Struct AngularInertiaTensor

pub struct AngularInertiaTensor(/* private fields */);

The 3x3 angular inertia tensor of a 3D object, representing resistance to angular acceleration.

The inertia tensor is a symmetric, positive-semidefinite matrix that describes the moment of inertia for rotations about the X, Y, and Z axes. By diagonalizing this matrix, it is possible to extract the principal axes of inertia (a Vec3) and a local inertial frame (a Quat) that defines the XYZ axes. This diagonalization can be performed using the principal_angular_inertia_with_local_frame method.

The diagonalized representation is more compact and often easier to work with, but the full tensor can be more efficient for computations using the angular inertia.

Implementations

impl AngularInertiaTensor

pub const ZERO: AngularInertiaTensor

Zero angular inertia.

pub const IDENTITY: AngularInertiaTensor

An angular inertia tensor with a principal angular inertia of 1.0 along the diagonal.

pub const INFINITY: AngularInertiaTensor

Infinite angular inertia.

pub fn new(principal_angular_inertia: Vec3) -> AngularInertiaTensor

Creates a new AngularInertiaTensor from the given principal angular inertia.

The principal angular inertia represents the torque needed for a desired angular acceleration about the local coordinate axes. To specify the orientation of the local inertial frame, consider using new_with_local_frame.

Panics

Panics if any component of the principal angular inertia is negative or NaN when debug_assertions are enabled.

pub fn try_new( principal_angular_inertia: Vec3, ) -> Result<AngularInertiaTensor, AngularInertiaTensorError>

Tries to create a new AngularInertiaTensor from the given principal angular inertia.

The principal angular inertia represents the torque needed for a desired angular acceleration about the local coordinate axes. To specify the orientation of the local inertial frame, consider using try_new_with_local_frame.

Errors

Returns Err(AngularInertiaTensorError) if any component of the principal angular inertia is negative or NaN.

pub fn new_with_local_frame( principal_angular_inertia: Vec3, orientation: Quat, ) -> AngularInertiaTensor

Creates a new AngularInertiaTensor from the given principal angular inertia and the orientation of the local inertial frame.

The principal angular inertia represents the torque needed for a desired angular acceleration about the local coordinate axes defined by the given orientation.

Panics

Panics if any component of the principal angular inertia is negative or NaN when debug_assertions are enabled.

pub fn try_new_with_local_frame( principal_angular_inertia: Vec3, orientation: Quat, ) -> Result<AngularInertiaTensor, AngularInertiaTensorError>

Tries to create a new AngularInertiaTensor from the given principal angular inertia and the orientation of the local inertial frame.

The principal angular inertia represents the torque needed for a desired angular acceleration about the local coordinate axes defined by the given orientation.

Errors

Returns Err(AngularInertiaTensorError) if any component of the principal angular inertia is negative or NaN.

pub const fn from_symmetric_mat3(mat: SymmetricMat3) -> AngularInertiaTensor

Creates a new AngularInertiaTensor from the given angular inertia tensor represented as a SymmetricMat3.

The tensor should be positive-semidefinite, but this is not checked.

pub fn try_from_mat3( mat: Mat3, ) -> Result<AngularInertiaTensor, MatConversionError>

Tries to create a new AngularInertiaTensor from the given angular inertia tensor represented as a Mat3.

The tensor should be positive-semidefinite, but this is not checked.

Errors

Returns a MatConversionError if the given matrix is not symmetric.

pub const fn from_mat3_unchecked(mat: Mat3) -> AngularInertiaTensor

Creates a new AngularInertiaTensor from the given angular inertia [tensor] represented as a Mat3.

Only the lower left triangle of the matrix is used. No check is performed to ensure that the given matrix is truly symmetric or positive-semidefinite.

pub fn as_symmetric_mat3(&self) -> SymmetricMat3

Returns the angular inertia tensor as a SymmetricMat3.

Equivalent to value.

pub fn as_symmetric_mat3_mut(&mut self) -> &mut SymmetricMat3

Returns a mutable reference to the SymmetricMat3 stored in self.

Equivalent to value_mut.

pub fn value(self) -> SymmetricMat3

Returns the angular inertia tensor as a SymmetricMat3.

Equivalent to as_symmetric_mat3.

pub fn value_mut(&mut self) -> &mut SymmetricMat3

Returns a mutable reference to the SymmetricMat3 stored in self.

Equivalent to as_symmetric_mat3_mut.

pub fn to_mat3(&self) -> Mat3

Returns the angular inertia tensor as a Mat3.

pub fn inverse(self) -> AngularInertiaTensor

Returns the inverse of the angular inertia tensor.

pub fn set(&mut self, angular_inertia: impl Into<AngularInertiaTensor>)

Sets the angular inertia tensor to the given value.

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

Computes the principal angular inertia and local inertial frame by diagonalizing the 3x3 tensor matrix.

The principal angular inertia represents the torque needed for a desired angular acceleration about the local coordinate axes defined by the local inertial frame.

pub fn rotated(self, rotation: Quat) -> AngularInertiaTensor

Computes the angular inertia tensor with the given rotation.

This can be used to transform local angular inertia to world space.

pub fn shifted(self, mass: f32, offset: Vec3) -> AngularInertiaTensor

Computes the angular inertia tensor shifted by the given offset, taking into account the given mass.

Methods from Deref<Target = SymmetricMat3>

pub fn mul_vec3a(&self, rhs: Vec3A) -> Vec3A

Transforms a Vec3A.

pub const ZERO: SymmetricMat3

pub const IDENTITY: SymmetricMat3

pub const NAN: SymmetricMat3

pub fn to_cols_array(&self) -> [f32; 9]

Creates an array storing data in column major order.

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

Creates a 2D array storing data in column major order.

pub fn to_mat3(&self) -> Mat3

Creates a 3x3 matrix from the symmetric 3x3 matrix in self.

pub fn col(&self, index: usize) -> Vec3

Returns the matrix column for the given index.

Panics

Panics if index is greater than 2.

pub fn row(&self, index: usize) -> Vec3

Returns the matrix row for the given index.

Panics

Panics if index is greater than 2.

pub fn diagonal(&self) -> Vec3

Returns the diagonal of the matrix.

pub fn is_finite(&self) -> bool

Returns true if, and only if, all elements are finite. If any element is either NaN or positive or negative infinity, this will return false.

pub fn is_nan(&self) -> bool

Returns true if any elements are NaN.

pub fn determinant(&self) -> f32

Returns the determinant of self.

pub fn inverse(&self) -> SymmetricMat3

Returns the inverse of self.

If the matrix is not invertible the returned matrix will be invalid.

pub fn inverse_or_zero(&self) -> SymmetricMat3

Returns the inverse of self, or a zero matrix if the matrix is not invertible.

pub fn abs(&self) -> SymmetricMat3

Takes the absolute value of each element in self.

pub fn skew(&self, vec: Vec3) -> SymmetricMat3

Computes skew_symmetric(vec) * self * skew_symmetric(vec).transpose() for a symmetric matrix self.

pub fn mul_vec3(&self, rhs: Vec3) -> Vec3

Transforms a 3D vector.

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

Solves self * x = rhs for x using the LDLT decomposition.

self must be a positive semidefinite matrix.

pub fn mul_mat3(&self, rhs: &Mat3) -> Mat3

Multiplies two 3x3 matrices.

pub fn mul_mat32(&self, rhs: &Mat32) -> Mat32

Multiplies self by a 3x2 matrix, self * rhs.

pub fn add_mat3(&self, rhs: &Mat3) -> Mat3

Adds two 3x3 matrices.

pub fn sub_mat3(&self, rhs: &Mat3) -> Mat3

Subtracts two 3x3 matrices.

pub fn mul_symmetric_mat3(&self, rhs: &SymmetricMat3) -> Mat3

Multiplies two symmetric 3x3 matrices.

pub fn add_symmetric_mat3(&self, rhs: &SymmetricMat3) -> SymmetricMat3

Adds two symmetric 3x3 matrices.

pub fn sub_symmetric_mat3(&self, rhs: &SymmetricMat3) -> SymmetricMat3

Subtracts two symmetric 3x3 matrices.

pub fn mul_scalar(&self, rhs: f32) -> SymmetricMat3

Multiplies a 3x3 matrix by a scalar.

pub fn div_scalar(&self, rhs: f32) -> SymmetricMat3

Divides a 3x3 matrix by a scalar.

pub fn as_symmetric_dmat3(&self) -> SymmetricDMat3

Returns the double precision version of self.

Trait Implementations

impl Add for AngularInertiaTensor

type Output = AngularInertiaTensor

The resulting type after applying the + operator.

fn add(self, rhs: AngularInertiaTensor) -> AngularInertiaTensor

Performs the + operation.

impl AddAssign for AngularInertiaTensor

fn add_assign(&mut self, rhs: AngularInertiaTensor)

Performs the += operation.

impl Clone for AngularInertiaTensor

fn clone(&self) -> AngularInertiaTensor

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for AngularInertiaTensor

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

Formats the value using the given formatter.

impl Default for AngularInertiaTensor

fn default() -> AngularInertiaTensor

Returns the “default value” for a type.

impl Deref for AngularInertiaTensor

type Target = SymmetricMat3

The resulting type after dereferencing.

fn deref(&self) -> &<AngularInertiaTensor as Deref>::Target

Dereferences the value.

impl Div<f32> for AngularInertiaTensor

type Output = AngularInertiaTensor

The resulting type after applying the / operator.

fn div(self, rhs: f32) -> AngularInertiaTensor

Performs the / operation.

impl DivAssign<f32> for AngularInertiaTensor

fn div_assign(&mut self, rhs: f32)

Performs the /= operation.

impl From<AngularInertiaTensor> for Mat3

fn from(angular_inertia: AngularInertiaTensor) -> Mat3

Converts to this type from the input type.

impl From<AngularInertiaTensor> for SymmetricMat3

fn from(angular_inertia: AngularInertiaTensor) -> SymmetricMat3

Converts to this type from the input type.

impl From<SymmetricMat3> for AngularInertiaTensor

fn from(angular_inertia: SymmetricMat3) -> AngularInertiaTensor

Converts to this type from the input type.

impl FromReflect for AngularInertiaTensor

fn from_reflect( reflect: &(dyn PartialReflect + 'static), ) -> Option<AngularInertiaTensor>

Constructs a concrete instance of Self from a reflected value.

fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails.

impl GetTypeRegistration for AngularInertiaTensor

fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.

fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type.

impl Mul<AngularInertiaTensor> for Quat

type Output = AngularInertiaTensor

The resulting type after applying the * operator.

fn mul(self, angular_inertia: AngularInertiaTensor) -> AngularInertiaTensor

Performs the * operation.

impl Mul<AngularInertiaTensor> for f32

type Output = AngularInertiaTensor

The resulting type after applying the * operator.

fn mul(self, rhs: AngularInertiaTensor) -> AngularInertiaTensor

Performs the * operation.

impl Mul<Vec3> for AngularInertiaTensor

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, rhs: Vec3) -> Vec3

Performs the * operation.

impl MulAssign<f32> for AngularInertiaTensor

fn mul_assign(&mut self, rhs: f32)

Performs the *= operation.

impl PartialEq for AngularInertiaTensor

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

Tests for self and other values to be equal, and is used by ==.

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

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

impl PartialReflect for AngularInertiaTensor

fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

Returns the TypeInfo of the type represented by this value.

fn try_apply( &mut self, value: &(dyn PartialReflect + 'static), ) -> Result<(), ApplyError>

Tries to apply a reflected value to this value.

fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type.

fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type.

fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type.

fn reflect_owned(self: Box<AngularInertiaTensor>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type.

fn try_into_reflect( self: Box<AngularInertiaTensor>, ) -> Result<Box<dyn Reflect>, Box<dyn PartialReflect>>

Attempts to cast this type to a boxed, fully-reflected value.

fn try_as_reflect(&self) -> Option<&(dyn Reflect + 'static)>

Attempts to cast this type to a fully-reflected value.

fn try_as_reflect_mut(&mut self) -> Option<&mut (dyn Reflect + 'static)>

Attempts to cast this type to a mutable, fully-reflected value.

fn into_partial_reflect( self: Box<AngularInertiaTensor>, ) -> Box<dyn PartialReflect>

Casts this type to a boxed, reflected value.

fn as_partial_reflect(&self) -> &(dyn PartialReflect + 'static)

Casts this type to a reflected value.

fn as_partial_reflect_mut(&mut self) -> &mut (dyn PartialReflect + 'static)

Casts this type to a mutable, reflected value.

fn reflect_partial_eq( &self, value: &(dyn PartialReflect + 'static), ) -> Option<bool>

Returns a “partial equality” comparison result.

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

Debug formatter for the value.

fn reflect_clone(&self) -> Result<Box<dyn Reflect>, ReflectCloneError>

Attempts to clone Self using reflection.

fn apply(&mut self, value: &(dyn PartialReflect + 'static))

Applies a reflected value to this value.

fn to_dynamic(&self) -> Box<dyn PartialReflect>

Converts this reflected value into its dynamic representation based on its kind.

fn reflect_clone_and_take<T>(&self) -> Result<T, ReflectCloneError>

where T: 'static, Self: Sized + TypePath,

For a type implementing PartialReflect, combines reflect_clone and take in a useful fashion, automatically constructing an appropriate ReflectCloneError if the downcast fails.

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type).

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Reflect for AngularInertiaTensor

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

Returns the value as a Box<dyn Any>.

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

Returns the value as a &dyn Any.

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

Returns the value as a &mut dyn Any.

fn into_reflect(self: Box<AngularInertiaTensor>) -> Box<dyn Reflect>

Casts this type to a boxed, fully-reflected value.

fn as_reflect(&self) -> &(dyn Reflect + 'static)

Casts this type to a fully-reflected value.

fn as_reflect_mut(&mut self) -> &mut (dyn Reflect + 'static)

Casts this type to a mutable, fully-reflected value.

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value.

impl TryFrom<Mat3> for AngularInertiaTensor

type Error = MatConversionError

The type returned in the event of a conversion error.

fn try_from( angular_inertia: Mat3, ) -> Result<AngularInertiaTensor, <AngularInertiaTensor as TryFrom<Mat3>>::Error>

Performs the conversion.

impl TryFrom<Vec3> for AngularInertiaTensor

type Error = AngularInertiaTensorError

The type returned in the event of a conversion error.

fn try_from( principal_angular_inertia: Vec3, ) -> Result<AngularInertiaTensor, <AngularInertiaTensor as TryFrom<Vec3>>::Error>

Performs the conversion.

impl TupleStruct for AngularInertiaTensor

fn field(&self, index: usize) -> Option<&(dyn PartialReflect + 'static)>

Returns a reference to the value of the field with index index as a &dyn Reflect.

fn field_mut( &mut self, index: usize, ) -> Option<&mut (dyn PartialReflect + 'static)>

Returns a mutable reference to the value of the field with index index as a &mut dyn Reflect.

fn field_len(&self) -> usize

Returns the number of fields in the tuple struct.

fn iter_fields(&self) -> TupleStructFieldIter<'_>

Returns an iterator over the values of the tuple struct’s fields.

fn to_dynamic_tuple_struct(&self) -> DynamicTupleStruct

Creates a new DynamicTupleStruct from this tuple struct.

fn get_represented_tuple_struct_info(&self) -> Option<&'static TupleStructInfo>

Will return None if TypeInfo is not available.

impl TypePath for AngularInertiaTensor

fn type_path() -> &'static str

Returns the fully qualified path of the underlying type.

fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type.

fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous.

fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous.

fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous.

impl Typed for AngularInertiaTensor

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Copy for AngularInertiaTensor

impl StructuralPartialEq for AngularInertiaTensor