Struct cgmath::Basis3

pub struct Basis3<S> {
    // some fields omitted
}

A three-dimensional rotation matrix.

The matrix is guaranteed to be orthogonal, so some operations, specifically inversion, can be implemented more efficiently than the implementations for math::Matrix3. To ensure orthogonality is maintained, the operations have been restricted to a subeset of those implemented on Matrix3.

Methods

impl<S: BaseFloat> Basis3<S>

fn from_quaternion(quaternion: &Quaternion<S>) -> Basis3<S>

Create a new rotation matrix from a quaternion.

Trait Implementations

impl<S: BaseFloat> From<Quaternion<S>> for Basis3<S>

fn from(quat: Quaternion<S>) -> Basis3<S>

Performs the conversion.

impl<S: Clone> Clone for Basis3<S>

fn clone(&self) -> Basis3<S>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<S: Copy> Copy for Basis3<S>

impl<S: PartialEq> PartialEq for Basis3<S>

fn eq(&self, __arg_0: &Basis3<S>) -> bool

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

fn ne(&self, __arg_0: &Basis3<S>) -> bool

This method tests for !=.

impl<S: Decodable> Decodable for Basis3<S>

fn decode<__DS: Decoder>(__arg_0: &mut __DS) -> Result<Basis3<S>, __DS::Error>

impl<S: Encodable> Encodable for Basis3<S>

fn encode<__SS: Encoder>(&self, __arg_0: &mut __SS) -> Result<(), __SS::Error>

impl<S> AsRef<Matrix3<S>> for Basis3<S>

fn as_ref(&self) -> &Matrix3<S>

Performs the conversion.

impl<S: BaseFloat> Rotation<Point3<S>> for Basis3<S>

fn look_at(dir: Vector3<S>, up: Vector3<S>) -> Basis3<S>

Create a rotation to a given direction with an 'up' vector

fn between_vectors(a: Vector3<S>, b: Vector3<S>) -> Basis3<S>

Create a shortest rotation to transform vector 'a' into 'b'. Both given vectors are assumed to have unit length.

fn rotate_vector(&self, vec: Vector3<S>) -> Vector3<S>

Rotate a vector using this rotation.

fn invert(&self) -> Basis3<S>

Create a new rotation which "un-does" this rotation. That is, r * r.invert() is the identity.

fn rotate_point(&self, point: P) -> P

Rotate a point using this rotation, by converting it to its representation as a vector.

impl<S: BaseFloat> One for Basis3<S>

fn one() -> Basis3<S>

Returns the multiplicative identity element of Self, 1.

impl<S: BaseFloat> Mul<Basis3<S>> for Basis3<S>

type Output = Basis3<S>

The resulting type after applying the * operator

fn mul(self, other: Basis3<S>) -> Basis3<S>

The method for the * operator

impl<'a, S: BaseFloat> Mul<&'a Basis3<S>> for Basis3<S>

type Output = Basis3<S>

The resulting type after applying the * operator

fn mul(self, other: &'a Basis3<S>) -> Basis3<S>

The method for the * operator

impl<'a, S: BaseFloat> Mul<Basis3<S>> for &'a Basis3<S>

type Output = Basis3<S>

The resulting type after applying the * operator

fn mul(self, other: Basis3<S>) -> Basis3<S>

The method for the * operator

impl<'a, 'b, S: BaseFloat> Mul<&'a Basis3<S>> for &'b Basis3<S>

type Output = Basis3<S>

The resulting type after applying the * operator

fn mul(self, other: &'a Basis3<S>) -> Basis3<S>

The method for the * operator

impl<S: BaseFloat> ApproxEq for Basis3<S>

type Epsilon = S

fn approx_eq_eps(&self, other: &Basis3<S>, epsilon: &S) -> bool

fn approx_epsilon() -> Self::Epsilon

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

impl<S: BaseFloat> Rotation3<S> for Basis3<S>

fn from_axis_angle(axis: Vector3<S>, angle: Rad<S>) -> Basis3<S>

Create a rotation using an angle around a given axis.

fn from_angle_x(theta: Rad<S>) -> Basis3<S>

Create a rotation from an angle around the x axis (pitch).

fn from_angle_y(theta: Rad<S>) -> Basis3<S>

Create a rotation from an angle around the y axis (yaw).

fn from_angle_z(theta: Rad<S>) -> Basis3<S>

Create a rotation from an angle around the z axis (roll).

impl<A: Angle> From<Euler<A>> for Basis3<A::Unitless> where A: Into<Rad<A::Unitless>>

fn from(src: Euler<A>) -> Basis3<A::Unitless>

Create a three-dimensional rotation matrix from a set of euler angles.

impl<S: Debug> Debug for Basis3<S>

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

Formats the value using the given formatter.