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: Self = _

Zero angular inertia.

pub const IDENTITY: Self = _

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

pub const INFINITY: Self = _

Infinite angular inertia.

pub fn new(principal_angular_inertia: Vec3) -> Self

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<Self, 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, ) -> Self

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<Self, 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 fn from_mat3(mat: Mat3) -> Self

Creates a new AngularInertiaTensor from the given angular inertia tensor.

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

pub fn as_mat3(&self) -> Mat3

Returns the angular inertia tensor as a Mat3.

Equivalent to value.

pub fn as_mat3_mut(&mut self) -> &mut Mat3

Returns a mutable reference to the Mat3 stored in self.

Note that this allows making changes that could make the angular inertia tensor invalid (non-symmetric or non-positive-semidefinite).

Equivalent to value_mut.

pub fn value(self) -> Mat3

Returns the angular inertia tensor as a Mat3.

Equivalent to as_mat3.

pub fn value_mut(&mut self) -> &mut Mat3

Returns a mutable reference to the Mat3 stored in self.

Note that this allows making changes that could make the angular inertia tensor invalid (non-symmetric or non-positive-semidefinite).

Equivalent to as_mat3_mut.

pub fn inverse(self) -> Self

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) -> Self

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) -> Self

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

Methods from Deref<Target = Mat3>

pub const ZERO: Mat3 = _

pub const IDENTITY: Mat3 = _

pub const NAN: Mat3 = _

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

Creates a [f32; 9] array storing data in column major order. If you require data in row major order transpose the matrix first.

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

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

pub fn to_euler(&self, order: EulerRot) -> (f32, f32, f32)

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.

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 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.

pub fn is_nan(&self) -> bool

Returns true if any elements are NaN.

pub fn transpose(&self) -> Mat3

Returns the transpose of self.

pub fn determinant(&self) -> f32

Returns the determinant of self.

pub fn inverse(&self) -> Mat3

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.

pub fn transform_point2(&self, rhs: Vec2) -> Vec2

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.

pub fn transform_vector2(&self, rhs: Vec2) -> Vec2

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.

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

Transforms a 3D vector.

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

Transforms a Vec3A.

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

Multiplies two 3x3 matrices.

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_scalar(&self, rhs: f32) -> Mat3

Multiplies a 3x3 matrix by a scalar.

pub fn div_scalar(&self, rhs: f32) -> Mat3

Divides a 3x3 matrix by a scalar.

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

Takes the absolute value of each element in self

pub fn as_dmat3(&self) -> DMat3

Trait Implementations

impl Add for AngularInertiaTensor

type Output = AngularInertiaTensor

The resulting type after applying the + operator.

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

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 copy 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

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 = Mat3

The resulting type after dereferencing.

fn deref(&self) -> &Self::Target

Dereferences the value.

impl Div<f32> for AngularInertiaTensor

type Output = AngularInertiaTensor

The resulting type after applying the / operator.

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

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) -> Self

Converts to this type from the input type.

impl From<Mat3> for AngularInertiaTensor

fn from(angular_inertia: Mat3) -> Self

Converts to this type from the input type.

impl FromReflect for AngularInertiaTensor

where AngularInertiaTensor: Any + Send + Sync, Mat3: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn from_reflect(reflect: &dyn PartialReflect) -> Option<Self>

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

where AngularInertiaTensor: Any + Send + Sync, Mat3: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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

where AngularInertiaTensor: Any + Send + Sync, Mat3: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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

Returns the TypeInfo of the type represented by this value.

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

Clones the value as a Reflect trait object.

fn try_apply(&mut self, value: &dyn PartialReflect) -> 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<Self>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type.

fn try_into_reflect( self: Box<Self>, ) -> 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>

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

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

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

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

Casts this type to a boxed, reflected value.

fn as_partial_reflect(&self) -> &dyn PartialReflect

Casts this type to a reflected value.

fn as_partial_reflect_mut(&mut self) -> &mut dyn PartialReflect

Casts this type to a mutable, reflected value.

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

Returns a “partial equality” comparison result.

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

Debug formatter for the value.

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

Applies a reflected value to this value.

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

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

fn serializable(&self) -> Option<Serializable<'_>>

Returns a serializable version of the value.

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Reflect for AngularInertiaTensor

where AngularInertiaTensor: Any + Send + Sync, Mat3: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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

Returns the value as a Box<dyn Any>.

fn as_any(&self) -> &dyn Any

Returns the value as a &dyn Any.

fn as_any_mut(&mut self) -> &mut dyn Any

Returns the value as a &mut dyn Any.

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

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

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a fully-reflected value.

fn as_reflect_mut(&mut self) -> &mut dyn Reflect

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<Vec3> for AngularInertiaTensor

type Error = AngularInertiaTensorError

The type returned in the event of a conversion error.

fn try_from(principal_angular_inertia: Vec3) -> Result<Self, Self::Error>

Performs the conversion.

impl TupleStruct for AngularInertiaTensor

where AngularInertiaTensor: Any + Send + Sync, Mat3: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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

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>

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 clone_dynamic(&self) -> DynamicTupleStruct

Clones the struct into a DynamicTupleStruct.

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

Will return None if TypeInfo is not available.

impl TypePath for AngularInertiaTensor

where AngularInertiaTensor: Any + Send + Sync,

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

where AngularInertiaTensor: Any + Send + Sync, Mat3: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Copy for AngularInertiaTensor

impl StructuralPartialEq for AngularInertiaTensor