pub struct Isometry2d {
pub rotation: Rot2,
pub translation: Vec2,
}
Expand description
An isometry in two dimensions, representing a rotation followed by a translation. This can often be useful for expressing relative positions and transformations from one position to another.
In particular, this type represents a distance-preserving transformation known as a rigid motion or a direct motion, and belongs to the special Euclidean group SE(2). This includes translation and rotation, but excludes reflection.
For the three-dimensional version, see Isometry3d
.
§Example
Isometries can be created from a given translation and rotation:
let iso = Isometry2d::new(Vec2::new(2.0, 1.0), Rot2::degrees(90.0));
Or from separate parts:
let iso1 = Isometry2d::from_translation(Vec2::new(2.0, 1.0));
let iso2 = Isometry2d::from_rotation(Rot2::degrees(90.0));
The isometries can be used to transform points:
let iso = Isometry2d::new(Vec2::new(2.0, 1.0), Rot2::degrees(90.0));
let point = Vec2::new(4.0, 4.0);
// These are equivalent
let result = iso.transform_point(point);
let result = iso * point;
assert_eq!(result, Vec2::new(-2.0, 5.0));
Isometries can also be composed together:
assert_eq!(iso1 * iso2, iso);
One common operation is to compute an isometry representing the relative positions of two objects for things like intersection tests. This can be done with an inverse transformation:
let circle_iso = Isometry2d::from_translation(Vec2::new(2.0, 1.0));
let rectangle_iso = Isometry2d::from_rotation(Rot2::degrees(90.0));
// Compute the relative position and orientation between the two shapes
let relative_iso = circle_iso.inverse() * rectangle_iso;
// Or alternatively, to skip an extra rotation operation:
let relative_iso = circle_iso.inverse_mul(rectangle_iso);
Fields§
§rotation: Rot2
The rotational part of a two-dimensional isometry.
translation: Vec2
The translational part of a two-dimensional isometry.
Implementations§
Source§impl Isometry2d
impl Isometry2d
Sourcepub const IDENTITY: Self = _
pub const IDENTITY: Self = _
The identity isometry which represents the rigid motion of not doing anything.
Sourcepub fn new(translation: Vec2, rotation: Rot2) -> Self
pub fn new(translation: Vec2, rotation: Rot2) -> Self
Create a two-dimensional isometry from a rotation and a translation.
Sourcepub fn from_rotation(rotation: Rot2) -> Self
pub fn from_rotation(rotation: Rot2) -> Self
Create a two-dimensional isometry from a rotation.
Sourcepub fn from_translation(translation: Vec2) -> Self
pub fn from_translation(translation: Vec2) -> Self
Create a two-dimensional isometry from a translation.
Sourcepub fn from_xy(x: f32, y: f32) -> Self
pub fn from_xy(x: f32, y: f32) -> Self
Create a two-dimensional isometry from a translation with the given x
and y
components.
Sourcepub fn inverse_mul(&self, rhs: Self) -> Self
pub fn inverse_mul(&self, rhs: Self) -> Self
Compute iso1.inverse() * iso2
in a more efficient way for one-shot cases.
If the same isometry is used multiple times, it is more efficient to instead compute the inverse once and use that for each transformation.
Sourcepub fn transform_point(&self, point: Vec2) -> Vec2
pub fn transform_point(&self, point: Vec2) -> Vec2
Transform a point by rotating and translating it using this isometry.
Sourcepub fn inverse_transform_point(&self, point: Vec2) -> Vec2
pub fn inverse_transform_point(&self, point: Vec2) -> Vec2
Transform a point by rotating and translating it using the inverse of this isometry.
This is more efficient than iso.inverse().transform_point(point)
for one-shot cases.
If the same isometry is used multiple times, it is more efficient to instead compute
the inverse once and use that for each transformation.
Trait Implementations§
Source§impl Clone for Isometry2d
impl Clone for Isometry2d
Source§fn clone(&self) -> Isometry2d
fn clone(&self) -> Isometry2d
1.0.0 · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moreSource§impl Debug for Isometry2d
impl Debug for Isometry2d
Source§impl Default for Isometry2d
impl Default for Isometry2d
Source§fn default() -> Isometry2d
fn default() -> Isometry2d
Source§impl<'de> Deserialize<'de> for Isometry2d
impl<'de> Deserialize<'de> for Isometry2d
Source§fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
Source§impl From<Isometry2d> for Affine2
impl From<Isometry2d> for Affine2
Source§fn from(iso: Isometry2d) -> Self
fn from(iso: Isometry2d) -> Self
Source§impl From<Rot2> for Isometry2d
impl From<Rot2> for Isometry2d
Source§impl From<Vec2> for Isometry2d
impl From<Vec2> for Isometry2d
Source§impl FromReflect for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
impl FromReflect for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Source§fn from_reflect(reflect: &dyn PartialReflect) -> Option<Self>
fn from_reflect(reflect: &dyn PartialReflect) -> Option<Self>
Self
from a reflected value.Source§fn take_from_reflect(
reflect: Box<dyn PartialReflect>,
) -> Result<Self, Box<dyn PartialReflect>>
fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>
Self
using,
constructing the value using from_reflect
if that fails. Read moreSource§impl GetTypeRegistration for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
impl GetTypeRegistration for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Source§fn get_type_registration() -> TypeRegistration
fn get_type_registration() -> TypeRegistration
TypeRegistration
for this type.Source§fn register_type_dependencies(registry: &mut TypeRegistry)
fn register_type_dependencies(registry: &mut TypeRegistry)
Source§impl Mul<Dir2> for Isometry2d
impl Mul<Dir2> for Isometry2d
Source§impl Mul<Vec2> for Isometry2d
impl Mul<Vec2> for Isometry2d
Source§impl Mul for Isometry2d
impl Mul for Isometry2d
Source§impl PartialEq for Isometry2d
impl PartialEq for Isometry2d
Source§impl PartialReflect for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
impl PartialReflect for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Source§fn get_represented_type_info(&self) -> Option<&'static TypeInfo>
fn get_represented_type_info(&self) -> Option<&'static TypeInfo>
Source§fn clone_value(&self) -> Box<dyn PartialReflect>
fn clone_value(&self) -> Box<dyn PartialReflect>
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fn reflect_kind(&self) -> ReflectKind
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fn is_dynamic(&self) -> bool
Source§impl Reflect for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
impl Reflect for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Source§fn as_any_mut(&mut self) -> &mut dyn Any
fn as_any_mut(&mut self) -> &mut dyn Any
&mut dyn Any
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fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>
Source§fn as_reflect(&self) -> &dyn Reflect
fn as_reflect(&self) -> &dyn Reflect
Source§fn as_reflect_mut(&mut self) -> &mut dyn Reflect
fn as_reflect_mut(&mut self) -> &mut dyn Reflect
Source§impl Serialize for Isometry2d
impl Serialize for Isometry2d
Source§impl Struct for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
impl Struct for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Source§fn field(&self, name: &str) -> Option<&dyn PartialReflect>
fn field(&self, name: &str) -> Option<&dyn PartialReflect>
name
as a &dyn PartialReflect
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&mut dyn PartialReflect
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&dyn PartialReflect
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fn name_at(&self, index: usize) -> Option<&str>
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DynamicStruct
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fn get_represented_struct_info(&self) -> Option<&'static StructInfo>
None
if TypeInfo
is not available.Source§impl TypePath for Isometry2d
impl TypePath for Isometry2d
Source§fn type_path() -> &'static str
fn type_path() -> &'static str
Source§fn short_type_path() -> &'static str
fn short_type_path() -> &'static str
Source§fn type_ident() -> Option<&'static str>
fn type_ident() -> Option<&'static str>
Source§fn crate_name() -> Option<&'static str>
fn crate_name() -> Option<&'static str>
Source§impl Typed for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
impl Typed for Isometry2dwhere
Isometry2d: Any + Send + Sync,
Rot2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
Vec2: FromReflect + TypePath + MaybeTyped + RegisterForReflection,
impl Copy for Isometry2d
impl StructuralPartialEq for Isometry2d
Auto Trait Implementations§
impl Freeze for Isometry2d
impl RefUnwindSafe for Isometry2d
impl Send for Isometry2d
impl Sync for Isometry2d
impl Unpin for Isometry2d
impl UnwindSafe for Isometry2d
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