Struct jumpy :: core :: physics :: rapier :: nalgebra :: Transform Copy item path

matrix: Matrix<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output, <DefaultAllocator as Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>>::Buffer>

§_phantom: PhantomData<C>

Implementations§

pub fn matrix( &self, ) -> &Matrix<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output, <DefaultAllocator as Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>>::Buffer>

A reference to the underlying matrix.

§Examples


let m = Matrix3::new(1.0, 2.0, 0.0,
                     3.0, 4.0, 0.0,
                     0.0, 0.0, 1.0);
let t = Transform2::from_matrix_unchecked(m);
assert_eq!(*t.matrix(), m);

pub fn matrix_mut_unchecked( &mut self, ) -> &mut Matrix<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output, <DefaultAllocator as Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>>::Buffer>

A mutable reference to the underlying matrix.

It is _unchecked because direct modifications of this matrix may break invariants identified by this transformation category.

§Examples


let m = Matrix3::new(1.0, 2.0, 0.0,
                     3.0, 4.0, 0.0,
                     0.0, 0.0, 1.0);
let mut t = Transform2::from_matrix_unchecked(m);
t.matrix_mut_unchecked().m12 = 42.0;
t.matrix_mut_unchecked().m23 = 90.0;


let expected = Matrix3::new(1.0, 42.0, 0.0,
                            3.0, 4.0,  90.0,
                            0.0, 0.0,  1.0);
assert_eq!(*t.matrix(), expected);

pub fn set_category<CNew>(self) -> Transform<T, CNew, D>
where CNew: SuperTCategoryOf<C>,

Sets the category of this transform.

This can be done only if the new category is more general than the current one, e.g., a transform with category TProjective cannot be converted to a transform with category TAffine because not all projective transformations are affine (the other way-round is valid though).

pub fn clone_owned(&self) -> Transform<T, C, D>

👎Deprecated: This method is redundant with automatic Copy and the .clone() method and will be removed in a future release.

pub fn inverse_transform_vector( &self, v: &Matrix<T, Const<D>, Const<1>, ArrayStorage<T, D, 1>>, ) -> Matrix<T, Const<D>, Const<1>, ArrayStorage<T, D, 1>>

Transform the given vector by the inverse of this transformation. This may be cheaper than inverting the transformation and transforming the vector.

impl<T, const D: usize> Transform<T, TGeneral, D>
where T: RealField, Const<D>: DimNameAdd<Const<1>>, DefaultAllocator: Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>,

pub fn matrix_mut( &mut self, ) -> &mut Matrix<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output, <DefaultAllocator as Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>>::Buffer>

A mutable reference to underlying matrix. Use .matrix_mut_unchecked instead if this transformation category is not TGeneral.

impl<T, C, const D: usize> Transform<T, C, D>
where T: RealField, C: TCategory, Const<D>: DimNameAdd<Const<1>>, DefaultAllocator: Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>,

pub fn identity() -> Transform<T, C, D>

Creates a new identity transform.

§Example


let pt = Point2::new(1.0, 2.0);
let t = Projective2::identity();
assert_eq!(t * pt, pt);

let aff = Affine2::identity();
assert_eq!(aff * pt, pt);

let aff = Transform2::identity();
assert_eq!(aff * pt, pt);

// Also works in 3D.
let pt = Point3::new(1.0, 2.0, 3.0);
let t = Projective3::identity();
assert_eq!(t * pt, pt);

let aff = Affine3::identity();
assert_eq!(aff * pt, pt);

let aff = Transform3::identity();
assert_eq!(aff * pt, pt);

Trait Implementations§

impl<T, C, const D: usize> AbsDiffEq for Transform<T, C, D>
where T: RealField, C: TCategory, Const<D>: DimNameAdd<Const<1>>, <T as AbsDiffEq>::Epsilon: Clone, DefaultAllocator: Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>,

type Epsilon = <T as AbsDiffEq>::Epsilon

Used for specifying relative comparisons.

fn default_epsilon() -> <Transform<T, C, D> as AbsDiffEq>::Epsilon

The default tolerance to use when testing values that are close together. Read more

fn abs_diff_eq( &self, other: &Transform<T, C, D>, epsilon: <Transform<T, C, D> as AbsDiffEq>::Epsilon, ) -> bool

A test for equality that uses the absolute difference to compute the approximate equality of two numbers.

fn abs_diff_ne(&self, other: &Rhs, epsilon: Self::Epsilon) -> bool

The inverse of [AbsDiffEq::abs_diff_eq].

impl<T, C, const D: usize> Clone for Transform<T, C, D>
where T: RealField, C: TCategory, Const<D>: DimNameAdd<Const<1>>, DefaultAllocator: Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>,

fn clone(&self) -> Transform<T, C, D>

Returns a copy of the value. Read more

1.0.0 · source§

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

Performs copy-assignment from source. Read more

impl<T, C, const D: usize> Debug for Transform<T, C, D>
where T: RealField + Debug, C: TCategory, Const<D>: DimNameAdd<Const<1>>, DefaultAllocator: Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>,

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

Formats the value using the given formatter. Read more

impl<T, C, const D: usize> Index<(usize, usize)> for Transform<T, C, D>
where T: RealField, C: TCategory, Const<D>: DimNameAdd<Const<1>>, DefaultAllocator: Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>,

type Output = T

The returned type after indexing.

fn index(&self, ij: (usize, usize)) -> &T

Performs the indexing (container[index]) operation. Read more

fn is_one(&self) -> bool
where Self: PartialEq,

Returns true if self is equal to the multiplicative identity. Read more

impl<T, C, const D: usize> PartialEq for Transform<T, C, D>
where T: RealField, C: TCategory, Const<D>: DimNameAdd<Const<1>>, DefaultAllocator: Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>,

fn eq(&self, right: &Transform<T, C, D>) -> bool

This method tests for self and other values to be equal, and is used by ==.

1.0.0 · source§

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

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<T, C, const D: usize> RelativeEq for Transform<T, C, D>
where T: RealField, C: TCategory, Const<D>: DimNameAdd<Const<1>>, <T as AbsDiffEq>::Epsilon: Clone, DefaultAllocator: Allocator<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>,

fn default_max_relative() -> <Transform<T, C, D> as AbsDiffEq>::Epsilon

The default relative tolerance for testing values that are far-apart. Read more

fn relative_eq( &self, other: &Transform<T, C, D>, epsilon: <Transform<T, C, D> as AbsDiffEq>::Epsilon, max_relative: <Transform<T, C, D> as AbsDiffEq>::Epsilon, ) -> bool

A test for equality that uses a relative comparison if the values are far apart.

fn relative_ne( &self, other: &Rhs, epsilon: Self::Epsilon, max_relative: Self::Epsilon, ) -> bool

The inverse of [RelativeEq::relative_eq].

impl<T, C, const D: usize> !UnwindSafe for Transform<T, C, D>

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

Converts self into T using Into<T>. Read more

impl<T> Downcast<T> for T

fn downcast(&self) -> &T

impl<T> Downcast for T
where T: Any,

fn into_any(self: Box<T>) -> Box<dyn Any>

Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait.

fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>

Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.

fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.

fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.

impl<T> DowncastSync for T
where T: Any + Send + Sync,

fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Send + Sync>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait.

impl<T> DynClone for T
where T: Clone,

fn __clone_box(&self, _: Private) -> *mut ()

impl<T> DynEq for T
where T: Any + Eq,

fn as_any(&self) -> &(dyn Any + 'static)

Casts the type to dyn Any.

fn dyn_eq(&self, other: &(dyn DynEq + 'static)) -> bool

This method tests for self and other values to be equal. Read more

impl<T> DynHash for T
where T: DynEq + Hash,

fn as_dyn_eq(&self) -> &(dyn DynEq + 'static)

Casts the type to dyn Any.

fn equivalent(&self, key: &K) -> bool

fn from(t: T) -> T

Returns the argument unchanged.

impl<S> FromSample<S> for S

Instruments this type with the provided [Span], returning an Instrumented wrapper. Read more

fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more

fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

Mutably borrows self, then passes self.deref_mut() into the pipe function.

fn create(_: Context<'gc>) -> T

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

Calls .tap_deref_mut() only in debug builds, and is erased in release builds.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> ToSample for T
where U: FromSample<T>,

fn to_sample_(self) -> U

Attaches the provided Subscriber to this type, returning a [WithDispatch] wrapper. Read more