Struct valence_math::Affine3A

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#[repr(C)]pub struct Affine3A {
    pub matrix3: Mat3A,
    pub translation: Vec3A,
}

Expand description

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

This type is 16 byte aligned.

Fields§

§matrix3: Mat3A§translation: Vec3A

Implementations§

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impl Affine3A

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pub const ZERO: Affine3A = _

The degenerate zero transform.

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

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pub const IDENTITY: Affine3A = _

The identity transform.

Multiplying a vector with this returns the same vector.

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pub const NAN: Affine3A = _

All NAN:s.

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pub const fn from_cols( x_axis: Vec3A, y_axis: Vec3A, z_axis: Vec3A, w_axis: Vec3A, ) -> Affine3A

Creates an affine transform from three column vectors.

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pub fn from_cols_array(m: &[f32; 12]) -> Affine3A

Creates an affine transform from a [f32; 12] array stored in column major order.

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pub fn to_cols_array(&self) -> [f32; 12]

Creates a [f32; 12] array storing data in column major order.

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pub fn from_cols_array_2d(m: &[[f32; 3]; 4]) -> Affine3A

Creates an affine transform from a [[f32; 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.

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pub fn to_cols_array_2d(&self) -> [[f32; 3]; 4]

Creates a [[f32; 3]; 4] 3D array storing data in column major order. If you require data in row major order transpose the matrix first.

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pub fn from_cols_slice(slice: &[f32]) -> Affine3A

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

§Panics

Panics if slice is less than 12 elements long.

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pub fn write_cols_to_slice(self, slice: &mut [f32])

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

§Panics

Panics if slice is less than 12 elements long.

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pub fn from_scale(scale: Vec3) -> Affine3A

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

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pub fn from_quat(rotation: Quat) -> Affine3A

Creates an affine transform from the given rotation quaternion.

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pub fn from_axis_angle(axis: Vec3, angle: f32) -> Affine3A

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

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pub fn from_rotation_x(angle: f32) -> Affine3A

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

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pub fn from_rotation_y(angle: f32) -> Affine3A

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

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pub fn from_rotation_z(angle: f32) -> Affine3A

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

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pub fn from_translation(translation: Vec3) -> Affine3A

Creates an affine transformation from the given 3D translation.

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pub fn from_mat3(mat3: Mat3) -> Affine3A

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

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pub fn from_mat3_translation(mat3: Mat3, translation: Vec3) -> Affine3A

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

Equivalent to Affine3A::from_translation(translation) * Affine3A::from_mat3(mat3)

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pub fn from_scale_rotation_translation( scale: Vec3, rotation: Quat, translation: Vec3, ) -> Affine3A

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

Equivalent to Affine3A::from_translation(translation) * Affine3A::from_quat(rotation) * Affine3A::from_scale(scale)

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pub fn from_rotation_translation(rotation: Quat, translation: Vec3) -> Affine3A

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

Equivalent to Affine3A::from_translation(translation) * Affine3A::from_quat(rotation)

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pub fn from_mat4(m: Mat4) -> Affine3A

The given Mat4 must be an affine transform, i.e. contain no perspective transform.

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pub fn to_scale_rotation_translation(&self) -> (Vec3, Quat, Vec3)

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.

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pub fn look_to_lh(eye: Vec3, dir: Vec3, up: Vec3) -> Affine3A

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.

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pub fn look_to_rh(eye: Vec3, dir: Vec3, up: Vec3) -> Affine3A

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.

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pub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Affine3A

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.

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pub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Affine3A

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.

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pub fn transform_point3(&self, rhs: Vec3) -> Vec3

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

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pub fn transform_vector3(&self, rhs: Vec3) -> Vec3

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

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

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pub fn transform_point3a(&self, rhs: Vec3A) -> Vec3A

Transforms the given Vec3A, applying shear, scale, rotation and translation.

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pub fn transform_vector3a(&self, rhs: Vec3A) -> Vec3A

Transforms the given Vec3A, applying shear, scale and rotation (but NOT translation).

To also apply translation, use Self::transform_point3a() instead.

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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.

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pub fn is_nan(&self) -> bool

Returns true if any elements are NaN.

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pub fn abs_diff_eq(&self, rhs: Affine3A, max_abs_diff: f32) -> 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.

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