> for DRotor3[src]

type Output = DSimilarity3

fn mul(self, iso: DSimilarity3) -> DSimilarity3[src]

impl Mul<DVec3> for DRotor3[src]

type Output = DVec3

fn mul(self, rhs: DVec3) -> DVec3[src]

impl Mul<f64> for DRotor3[src]

type Output = Self

fn mul(self, rhs: f64) -> Self[src]

impl MulAssign<f64> for DRotor3[src]

fn mul_assign(&mut self, rhs: f64)[src]

impl PartialEq<DRotor3> for DRotor3[src]

fn eq(&self, other: &DRotor3) -> bool[src]

fn ne(&self, other: &DRotor3) -> bool[src]

impl Slerp<f64> for DRotor3[src]

fn slerp(&self, end: Self, t: f64) -> Self[src]

impl Sub<DRotor3> for DRotor3[src]

type Output = Self

`impl DRotor3`[src]

`pub const fn new(scalar: f64, bivector: DBivec3) -> Self`[src]

`pub fn identity() -> Self`[src]

`pub fn from_rotation_between(from: DVec3, to: DVec3) -> Self`[src]

`pub fn from_angle_plane(angle: f64, plane: DBivec3) -> Self`[src]

`pub fn into_angle_plane(self) -> (f64, DBivec3)`[src]

`pub fn from_rotation_xy(angle: f64) -> Self`[src]

`pub fn from_rotation_xz(angle: f64) -> Self`[src]

`pub fn from_rotation_yz(angle: f64) -> Self`[src]

`pub fn from_euler_angles(roll: f64, pitch: f64, yaw: f64) -> Self`[src]

`pub fn mag_sq(&self) -> f64`[src]

`pub fn mag(&self) -> f64`[src]

`pub fn normalize(&mut self)`[src]

#[must_use = "Did you mean to use `.normalize()` to normalize `self` in place?"] pub fn normalized(&self) -> Self [src]

`pub fn reverse(&mut self)`[src]

`pub fn reversed(&self) -> Self`[src]

`pub fn dot(&self, rhs: Self) -> f64`[src]

`pub fn rotate_by(&mut self, rhs: Self)`[src]

`pub fn rotated_by(self, rhs: Self) -> Self`[src]

`pub fn rotate_vec(self, vec: &mut DVec3)`[src]

`pub fn rotate_vecs(self, vecs: &mut [DVec3])`[src]

`pub fn into_matrix(self) -> DMat3`[src]

`pub fn into_quaternion_array(self) -> [f64; 4]`[src]

`pub fn from_quaternion_array(array: [f64; 4]) -> Self`[src]

`pub fn layout() -> Layout`[src]

`impl Add<DRotor3> for DRotor3`[src]

`type Output = Self`

`fn add(self, rhs: Self) -> Self`[src]

`impl AddAssign<DRotor3> for DRotor3`[src]

`fn add_assign(&mut self, rhs: Self)`[src]

`impl Clone for DRotor3`[src]

`fn clone(&self) -> DRotor3`[src]

`fn clone_from(&mut self, source: &Self)`1.0.0 [src]

`impl Debug for DRotor3`[src]

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

`impl Default for DRotor3`[src]

`fn default() -> Self`[src]

`impl Div<f64> for DRotor3`[src]

`type Output = Self`

`fn div(self, rhs: f64) -> Self`[src]

`impl DivAssign<f64> for DRotor3`[src]

`fn div_assign(&mut self, rhs: f64)`[src]

`impl From<DRotor3> for DMat3`[src]

`fn from(rotor: DRotor3) -> DMat3`[src]

`impl Lerp<f64> for DRotor3`[src]

`fn lerp(&self, end: Self, t: f64) -> Self`[src]

`impl Mul<DIsometry3> for DRotor3`[src]

`type Output = DIsometry3`

`fn mul(self, iso: DIsometry3) -> DIsometry3`[src]

`impl Mul<DRotor3> for DRotor3`[src]

`fn mul(self, q: Self) -> Self`[src]

`type Output = Self`

`impl Mul<DRotor3> for DIsometry3`[src]

`type Output = DIsometry3`

`fn mul(self, rotor: DRotor3) -> DIsometry3`[src]

`impl Mul<DRotor3> for DSimilarity3`[src]

`type Output = DSimilarity3`

`fn mul(self, rotor: DRotor3) -> DSimilarity3`[src]

`impl Mul<DSimilarity3> for DRotor3`[src]

`type Output = DSimilarity3`

`fn mul(self, iso: DSimilarity3) -> DSimilarity3`[src]

`impl Mul<DVec3> for DRotor3`[src]

`type Output = DVec3`

`fn mul(self, rhs: DVec3) -> DVec3`[src]

`impl Mul<f64> for DRotor3`[src]

`type Output = Self`

`fn mul(self, rhs: f64) -> Self`[src]

`impl MulAssign<f64> for DRotor3`[src]

`fn mul_assign(&mut self, rhs: f64)`[src]

`impl PartialEq<DRotor3> for DRotor3`[src]

`fn eq(&self, other: &DRotor3) -> bool`[src]

`fn ne(&self, other: &DRotor3) -> bool`[src]

`impl Slerp<f64> for DRotor3`[src]

`fn slerp(&self, end: Self, t: f64) -> Self`[src]

`impl Sub<DRotor3> for DRotor3`[src]

`type Output = Self`

`fn sub(self, rhs: Self) -> Self`[src]

`impl SubAssign<DRotor3> for DRotor3`[src]

`fn sub_assign(&mut self, rhs: Self)`[src]

`impl Zeroable for DRotor3`[src]