Trait nalgebra::geometry::AbstractRotation

pub trait AbstractRotation<T: Scalar, const D: usize>: PartialEq + ClosedMul + Clone {
    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>;

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

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

Required Methods

fn identity() -> Self

The rotation identity.

fn inverse(&self) -> Self

The rotation inverse.

fn inverse_mut(&mut self)

Change self to its inverse.

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

Apply the rotation to the given vector.

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

Apply the rotation to the given point.

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

Apply the inverse rotation to the given vector.

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

Apply the inverse rotation to the given point.

Provided Methods

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

Apply the inverse rotation to the given unit vector.

Implementors

impl<T: SimdRealField> AbstractRotation<T, 2> for UnitComplex<T>where
    T::Element: SimdRealField,

impl<T: SimdRealField> AbstractRotation<T, 3> for UnitQuaternion<T>where
    T::Element: SimdRealField,

impl<T: SimdRealField, const D: usize> AbstractRotation<T, D> for Rotation<T, D>where
    T::Element: SimdRealField,