Struct Rigid 

pub struct Rigid {
    pub rotation: DQuat,
    pub translation: DVec3,
}

The rigid (Euclidean) group SE(3): rotation + translation.

Fields

rotation: DQuat

The rotation part.

translation: DVec3

The translation part.

Implementations

impl Rigid

pub const IDENTITY: Self

The identity rigid transform.

pub fn from_rotation(rotation: DQuat) -> Self

A pure rotation.

pub fn from_translation(translation: DVec3) -> Self

A pure translation.

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

A pure rotation of angle radians about axis (normalized internally).

Trait Implementations

impl Clone for Rigid

fn clone(&self) -> Rigid

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Rigid

impl Debug for Rigid

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

Formats the value using the given formatter.

impl From<Rigid> for Similarity

fn from(r: Rigid) -> Self

Converts to this type from the input type.

impl From<Rigid> for DAffine3

fn from(r: Rigid) -> Self

Converts to this type from the input type.

impl From<Translation> for Rigid

fn from(t: Translation) -> Self

Converts to this type from the input type.

impl Interpolatable for Rigid

fn lerp(&self, target: &Self, t: f64) -> Self

Lerping between values

impl PartialEq for Rigid

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Rigid

impl TransformGroup for Rigid

fn identity() -> Self

The identity transformation.

fn compose(&self, inner: &Self) -> Self

Compose self outside inner, returning self * inner.