Struct valence_math::f64::DMat3
source · #[repr(C)]pub struct DMat3 {
pub x_axis: DVec3,
pub y_axis: DVec3,
pub z_axis: DVec3,
}
Expand description
A 3x3 column major matrix.
This 3x3 matrix type features convenience methods for creating and using linear and
affine transformations. If you are primarily dealing with 2D affine transformations the
DAffine2
type is much faster and more space efficient than
using a 3x3 matrix.
Linear transformations including 3D rotation and scale can be created using methods
such as Self::from_diagonal()
, Self::from_quat()
, Self::from_axis_angle()
,
Self::from_rotation_x()
, Self::from_rotation_y()
, or
Self::from_rotation_z()
.
The resulting matrices can be use to transform 3D vectors using regular vector multiplication.
Affine transformations including 2D translation, rotation and scale can be created
using methods such as Self::from_translation()
, Self::from_angle()
,
Self::from_scale()
and Self::from_scale_angle_translation()
.
The Self::transform_point2()
and Self::transform_vector2()
convenience methods
are provided for performing affine transforms on 2D vectors and points. These multiply
2D inputs as 3D vectors with an implicit z
value of 1
for points and 0
for
vectors respectively. These methods assume that Self
contains a valid affine
transform.
Fields§
§x_axis: DVec3
§y_axis: DVec3
§z_axis: DVec3
Implementations§
source§impl DMat3
impl DMat3
sourcepub const IDENTITY: DMat3 = _
pub const IDENTITY: DMat3 = _
A 3x3 identity matrix, where all diagonal elements are 1
, and all off-diagonal elements are 0
.
sourcepub const fn from_cols(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3) -> DMat3
pub const fn from_cols(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3) -> DMat3
Creates a 3x3 matrix from three column vectors.
sourcepub const fn from_cols_array(m: &[f64; 9]) -> DMat3
pub const fn from_cols_array(m: &[f64; 9]) -> DMat3
Creates a 3x3 matrix from a [f64; 9]
array stored in column major order.
If your data is stored in row major you will need to transpose
the returned
matrix.
sourcepub const fn to_cols_array(&self) -> [f64; 9]
pub const fn to_cols_array(&self) -> [f64; 9]
Creates a [f64; 9]
array storing data in column major order.
If you require data in row major order transpose
the matrix first.
sourcepub const fn from_cols_array_2d(m: &[[f64; 3]; 3]) -> DMat3
pub const fn from_cols_array_2d(m: &[[f64; 3]; 3]) -> DMat3
Creates a 3x3 matrix from a [[f64; 3]; 3]
3D array stored in column major order.
If your data is in row major order you will need to transpose
the returned
matrix.
sourcepub const fn to_cols_array_2d(&self) -> [[f64; 3]; 3]
pub const fn to_cols_array_2d(&self) -> [[f64; 3]; 3]
Creates a [[f64; 3]; 3]
3D array storing data in column major order.
If you require data in row major order transpose
the matrix first.
sourcepub const fn from_diagonal(diagonal: DVec3) -> DMat3
pub const fn from_diagonal(diagonal: DVec3) -> DMat3
Creates a 3x3 matrix with its diagonal set to diagonal
and all other entries set to 0.
sourcepub fn from_mat4(m: DMat4) -> DMat3
pub fn from_mat4(m: DMat4) -> DMat3
Creates a 3x3 matrix from a 4x4 matrix, discarding the 4th row and column.
sourcepub fn from_mat4_minor(m: DMat4, i: usize, j: usize) -> DMat3
pub fn from_mat4_minor(m: DMat4, i: usize, j: usize) -> DMat3
Creates a 3x3 matrix from the minor of the given 4x4 matrix, discarding the i
th column
and j
th row.
§Panics
Panics if i
or j
is greater than 3.
sourcepub fn from_quat(rotation: DQuat) -> DMat3
pub fn from_quat(rotation: DQuat) -> DMat3
Creates a 3D rotation matrix from the given quaternion.
§Panics
Will panic if rotation
is not normalized when glam_assert
is enabled.
sourcepub fn from_axis_angle(axis: DVec3, angle: f64) -> DMat3
pub fn from_axis_angle(axis: DVec3, angle: f64) -> DMat3
Creates a 3D rotation matrix from a normalized rotation axis
and angle
(in
radians).
§Panics
Will panic if axis
is not normalized when glam_assert
is enabled.
sourcepub fn from_euler(order: EulerRot, a: f64, b: f64, c: f64) -> DMat3
pub fn from_euler(order: EulerRot, a: f64, b: f64, c: f64) -> DMat3
Creates a 3D rotation matrix from the given euler rotation sequence and the angles (in radians).
sourcepub fn to_euler(&self, order: EulerRot) -> (f64, f64, f64)
pub fn to_euler(&self, order: EulerRot) -> (f64, f64, f64)
Extract Euler angles with the given Euler rotation order.
Note if the input matrix contains scales, shears, or other non-rotation transformations then the resulting Euler angles will be ill-defined.
§Panics
Will panic if any input matrix column is not normalized when glam_assert
is enabled.
sourcepub fn from_rotation_x(angle: f64) -> DMat3
pub fn from_rotation_x(angle: f64) -> DMat3
Creates a 3D rotation matrix from angle
(in radians) around the x axis.
sourcepub fn from_rotation_y(angle: f64) -> DMat3
pub fn from_rotation_y(angle: f64) -> DMat3
Creates a 3D rotation matrix from angle
(in radians) around the y axis.
sourcepub fn from_rotation_z(angle: f64) -> DMat3
pub fn from_rotation_z(angle: f64) -> DMat3
Creates a 3D rotation matrix from angle
(in radians) around the z axis.
sourcepub fn from_translation(translation: DVec2) -> DMat3
pub fn from_translation(translation: DVec2) -> DMat3
Creates an affine transformation matrix from the given 2D translation
.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
sourcepub fn from_angle(angle: f64) -> DMat3
pub fn from_angle(angle: f64) -> DMat3
Creates an affine transformation matrix from the given 2D rotation angle
(in
radians).
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
sourcepub fn from_scale_angle_translation(
scale: DVec2,
angle: f64,
translation: DVec2,
) -> DMat3
pub fn from_scale_angle_translation( scale: DVec2, angle: f64, translation: DVec2, ) -> DMat3
Creates an affine transformation matrix from the given 2D scale
, rotation angle
(in
radians) and translation
.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
sourcepub fn from_scale(scale: DVec2) -> DMat3
pub fn from_scale(scale: DVec2) -> DMat3
Creates an affine transformation matrix from the given non-uniform 2D scale
.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
§Panics
Will panic if all elements of scale
are zero when glam_assert
is enabled.
sourcepub fn from_mat2(m: DMat2) -> DMat3
pub fn from_mat2(m: DMat2) -> DMat3
Creates an affine transformation matrix from the given 2x2 matrix.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
sourcepub const fn from_cols_slice(slice: &[f64]) -> DMat3
pub const fn from_cols_slice(slice: &[f64]) -> DMat3
Creates a 3x3 matrix from the first 9 values in slice
.
§Panics
Panics if slice
is less than 9 elements long.
sourcepub fn write_cols_to_slice(self, slice: &mut [f64])
pub fn write_cols_to_slice(self, slice: &mut [f64])
Writes the columns of self
to the first 9 elements in slice
.
§Panics
Panics if slice
is less than 9 elements long.
sourcepub fn col_mut(&mut self, index: usize) -> &mut DVec3
pub fn col_mut(&mut self, index: usize) -> &mut DVec3
Returns a mutable reference to the matrix column for the given index
.
§Panics
Panics if index
is greater than 2.
sourcepub fn is_finite(&self) -> bool
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
.
sourcepub fn determinant(&self) -> f64
pub fn determinant(&self) -> f64
Returns the determinant of self
.
sourcepub fn inverse(&self) -> DMat3
pub fn inverse(&self) -> DMat3
Returns the inverse of self
.
If the matrix is not invertible the returned matrix will be invalid.
§Panics
Will panic if the determinant of self
is zero when glam_assert
is enabled.
sourcepub fn transform_point2(&self, rhs: DVec2) -> DVec2
pub fn transform_point2(&self, rhs: DVec2) -> DVec2
Transforms the given 2D vector as a point.
This is the equivalent of multiplying rhs
as a 3D vector where z
is 1
.
This method assumes that self
contains a valid affine transform.
§Panics
Will panic if the 2nd row of self
is not (0, 0, 1)
when glam_assert
is enabled.
sourcepub fn transform_vector2(&self, rhs: DVec2) -> DVec2
pub fn transform_vector2(&self, rhs: DVec2) -> DVec2
Rotates the given 2D vector.
This is the equivalent of multiplying rhs
as a 3D vector where z
is 0
.
This method assumes that self
contains a valid affine transform.
§Panics
Will panic if the 2nd row of self
is not (0, 0, 1)
when glam_assert
is enabled.
sourcepub fn mul_scalar(&self, rhs: f64) -> DMat3
pub fn mul_scalar(&self, rhs: f64) -> DMat3
Multiplies a 3x3 matrix by a scalar.
sourcepub fn div_scalar(&self, rhs: f64) -> DMat3
pub fn div_scalar(&self, rhs: f64) -> DMat3
Divides a 3x3 matrix by a scalar.
sourcepub fn abs_diff_eq(&self, rhs: DMat3, max_abs_diff: f64) -> bool
pub fn abs_diff_eq(&self, rhs: DMat3, 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 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 as_mat3(&self) -> Mat3
Trait Implementations§
source§impl AddAssign for DMat3
impl AddAssign for DMat3
source§fn add_assign(&mut self, rhs: DMat3)
fn add_assign(&mut self, rhs: DMat3)
+=
operation. Read moresource§impl DivAssign<f64> for DMat3
impl DivAssign<f64> for DMat3
source§fn div_assign(&mut self, rhs: f64)
fn div_assign(&mut self, rhs: f64)
/=
operation. Read moresource§impl MulAssign<f64> for DMat3
impl MulAssign<f64> for DMat3
source§fn mul_assign(&mut self, rhs: f64)
fn mul_assign(&mut self, rhs: f64)
*=
operation. Read moresource§impl MulAssign for DMat3
impl MulAssign for DMat3
source§fn mul_assign(&mut self, rhs: DMat3)
fn mul_assign(&mut self, rhs: DMat3)
*=
operation. Read moresource§impl SubAssign for DMat3
impl SubAssign for DMat3
source§fn sub_assign(&mut self, rhs: DMat3)
fn sub_assign(&mut self, rhs: DMat3)
-=
operation. Read moreimpl Copy for DMat3
Auto Trait Implementations§
impl Freeze for DMat3
impl RefUnwindSafe for DMat3
impl Send for DMat3
impl Sync for DMat3
impl Unpin for DMat3
impl UnwindSafe for DMat3
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
source§unsafe fn clone_to_uninit(&self, dst: *mut T)
unsafe fn clone_to_uninit(&self, dst: *mut T)
clone_to_uninit
)