Struct rin::scene::physics::Offset[][src]

pub struct Offset(pub Isometry<f32, U3, Unit<Quaternion<f32>>>);

Methods from Deref<Target = Isometry<f32, U3, Unit<Quaternion<f32>>>>

#[must_use = "Did you mean to use inverse_mut()?"]
pub fn inverse(&self) -> Isometry<N, D, R>
[src]

Inverts self.

Example

let iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let inv = iso.inverse();
let pt = Point2::new(1.0, 2.0);

assert_eq!(inv * (iso * pt), pt);

pub fn inverse_mut(&mut self)[src]

Inverts self in-place.

Example

let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let pt = Point2::new(1.0, 2.0);
let transformed_pt = iso * pt;
iso.inverse_mut();

assert_eq!(iso * transformed_pt, pt);

pub fn inv_mul(&self, rhs: &Isometry<N, D, R>) -> Isometry<N, D, R>[src]

Computes self.inverse() * rhs in a more efficient way.

Example

let mut iso1 = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let mut iso2 = Isometry2::new(Vector2::new(10.0, 20.0), f32::consts::FRAC_PI_4);

assert_eq!(iso1.inverse() * iso2, iso1.inv_mul(&iso2));

pub fn append_translation_mut(&mut self, t: &Translation<N, D>)[src]

Appends to self the given translation in-place.

Example

let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let tra = Translation2::new(3.0, 4.0);
// Same as `iso = tra * iso`.
iso.append_translation_mut(&tra);

assert_eq!(iso.translation, Translation2::new(4.0, 6.0));

pub fn append_rotation_mut(&mut self, r: &R)[src]

Appends to self the given rotation in-place.

Example

let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::PI / 6.0);
let rot = UnitComplex::new(f32::consts::PI / 2.0);
// Same as `iso = rot * iso`.
iso.append_rotation_mut(&rot);

assert_relative_eq!(iso, Isometry2::new(Vector2::new(-2.0, 1.0), f32::consts::PI * 2.0 / 3.0), epsilon = 1.0e-6);

pub fn append_rotation_wrt_point_mut(&mut self, r: &R, p: &Point<N, D>)[src]

Appends in-place to self a rotation centered at the point p, i.e., the rotation that lets p invariant.

Example

let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let rot = UnitComplex::new(f32::consts::FRAC_PI_2);
let pt = Point2::new(1.0, 0.0);
iso.append_rotation_wrt_point_mut(&rot, &pt);

assert_relative_eq!(iso * pt, Point2::new(-2.0, 0.0), epsilon = 1.0e-6);

pub fn append_rotation_wrt_center_mut(&mut self, r: &R)[src]

Appends in-place to self a rotation centered at the point with coordinates self.translation.

Example

let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let rot = UnitComplex::new(f32::consts::FRAC_PI_2);
iso.append_rotation_wrt_center_mut(&rot);

// The translation part should not have changed.
assert_eq!(iso.translation.vector, Vector2::new(1.0, 2.0));
assert_eq!(iso.rotation, UnitComplex::new(f32::consts::PI));

pub fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D>[src]

Transform the given point by this isometry.

This is the same as the multiplication self * pt.

Example

let tra = Translation3::new(0.0, 0.0, 3.0);
let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
let iso = Isometry3::from_parts(tra, rot);

let transformed_point = iso.transform_point(&Point3::new(1.0, 2.0, 3.0));
assert_relative_eq!(transformed_point, Point3::new(3.0, 2.0, 2.0), epsilon = 1.0e-6);

pub fn transform_vector(
    &self,
    v: &Matrix<N, D, U1, <DefaultAllocator as Allocator<N, D, U1>>::Buffer>
) -> Matrix<N, D, U1, <DefaultAllocator as Allocator<N, D, U1>>::Buffer>
[src]

Transform the given vector by this isometry, ignoring the translation component of the isometry.

This is the same as the multiplication self * v.

Example

let tra = Translation3::new(0.0, 0.0, 3.0);
let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
let iso = Isometry3::from_parts(tra, rot);

let transformed_point = iso.transform_vector(&Vector3::new(1.0, 2.0, 3.0));
assert_relative_eq!(transformed_point, Vector3::new(3.0, 2.0, -1.0), epsilon = 1.0e-6);

pub fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D>[src]

Transform the given point by the inverse of this isometry. This may be less expensive than computing the entire isometry inverse and then transforming the point.

Example

let tra = Translation3::new(0.0, 0.0, 3.0);
let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
let iso = Isometry3::from_parts(tra, rot);

let transformed_point = iso.inverse_transform_point(&Point3::new(1.0, 2.0, 3.0));
assert_relative_eq!(transformed_point, Point3::new(0.0, 2.0, 1.0), epsilon = 1.0e-6);

pub fn inverse_transform_vector(
    &self,
    v: &Matrix<N, D, U1, <DefaultAllocator as Allocator<N, D, U1>>::Buffer>
) -> Matrix<N, D, U1, <DefaultAllocator as Allocator<N, D, U1>>::Buffer>
[src]

Transform the given vector by the inverse of this isometry, ignoring the translation component of the isometry. This may be less expensive than computing the entire isometry inverse and then transforming the point.

Example

let tra = Translation3::new(0.0, 0.0, 3.0);
let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
let iso = Isometry3::from_parts(tra, rot);

let transformed_point = iso.inverse_transform_vector(&Vector3::new(1.0, 2.0, 3.0));
assert_relative_eq!(transformed_point, Vector3::new(-3.0, 2.0, 1.0), epsilon = 1.0e-6);

pub fn inverse_transform_unit_vector(
    &self,
    v: &Unit<Matrix<N, D, U1, <DefaultAllocator as Allocator<N, D, U1>>::Buffer>>
) -> Unit<Matrix<N, D, U1, <DefaultAllocator as Allocator<N, D, U1>>::Buffer>>
[src]

Transform the given unit vector by the inverse of this isometry, ignoring the translation component of the isometry. This may be less expensive than computing the entire isometry inverse and then transforming the point.

Example

let tra = Translation3::new(0.0, 0.0, 3.0);
let rot = UnitQuaternion::from_scaled_axis(Vector3::z() * f32::consts::FRAC_PI_2);
let iso = Isometry3::from_parts(tra, rot);

let transformed_point = iso.inverse_transform_unit_vector(&Vector3::x_axis());
assert_relative_eq!(transformed_point, -Vector3::y_axis(), epsilon = 1.0e-6);

pub fn to_homogeneous(
    &self
) -> Matrix<N, <D as DimNameAdd<U1>>::Output, <D as DimNameAdd<U1>>::Output, <DefaultAllocator as Allocator<N, <D as DimNameAdd<U1>>::Output, <D as DimNameAdd<U1>>::Output>>::Buffer> where
    D: DimNameAdd<U1>,
    R: SubsetOf<Matrix<N, <D as DimNameAdd<U1>>::Output, <D as DimNameAdd<U1>>::Output, <DefaultAllocator as Allocator<N, <D as DimNameAdd<U1>>::Output, <D as DimNameAdd<U1>>::Output>>::Buffer>>,
    DefaultAllocator: Allocator<N, <D as DimNameAdd<U1>>::Output, <D as DimNameAdd<U1>>::Output>, 
[src]

Converts this isometry into its equivalent homogeneous transformation matrix.

This is the same as self.to_matrix().

Example

let iso = Isometry2::new(Vector2::new(10.0, 20.0), f32::consts::FRAC_PI_6);
let expected = Matrix3::new(0.8660254, -0.5,      10.0,
                            0.5,       0.8660254, 20.0,
                            0.0,       0.0,       1.0);

assert_relative_eq!(iso.to_homogeneous(), expected, epsilon = 1.0e-6);

pub fn to_matrix(
    &self
) -> Matrix<N, <D as DimNameAdd<U1>>::Output, <D as DimNameAdd<U1>>::Output, <DefaultAllocator as Allocator<N, <D as DimNameAdd<U1>>::Output, <D as DimNameAdd<U1>>::Output>>::Buffer> where
    D: DimNameAdd<U1>,
    R: SubsetOf<Matrix<N, <D as DimNameAdd<U1>>::Output, <D as DimNameAdd<U1>>::Output, <DefaultAllocator as Allocator<N, <D as DimNameAdd<U1>>::Output, <D as DimNameAdd<U1>>::Output>>::Buffer>>,
    DefaultAllocator: Allocator<N, <D as DimNameAdd<U1>>::Output, <D as DimNameAdd<U1>>::Output>, 
[src]

Converts this isometry into its equivalent homogeneous transformation matrix.

This is the same as self.to_homogeneous().

Example

let iso = Isometry2::new(Vector2::new(10.0, 20.0), f32::consts::FRAC_PI_6);
let expected = Matrix3::new(0.8660254, -0.5,      10.0,
                            0.5,       0.8660254, 20.0,
                            0.0,       0.0,       1.0);

assert_relative_eq!(iso.to_matrix(), expected, epsilon = 1.0e-6);

pub fn lerp_slerp(
    &self,
    other: &Isometry<N, U3, Unit<Quaternion<N>>>,
    t: N
) -> Isometry<N, U3, Unit<Quaternion<N>>> where
    N: RealField
[src]

Interpolates between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Panics if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined). Use .try_lerp_slerp instead to avoid the panic.

Examples:


let t1 = Translation3::new(1.0, 2.0, 3.0);
let t2 = Translation3::new(4.0, 8.0, 12.0);
let q1 = UnitQuaternion::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
let q2 = UnitQuaternion::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
let iso1 = Isometry3::from_parts(t1, q1);
let iso2 = Isometry3::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));

pub fn try_lerp_slerp(
    &self,
    other: &Isometry<N, U3, Unit<Quaternion<N>>>,
    t: N,
    epsilon: N
) -> Option<Isometry<N, U3, Unit<Quaternion<N>>>> where
    N: RealField
[src]

Attempts to interpolate between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Retuns None if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined).

Examples:


let t1 = Translation3::new(1.0, 2.0, 3.0);
let t2 = Translation3::new(4.0, 8.0, 12.0);
let q1 = UnitQuaternion::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
let q2 = UnitQuaternion::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
let iso1 = Isometry3::from_parts(t1, q1);
let iso2 = Isometry3::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));

pub fn lerp_slerp(
    &self,
    other: &Isometry<N, U3, Rotation<N, U3>>,
    t: N
) -> Isometry<N, U3, Rotation<N, U3>> where
    N: RealField
[src]

Interpolates between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Panics if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined). Use .try_lerp_slerp instead to avoid the panic.

Examples:


let t1 = Translation3::new(1.0, 2.0, 3.0);
let t2 = Translation3::new(4.0, 8.0, 12.0);
let q1 = Rotation3::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
let q2 = Rotation3::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
let iso1 = IsometryMatrix3::from_parts(t1, q1);
let iso2 = IsometryMatrix3::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));

pub fn try_lerp_slerp(
    &self,
    other: &Isometry<N, U3, Rotation<N, U3>>,
    t: N,
    epsilon: N
) -> Option<Isometry<N, U3, Rotation<N, U3>>> where
    N: RealField
[src]

Attempts to interpolate between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Retuns None if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined).

Examples:


let t1 = Translation3::new(1.0, 2.0, 3.0);
let t2 = Translation3::new(4.0, 8.0, 12.0);
let q1 = Rotation3::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
let q2 = Rotation3::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
let iso1 = IsometryMatrix3::from_parts(t1, q1);
let iso2 = IsometryMatrix3::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));

pub fn lerp_slerp(
    &self,
    other: &Isometry<N, U2, Unit<Complex<N>>>,
    t: N
) -> Isometry<N, U2, Unit<Complex<N>>> where
    N: RealField
[src]

Interpolates between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Panics if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined). Use .try_lerp_slerp instead to avoid the panic.

Examples:


let t1 = Translation2::new(1.0, 2.0);
let t2 = Translation2::new(4.0, 8.0);
let q1 = UnitComplex::new(std::f32::consts::FRAC_PI_4);
let q2 = UnitComplex::new(-std::f32::consts::PI);
let iso1 = Isometry2::from_parts(t1, q1);
let iso2 = Isometry2::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector2::new(2.0, 4.0));
assert_relative_eq!(iso3.rotation.angle(), std::f32::consts::FRAC_PI_2);

pub fn lerp_slerp(
    &self,
    other: &Isometry<N, U2, Rotation<N, U2>>,
    t: N
) -> Isometry<N, U2, Rotation<N, U2>> where
    N: RealField
[src]

Interpolates between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Panics if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined). Use .try_lerp_slerp instead to avoid the panic.

Examples:


let t1 = Translation2::new(1.0, 2.0);
let t2 = Translation2::new(4.0, 8.0);
let q1 = Rotation2::new(std::f32::consts::FRAC_PI_4);
let q2 = Rotation2::new(-std::f32::consts::PI);
let iso1 = IsometryMatrix2::from_parts(t1, q1);
let iso2 = IsometryMatrix2::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector2::new(2.0, 4.0));
assert_relative_eq!(iso3.rotation.angle(), std::f32::consts::FRAC_PI_2);

Trait Implementations

impl Clone for Offset[src]

impl Component for Offset[src]

type Storage = KeyedDenseVec<usize, Offset>

type MutStorageCacheGuard = ()

impl Debug for Offset[src]

impl<'a> DebugParameter for Offset[src]

impl Deref for Offset[src]

type Target = Isometry<f32, U3, Unit<Quaternion<f32>>>

The resulting type after dereferencing.

impl DerefMut for Offset[src]

impl Copy for Offset[src]

Auto Trait Implementations

impl RefUnwindSafe for Offset

impl Send for Offset

impl Sync for Offset

impl Unpin for Offset

impl UnwindSafe for Offset

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized
[src]

impl<T> Any for T where
    T: Any
[src]

impl<T> Borrow<T> for T where
    T: ?Sized
[src]

impl<T> BorrowMut<T> for T where
    T: ?Sized
[src]

impl<T> Downcast for T where
    T: Any
[src]

impl<T> DowncastSync for T where
    T: Any + Send + Sync
[src]

impl<T> From<T> for T[src]

impl<T, U> Into<U> for T where
    U: From<T>, 
[src]

impl<V> IntoPnt<V> for V[src]

impl<V> IntoVec<V> for V[src]

impl<T> Pointable for T[src]

type Init = T

The type for initializers.

impl<T> Same<T> for T[src]

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, 
[src]

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, 
[src]

impl<T> ToOwned for T where
    T: Clone
[src]

type Owned = T

The resulting type after obtaining ownership.

impl<T, U> TryFrom<U> for T where
    U: Into<T>, 
[src]

type Error = Infallible

The type returned in the event of a conversion error.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, 
[src]

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

The type returned in the event of a conversion error.

impl<V, T> VZip<V> for T where
    V: MultiLane<T>, 
[src]

impl<C> ComponentSend for C where
    C: Component + Send
[src]

impl<C> ComponentThreadLocal for C where
    C: Component
[src]

impl<T> Slottable for T where
    T: Copy
[src]