Struct DAffine3

#[repr(C)]
pub struct DAffine3 {
    pub matrix3: DMat3,
    pub translation: DVec3,
}

A 3D affine transform, which can represent translation, rotation, scaling and shear.

Fields

matrix3: DMat3

translation: DVec3

Implementations

impl DAffine3

pub const ZERO: Self = _

The degenerate zero transform.

This transforms any finite vector and point to zero. The zero transform is non-invertible.

pub const IDENTITY: Self = _

The identity transform.

Multiplying a vector with this returns the same vector.

pub const NAN: Self = _

All NAN:s.

pub const fn from_cols( x_axis: DVec3, y_axis: DVec3, z_axis: DVec3, w_axis: DVec3, ) -> Self

Creates an affine transform from three column vectors.

pub fn from_cols_array(m: &[f64; 12]) -> Self

Creates an affine transform from a [f64; 12] array stored in column major order.

pub fn to_cols_array(&self) -> [f64; 12]

Creates a [f64; 12] array storing data in column major order.

pub fn from_cols_array_2d(m: &[[f64; 3]; 4]) -> Self

Creates an affine transform from a [[f64; 3]; 4] 3D array stored in column major order. If your data is in row major order you will need to transpose the returned matrix.

pub fn to_cols_array_2d(&self) -> [[f64; 3]; 4]

Creates a [[f64; 3]; 4] 3D array storing data in column major order. If you require data in row major order transpose the matrix first.

pub fn from_cols_slice(slice: &[f64]) -> Self

Creates an affine transform from the first 12 values in slice.

Panics

Panics if slice is less than 12 elements long.

pub fn write_cols_to_slice(self, slice: &mut [f64])

Writes the columns of self to the first 12 elements in slice.

Panics

Panics if slice is less than 12 elements long.

pub fn from_scale(scale: DVec3) -> Self

Creates an affine transform that changes scale. Note that if any scale is zero the transform will be non-invertible.

pub fn from_quat(rotation: DQuat) -> Self

Creates an affine transform from the given rotation quaternion.

pub fn from_axis_angle(axis: DVec3, angle: f64) -> Self

Creates an affine transform containing a 3D rotation around a normalized rotation axis of angle (in radians).

pub fn from_rotation_x(angle: f64) -> Self

Creates an affine transform containing a 3D rotation around the x axis of angle (in radians).

pub fn from_rotation_y(angle: f64) -> Self

Creates an affine transform containing a 3D rotation around the y axis of angle (in radians).

pub fn from_rotation_z(angle: f64) -> Self

Creates an affine transform containing a 3D rotation around the z axis of angle (in radians).

pub fn from_translation(translation: DVec3) -> Self

Creates an affine transformation from the given 3D translation.

pub fn from_mat3(mat3: DMat3) -> Self

Creates an affine transform from a 3x3 matrix (expressing scale, shear and rotation)

pub fn from_mat3_translation(mat3: DMat3, translation: DVec3) -> Self

Creates an affine transform from a 3x3 matrix (expressing scale, shear and rotation) and a translation vector.

Equivalent to DAffine3::from_translation(translation) * DAffine3::from_mat3(mat3)

pub fn from_scale_rotation_translation( scale: DVec3, rotation: DQuat, translation: DVec3, ) -> Self

Creates an affine transform from the given 3D scale, rotation and translation.

Equivalent to DAffine3::from_translation(translation) * DAffine3::from_quat(rotation) * DAffine3::from_scale(scale)

pub fn from_rotation_translation(rotation: DQuat, translation: DVec3) -> Self

Creates an affine transform from the given 3D rotation and translation.

Equivalent to DAffine3::from_translation(translation) * DAffine3::from_quat(rotation)

pub fn from_mat4(m: DMat4) -> Self

The given DMat4 must be an affine transform, i.e. contain no perspective transform.

pub fn to_scale_rotation_translation(&self) -> (DVec3, DQuat, DVec3)

Extracts scale, rotation and translation from self.

The transform is expected to be non-degenerate and without shearing, or the output will be invalid.

Panics

Will panic if the determinant self.matrix3 is zero or if the resulting scale vector contains any zero elements when glam_assert is enabled.

pub fn look_to_lh(eye: DVec3, dir: DVec3, up: DVec3) -> Self

Creates a left-handed view transform using a camera position, an up direction, and a facing direction.

For a view coordinate system with +X=right, +Y=up and +Z=forward.

pub fn look_to_rh(eye: DVec3, dir: DVec3, up: DVec3) -> Self

Creates a right-handed view transform using a camera position, an up direction, and a facing direction.

For a view coordinate system with +X=right, +Y=up and +Z=back.

pub fn look_at_lh(eye: DVec3, center: DVec3, up: DVec3) -> Self

Creates a left-handed view transform using a camera position, an up direction, and a focal point. For a view coordinate system with +X=right, +Y=up and +Z=forward.

Panics

Will panic if up is not normalized when glam_assert is enabled.

pub fn look_at_rh(eye: DVec3, center: DVec3, up: DVec3) -> Self

Creates a right-handed view transform using a camera position, an up direction, and a focal point. For a view coordinate system with +X=right, +Y=up and +Z=back.

Panics

Will panic if up is not normalized when glam_assert is enabled.

pub fn transform_point3(&self, rhs: DVec3) -> DVec3

Transforms the given 3D points, applying shear, scale, rotation and translation.

pub fn transform_vector3(&self, rhs: DVec3) -> DVec3

Transforms the given 3D vector, applying shear, scale and rotation (but NOT translation).

To also apply translation, use Self::transform_point3() instead.

pub fn is_finite(&self) -> bool

Returns true if, and only if, all elements are finite.

If any element is either NaN, positive or negative infinity, this will return false.

pub fn is_nan(&self) -> bool

Returns true if any elements are NaN.

pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f64) -> bool

Returns true if the absolute difference of all elements between self and rhs is less than or equal to max_abs_diff.

This can be used to compare if two 3x4 matrices contain similar elements. It works best when comparing with a known value. The max_abs_diff that should be used used depends on the values being compared against.

For more see comparing floating point numbers.

pub fn inverse(&self) -> Self

Return the inverse of this transform.

Note that if the transform is not invertible the result will be invalid.

Trait Implementations

impl Clone for DAffine3

fn clone(&self) -> DAffine3

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for DAffine3

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

Formats the value using the given formatter.

impl Default for DAffine3

fn default() -> Self

Returns the “default value” for a type.

impl Deref for DAffine3

type Target = Cols4<DVec3>

The resulting type after dereferencing.

fn deref(&self) -> &Self::Target

Dereferences the value.

impl DerefMut for DAffine3

fn deref_mut(&mut self) -> &mut Self::Target

Mutably dereferences the value.

impl<'de> Deserialize<'de> for DAffine3

Deserialize expects a sequence of 12 values.

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>

where D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Display for DAffine3

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

Formats the value using the given formatter.

impl From<DAffine3> for DMat4

fn from(m: DAffine3) -> DMat4

Converts to this type from the input type.

impl Mul<DAffine3> for DMat4

type Output = DMat4

The resulting type after applying the * operator.

fn mul(self, rhs: DAffine3) -> Self::Output

Performs the * operation.

impl Mul<DMat4> for DAffine3

type Output = DMat4

The resulting type after applying the * operator.

fn mul(self, rhs: DMat4) -> Self::Output

Performs the * operation.

impl Mul for DAffine3

type Output = DAffine3

The resulting type after applying the * operator.

fn mul(self, rhs: DAffine3) -> Self::Output

Performs the * operation.

impl MulAssign for DAffine3

fn mul_assign(&mut self, rhs: DAffine3)

Performs the *= operation.

impl PartialEq for DAffine3

fn eq(&self, rhs: &Self) -> bool

Tests for self and other values to be equal, and is used by ==.

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

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

impl<'a> Product<&'a DAffine3> for DAffine3

fn product<I>(iter: I) -> Self

where I: Iterator<Item = &'a Self>,

Takes an iterator and generates Self from the elements by multiplying the items.

impl Serialize for DAffine3

Serialize as a sequence of 12 values.

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>

where S: Serializer,

Serialize this value into the given Serde serializer.

impl Zeroable for DAffine3

fn zeroed() -> Self

Calls zeroed.

impl Copy for DAffine3

impl Pod for DAffine3