#[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.

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

Implementations§

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

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

Construct a new rigid transformation, where the rotation applies first

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

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

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

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pub fn identity() -> Self

Construct an identity transform

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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

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

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

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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

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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

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

Inverts the transformation

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pub fn to_transform(&self) -> Transform3D<T, Src, Dst>where T: Trig,

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pub fn to_untyped(&self) -> RigidTransform3D<T, UnknownUnit, UnknownUnit>

Drop the units, preserving only the numeric value.

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pub fn from_untyped( transform: &RigidTransform3D<T, UnknownUnit, UnknownUnit> ) -> Self

Tag a unitless value with units.

Trait Implementations§

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

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fn clone(&self) -> Self

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: Debug, Src: Debug, Dst: Debug> Debug for RigidTransform3D<T, Src, Dst>

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

Formats the value using the given formatter. Read more
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impl<'de, T, Src, Dst> Deserialize<'de> for RigidTransform3D<T, Src, Dst>where T: Deserialize<'de>, Src: Deserialize<'de>, Dst: Deserialize<'de>,

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fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
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impl<T: Real + ApproxEq<T>, Src, Dst> From<Rotation3D<T, Src, Dst>> for RigidTransform3D<T, Src, Dst>

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

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

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

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

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

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: PartialEq, Src: PartialEq, Dst: PartialEq> PartialEq<RigidTransform3D<T, Src, Dst>> for RigidTransform3D<T, Src, Dst>

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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> Serialize for RigidTransform3D<T, Src, Dst>where T: Serialize, Src: Serialize, Dst: Serialize,

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

Serialize this value into the given Serde serializer. Read more
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impl<T: Copy, Src, Dst> Copy for RigidTransform3D<T, Src, Dst>

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

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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>where Dst: RefUnwindSafe, Src: RefUnwindSafe, T: RefUnwindSafe,

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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,

Blanket Implementations§

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impl<T> Any for Twhere 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> Borrow<T> for Twhere T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for Twhere T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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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, U> Into<U> for Twhere U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> ToOwned for Twhere T: Clone,

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type Owned = T

The resulting type after obtaining ownership.
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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
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impl<T, U> TryFrom<U> for Twhere U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for Twhere U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
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impl<T> DeserializeOwned for Twhere T: for<'de> Deserialize<'de>,