bevy_math

Struct Isometry3d

Source
pub struct Isometry3d {
    pub rotation: Quat,
    pub translation: Vec3A,
}
Expand description

An isometry in three 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(3). This includes translation and rotation, but excludes reflection.

For the two-dimensional version, see Isometry2d.

§Example

Isometries can be created from a given translation and rotation:

let iso = Isometry3d::new(Vec3::new(2.0, 1.0, 3.0), Quat::from_rotation_z(FRAC_PI_2));

Or from separate parts:

let iso1 = Isometry3d::from_translation(Vec3::new(2.0, 1.0, 3.0));
let iso2 = Isometry3d::from_rotation(Quat::from_rotation_z(FRAC_PI_2));

The isometries can be used to transform points:

let iso = Isometry3d::new(Vec3::new(2.0, 1.0, 3.0), Quat::from_rotation_z(FRAC_PI_2));
let point = Vec3::new(4.0, 4.0, 4.0);

// These are equivalent
let result = iso.transform_point(point);
let result = iso * point;

assert_relative_eq!(result, Vec3::new(-2.0, 5.0, 7.0));

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 sphere_iso = Isometry3d::from_translation(Vec3::new(2.0, 1.0, 3.0));
let cuboid_iso = Isometry3d::from_rotation(Quat::from_rotation_z(FRAC_PI_2));

// Compute the relative position and orientation between the two shapes
let relative_iso = sphere_iso.inverse() * cuboid_iso;

// Or alternatively, to skip an extra rotation operation:
let relative_iso = sphere_iso.inverse_mul(cuboid_iso);

Fields§

§rotation: Quat

The rotational part of a three-dimensional isometry.

§translation: Vec3A

The translational part of a three-dimensional isometry.

Implementations§

Source§

impl Isometry3d

Source

pub const IDENTITY: Self = _

The identity isometry which represents the rigid motion of not doing anything.

Source

pub fn new(translation: impl Into<Vec3A>, rotation: Quat) -> Self

Create a three-dimensional isometry from a rotation and a translation.

Source

pub fn from_rotation(rotation: Quat) -> Self

Create a three-dimensional isometry from a rotation.

Source

pub fn from_translation(translation: impl Into<Vec3A>) -> Self

Create a three-dimensional isometry from a translation.

Source

pub fn from_xyz(x: f32, y: f32, z: f32) -> Self

Create a three-dimensional isometry from a translation with the given x, y, and z components.

Source

pub fn inverse(&self) -> Self

The inverse isometry that undoes this one.

Source

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.

Source

pub fn transform_point(&self, point: impl Into<Vec3A>) -> Vec3A

Transform a point by rotating and translating it using this isometry.

Source

pub fn inverse_transform_point(&self, point: impl Into<Vec3A>) -> Vec3A

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 Isometry3d

Source§

fn clone(&self) -> Isometry3d

Returns a copy of the value. Read more
1.0.0 · Source§

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

Performs copy-assignment from source. Read more
Source§

impl Debug for Isometry3d

Source§

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

Formats the value using the given formatter. Read more
Source§

impl Default for Isometry3d

Source§

fn default() -> Isometry3d

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

impl<'de> Deserialize<'de> for Isometry3d

Source§

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

Deserialize this value from the given Serde deserializer. Read more
Source§

impl From<Isometry3d> for Affine3

Source§

fn from(iso: Isometry3d) -> Self

Converts to this type from the input type.
Source§

impl From<Isometry3d> for Affine3A

Source§

fn from(iso: Isometry3d) -> Self

Converts to this type from the input type.
Source§

impl From<Quat> for Isometry3d

Source§

fn from(rotation: Quat) -> Self

Converts to this type from the input type.
Source§

impl From<Vec3> for Isometry3d

Source§

fn from(translation: Vec3) -> Self

Converts to this type from the input type.
Source§

impl From<Vec3A> for Isometry3d

Source§

fn from(translation: Vec3A) -> Self

Converts to this type from the input type.
Source§

impl FromReflect for Isometry3d
where Isometry3d: Any + Send + Sync, Quat: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3A: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

Source§

fn from_reflect(reflect: &dyn PartialReflect) -> Option<Self>

Constructs a concrete instance of Self from a reflected value.
Source§

fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails. Read more
Source§

impl GetTypeRegistration for Isometry3d
where Isometry3d: Any + Send + Sync, Quat: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3A: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

Source§

fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.
Source§

fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type. Read more
Source§

impl Mul<Dir3> for Isometry3d

Source§

type Output = Dir3

The resulting type after applying the * operator.
Source§

fn mul(self, rhs: Dir3) -> Self::Output

Performs the * operation. Read more
Source§

impl Mul<Vec3> for Isometry3d

Source§

type Output = Vec3

The resulting type after applying the * operator.
Source§

fn mul(self, rhs: Vec3) -> Self::Output

Performs the * operation. Read more
Source§

impl Mul<Vec3A> for Isometry3d

Source§

type Output = Vec3A

The resulting type after applying the * operator.
Source§

fn mul(self, rhs: Vec3A) -> Self::Output

Performs the * operation. Read more
Source§

impl Mul for Isometry3d

Source§

type Output = Isometry3d

The resulting type after applying the * operator.
Source§

fn mul(self, rhs: Self) -> Self::Output

Performs the * operation. Read more
Source§

impl PartialEq for Isometry3d

Source§

fn eq(&self, other: &Isometry3d) -> bool

Tests for self and other values to be equal, and is used by ==.
1.0.0 · Source§

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
Source§

impl PartialReflect for Isometry3d
where Isometry3d: Any + Send + Sync, Quat: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3A: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

Source§

fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

Returns the TypeInfo of the type represented by this value. Read more
Source§

fn clone_value(&self) -> Box<dyn PartialReflect>

Clones the value as a Reflect trait object. Read more
Source§

fn try_apply(&mut self, value: &dyn PartialReflect) -> Result<(), ApplyError>

Tries to apply a reflected value to this value. Read more
Source§

fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type. Read more
Source§

fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type. Read more
Source§

fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type. Read more
Source§

fn reflect_owned(self: Box<Self>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type. Read more
Source§

fn try_into_reflect( self: Box<Self>, ) -> Result<Box<dyn Reflect>, Box<dyn PartialReflect>>

Attempts to cast this type to a boxed, fully-reflected value.
Source§

fn try_as_reflect(&self) -> Option<&dyn Reflect>

Attempts to cast this type to a fully-reflected value.
Source§

fn try_as_reflect_mut(&mut self) -> Option<&mut dyn Reflect>

Attempts to cast this type to a mutable, fully-reflected value.
Source§

fn into_partial_reflect(self: Box<Self>) -> Box<dyn PartialReflect>

Casts this type to a boxed, reflected value. Read more
Source§

fn as_partial_reflect(&self) -> &dyn PartialReflect

Casts this type to a reflected value. Read more
Source§

fn as_partial_reflect_mut(&mut self) -> &mut dyn PartialReflect

Casts this type to a mutable, reflected value. Read more
Source§

fn reflect_partial_eq(&self, value: &dyn PartialReflect) -> Option<bool>

Returns a “partial equality” comparison result. Read more
Source§

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

Debug formatter for the value. Read more
Source§

fn apply(&mut self, value: &(dyn PartialReflect + 'static))

Applies a reflected value to this value. Read more
Source§

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type). Read more
Source§

fn serializable(&self) -> Option<Serializable<'_>>

Returns a serializable version of the value. Read more
Source§

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type. Read more
Source§

impl Reflect for Isometry3d
where Isometry3d: Any + Send + Sync, Quat: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3A: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

Source§

fn into_any(self: Box<Self>) -> Box<dyn Any>

Returns the value as a Box<dyn Any>. Read more
Source§

fn as_any(&self) -> &dyn Any

Returns the value as a &dyn Any. Read more
Source§

fn as_any_mut(&mut self) -> &mut dyn Any

Returns the value as a &mut dyn Any. Read more
Source§

fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>

Casts this type to a boxed, fully-reflected value.
Source§

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a fully-reflected value.
Source§

fn as_reflect_mut(&mut self) -> &mut dyn Reflect

Casts this type to a mutable, fully-reflected value.
Source§

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value. Read more
Source§

impl Serialize for Isometry3d

Source§

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

Serialize this value into the given Serde serializer. Read more
Source§

impl Struct for Isometry3d
where Isometry3d: Any + Send + Sync, Quat: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3A: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

Source§

fn field(&self, name: &str) -> Option<&dyn PartialReflect>

Returns a reference to the value of the field named name as a &dyn PartialReflect.
Source§

fn field_mut(&mut self, name: &str) -> Option<&mut dyn PartialReflect>

Returns a mutable reference to the value of the field named name as a &mut dyn PartialReflect.
Source§

fn field_at(&self, index: usize) -> Option<&dyn PartialReflect>

Returns a reference to the value of the field with index index as a &dyn PartialReflect.
Source§

fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn PartialReflect>

Returns a mutable reference to the value of the field with index index as a &mut dyn PartialReflect.
Source§

fn name_at(&self, index: usize) -> Option<&str>

Returns the name of the field with index index.
Source§

fn field_len(&self) -> usize

Returns the number of fields in the struct.
Source§

fn iter_fields(&self) -> FieldIter<'_>

Returns an iterator over the values of the reflectable fields for this struct.
Source§

fn clone_dynamic(&self) -> DynamicStruct

Clones the struct into a DynamicStruct.
Source§

fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

Will return None if TypeInfo is not available.
Source§

impl TypePath for Isometry3d
where Isometry3d: Any + Send + Sync,

Source§

fn type_path() -> &'static str

Returns the fully qualified path of the underlying type. Read more
Source§

fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type. Read more
Source§

fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous. Read more
Source§

fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous. Read more
Source§

fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous. Read more
Source§

impl Typed for Isometry3d
where Isometry3d: Any + Send + Sync, Quat: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3A: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

Source§

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.
Source§

impl Copy for Isometry3d

Source§

impl StructuralPartialEq for Isometry3d

Auto Trait Implementations§

Blanket Implementations§

Source§

impl<T> Any for T
where T: 'static + ?Sized,

Source§

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
Source§

impl<T> Borrow<T> for T
where T: ?Sized,

Source§

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
Source§

impl<T> BorrowMut<T> for T
where T: ?Sized,

Source§

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

Mutably borrows from an owned value. Read more
Source§

impl<T> CloneToUninit for T
where T: Clone,

Source§

unsafe fn clone_to_uninit(&self, dst: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dst. Read more
Source§

impl<T> Downcast for T
where T: Any,

Source§

fn into_any(self: Box<T>) -> Box<dyn Any>

Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait.
Source§

fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>

Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.
Source§

fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.
Source§

fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.
Source§

impl<T> DowncastSync for T
where T: Any + Send + Sync,

Source§

fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait.
Source§

impl<T> DynamicTypePath for T
where T: TypePath,

Source§

impl<T> DynamicTyped for T
where T: Typed,

Source§

impl<T> From<T> for T

Source§

fn from(t: T) -> T

Returns the argument unchanged.

Source§

impl<S> GetField for S
where S: Struct,

Source§

fn get_field<T>(&self, name: &str) -> Option<&T>
where T: Reflect,

Returns a reference to the value of the field named name, downcast to T.
Source§

fn get_field_mut<T>(&mut self, name: &str) -> Option<&mut T>
where T: Reflect,

Returns a mutable reference to the value of the field named name, downcast to T.
Source§

impl<T> GetPath for T
where T: Reflect + ?Sized,

Source§

fn reflect_path<'p>( &self, path: impl ReflectPath<'p>, ) -> Result<&(dyn PartialReflect + 'static), ReflectPathError<'p>>

Returns a reference to the value specified by path. Read more
Source§

fn reflect_path_mut<'p>( &mut self, path: impl ReflectPath<'p>, ) -> Result<&mut (dyn PartialReflect + 'static), ReflectPathError<'p>>

Returns a mutable reference to the value specified by path. Read more
Source§

fn path<'p, T>( &self, path: impl ReflectPath<'p>, ) -> Result<&T, ReflectPathError<'p>>
where T: Reflect,

Returns a statically typed reference to the value specified by path. Read more
Source§

fn path_mut<'p, T>( &mut self, path: impl ReflectPath<'p>, ) -> Result<&mut T, ReflectPathError<'p>>
where T: Reflect,

Returns a statically typed mutable reference to the value specified by path. Read more
Source§

impl<T> Instrument for T

Source§

fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more
Source§

fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more
Source§

impl<T, U> Into<U> for T
where U: From<T>,

Source§

fn into(self) -> U

Calls U::from(self).

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

Source§

impl<T> IntoEither for T

Source§

fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
Source§

fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
Source§

impl<T> Serialize for T
where T: Serialize + ?Sized,

Source§

fn erased_serialize(&self, serializer: &mut dyn Serializer) -> Result<(), Error>

Source§

fn do_erased_serialize( &self, serializer: &mut dyn Serializer, ) -> Result<(), ErrorImpl>

Source§

impl<T> ToOwned for T
where T: Clone,

Source§

type Owned = T

The resulting type after obtaining ownership.
Source§

fn to_owned(&self) -> T

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

fn clone_into(&self, target: &mut T)

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

impl<T, U> TryFrom<U> for T
where U: Into<T>,

Source§

type Error = Infallible

The type returned in the event of a conversion error.
Source§

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
Source§

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

Source§

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

The type returned in the event of a conversion error.
Source§

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
Source§

impl<T> TypeData for T
where T: 'static + Send + Sync + Clone,

Source§

impl<V, T> VZip<V> for T
where V: MultiLane<T>,

Source§

fn vzip(self) -> V

Source§

impl<T> WithSubscriber for T

Source§

fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
where S: Into<Dispatch>,

Attaches the provided Subscriber to this type, returning a WithDispatch wrapper. Read more
Source§

fn with_current_subscriber(self) -> WithDispatch<Self>

Attaches the current default Subscriber to this type, returning a WithDispatch wrapper. Read more
Source§

impl<T> ConditionalSend for T
where T: Send,

Source§

impl<T> DeserializeOwned for T
where T: for<'de> Deserialize<'de>,

Source§

impl<T> Reflectable for T