nalgebra::geometry

Trait AbstractRotation

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pub trait AbstractRotation<T: Scalar, const D: usize>:
    PartialEq
    + ClosedMulAssign
    + Clone {
    // Required methods
    fn identity() -> Self;
    fn inverse(&self) -> Self;
    fn inverse_mut(&mut self);
    fn transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D>;
    fn transform_point(&self, p: &Point<T, D>) -> Point<T, D>;
    fn inverse_transform_vector(
        &self,
        v: &OVector<T, Const<D>>,
    ) -> OVector<T, Const<D>>;
    fn inverse_transform_point(&self, p: &Point<T, D>) -> Point<T, D>;

    // Provided method
    fn inverse_transform_unit_vector(
        &self,
        v: &Unit<SVector<T, D>>,
    ) -> Unit<SVector<T, D>> { ... }
}
Expand description

Trait implemented by rotations that can be used inside of an Isometry or Similarity.

Required Methods§

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fn identity() -> Self

The rotation identity.

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fn inverse(&self) -> Self

The rotation inverse.

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fn inverse_mut(&mut self)

Change self to its inverse.

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fn transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D>

Apply the rotation to the given vector.

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fn transform_point(&self, p: &Point<T, D>) -> Point<T, D>

Apply the rotation to the given point.

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fn inverse_transform_vector( &self, v: &OVector<T, Const<D>>, ) -> OVector<T, Const<D>>

Apply the inverse rotation to the given vector.

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fn inverse_transform_point(&self, p: &Point<T, D>) -> Point<T, D>

Apply the inverse rotation to the given point.

Provided Methods§

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fn inverse_transform_unit_vector( &self, v: &Unit<SVector<T, D>>, ) -> Unit<SVector<T, D>>

Apply the inverse rotation to the given unit vector.

Dyn Compatibility§

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety", so this trait is not object safe.

Implementors§