#[repr(C)]
pub struct RigidTransform3D<T, Src, Dst> { pub rotation: Rotation3D<T, Src, Dst>, pub translation: Vector3D<T, Dst>, }
Available on crate feature canvas only.
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.

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§rotation: Rotation3D<T, Src, Dst>§translation: Vector3D<T, Dst>

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

pub const fn new( rotation: Rotation3D<T, Src, Dst>, translation: Vector3D<T, Dst> ) -> RigidTransform3D<T, Src, Dst>

Construct a new rigid transformation, where the rotation applies first

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

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

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

pub fn identity() -> RigidTransform3D<T, Src, Dst>

Construct an identity transform

pub fn new_from_reversed( translation: Vector3D<T, Src>, rotation: Rotation3D<T, Src, Dst> ) -> RigidTransform3D<T, Src, Dst>

Construct a new rigid transformation, where the translation applies first

pub fn from_rotation( rotation: Rotation3D<T, Src, Dst> ) -> RigidTransform3D<T, Src, Dst>

pub fn from_translation( translation: Vector3D<T, Dst> ) -> RigidTransform3D<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

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> ) -> RigidTransform3D<T, Src, Dst>

Tag a unitless value with units.

Trait Implementations§

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

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

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl<T, Src, Dst> Debug for RigidTransform3D<T, Src, Dst>
where T: Debug, Src: Debug, Dst: Debug,

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

Formats the value using the given formatter. Read more
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impl<T, Src, Dst> From<Rotation3D<T, Src, Dst>> for RigidTransform3D<T, Src, Dst>
where T: Real + ApproxEq<T>,

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fn from(rot: Rotation3D<T, Src, Dst>) -> RigidTransform3D<T, Src, Dst>

Converts to this type from the input type.
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impl<T, Src, Dst> From<Vector3D<T, Dst>> for RigidTransform3D<T, Src, Dst>
where T: Real + ApproxEq<T>,

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fn from(t: Vector3D<T, Dst>) -> RigidTransform3D<T, Src, Dst>

Converts to this type from the input type.
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impl<T, Src, Dst> Hash for RigidTransform3D<T, Src, Dst>
where T: Hash, Src: Hash, Dst: Hash,

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

Feeds this value into the given Hasher. Read more
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fn hash_slice<H>(data: &[Self], state: &mut H)
where H: Hasher, Self: Sized,

Feeds a slice of this type into the given Hasher. Read more
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impl<T, Src, Dst> PartialEq for RigidTransform3D<T, Src, Dst>
where T: PartialEq, Src: PartialEq, Dst: PartialEq,

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fn eq(&self, other: &RigidTransform3D<T, Src, Dst>) -> bool

This method tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl<T, Src, Dst> Copy for RigidTransform3D<T, Src, Dst>
where T: Copy,

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

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

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

Auto Trait Implementations§

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

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impl<T, Src, Dst> Send for RigidTransform3D<T, Src, Dst>
where Dst: Send, Src: Send, T: Send,

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impl<T, Src, Dst> Sync for RigidTransform3D<T, Src, Dst>
where Dst: Sync, Src: Sync, T: Sync,

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impl<T, Src, Dst> Unpin for RigidTransform3D<T, Src, Dst>
where Dst: Unpin, Src: Unpin, T: Unpin,

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impl<T, Src, Dst> UnwindSafe for RigidTransform3D<T, Src, Dst>
where Dst: UnwindSafe, Src: UnwindSafe, T: UnwindSafe,

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impl<S, D, Swp, Dwp, T> AdaptInto<D, Swp, Dwp, T> for S
where T: Real + Zero + Arithmetics + Clone, Swp: WhitePoint<T>, Dwp: WhitePoint<T>, D: AdaptFrom<S, Swp, Dwp, T>,

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fn adapt_into_using<M>(self, method: M) -> D
where M: TransformMatrix<T>,

Convert the source color to the destination color using the specified method.
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fn adapt_into(self) -> D

Convert the source color to the destination color using the bradford method by default.
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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T, C> ArraysFrom<C> for T
where C: IntoArrays<T>,

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fn arrays_from(colors: C) -> T

Cast a collection of colors into a collection of arrays.
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impl<T, C> ArraysInto<C> for T
where C: FromArrays<T>,

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fn arrays_into(self) -> C

Cast this collection of arrays into a collection of colors.
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where T: ?Sized,

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Immutably borrows from an owned value. Read more
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Mutably borrows from an owned value. Read more
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default fn get_hash<H, B>(value: &H, build_hasher: &B) -> u64
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fn components_from(colors: C) -> T

Cast a collection of colors into a collection of color components.
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Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.
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Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.
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fn equivalent(&self, key: &K) -> bool

Checks if this value is equivalent to the given key. Read more
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where Q: Eq + ?Sized, K: Borrow<Q> + ?Sized,

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fn equivalent(&self, key: &K) -> bool

Compare self to key and return true if they are equal.
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T> FromAngle<T> for T

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fn from_angle(angle: T) -> T

Performs a conversion from angle.
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fn from_stimulus(other: U) -> T

Converts other into Self, while performing the appropriate scaling, rounding and clamping.
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Instruments this type with the provided [Span], returning an Instrumented wrapper. Read more
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Calls U::from(self).

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fn into_angle(self) -> U

Performs a conversion into T.
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impl<T, U> IntoColor<U> for T
where U: FromColor<T>,

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fn into_color(self) -> U

Convert into T with values clamped to the color defined bounds Read more
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impl<T, U> IntoColorUnclamped<U> for T
where U: FromColorUnclamped<T>,

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fn into_color_unclamped(self) -> U

Convert into T. The resulting color might be invalid in its color space Read more
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Converts self into T, while performing the appropriate scaling, rounding and clamping.
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const ALIGN: usize = _

The alignment of pointer.
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type Init = T

The type for initializers.
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Initializes a with the given initializer. Read more
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Dereferences the given pointer. Read more
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type Output = T

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where T: Clone,

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impl<T, C> TryComponentsInto<C> for T
where C: TryFromComponents<T>,

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type Error = <C as TryFromComponents<T>>::Error

The error for when try_into_colors fails to cast.
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fn try_components_into(self) -> Result<C, <T as TryComponentsInto<C>>::Error>

Try to cast this collection of color components into a collection of colors. Read more
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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Performs the conversion.
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impl<T, U> TryIntoColor<U> for T
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fn try_into_color(self) -> Result<U, OutOfBounds<U>>

Convert into T, returning ok if the color is inside of its defined range, otherwise an OutOfBounds error is returned which contains the unclamped color. Read more
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impl<C, U> UintsFrom<C> for U
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fn uints_from(colors: C) -> U

Cast a collection of colors into a collection of unsigned integers.
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impl<C, U> UintsInto<C> for U
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fn uints_into(self) -> C

Cast this collection of unsigned integers into a collection of colors.
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