#[repr(C)]pub struct DMat3 {
pub x_axis: DVec3,
pub y_axis: DVec3,
pub z_axis: DVec3,
}
Expand description
A 3x3 column major matrix.
This 3x3 matrix type features convenience methods for creating and using linear and
affine transformations. If you are primarily dealing with 2D affine transformations the
DAffine2
type is much faster and more space efficient than
using a 3x3 matrix.
Linear transformations including 3D rotation and scale can be created using methods
such as Self::from_diagonal()
, Self::from_quat()
, Self::from_axis_angle()
,
Self::from_rotation_x()
, Self::from_rotation_y()
, or
Self::from_rotation_z()
.
The resulting matrices can be use to transform 3D vectors using regular vector multiplication.
Affine transformations including 2D translation, rotation and scale can be created
using methods such as Self::from_translation()
, Self::from_angle()
,
Self::from_scale()
and Self::from_scale_angle_translation()
.
The Self::transform_point2()
and Self::transform_vector2()
convenience methods
are provided for performing affine transforms on 2D vectors and points. These multiply
2D inputs as 3D vectors with an implicit z
value of 1
for points and 0
for
vectors respectively. These methods assume that Self
contains a valid affine
transform.
Fields§
§x_axis: DVec3
§y_axis: DVec3
§z_axis: DVec3
Implementations§
source§impl DMat3
impl DMat3
sourcepub const IDENTITY: Self = _
pub const IDENTITY: Self = _
A 3x3 identity matrix, where all diagonal elements are 1
, and all off-diagonal elements are 0
.
sourcepub const fn from_cols(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3) -> Self
pub const fn from_cols(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3) -> Self
Creates a 3x3 matrix from three column vectors.
sourcepub const fn from_cols_array(m: &[f64; 9]) -> Self
pub const fn from_cols_array(m: &[f64; 9]) -> Self
Creates a 3x3 matrix from a [f64; 9]
array stored in column major order.
If your data is stored in row major you will need to transpose
the returned
matrix.
sourcepub const fn to_cols_array(&self) -> [f64; 9]
pub const fn to_cols_array(&self) -> [f64; 9]
Creates a [f64; 9]
array storing data in column major order.
If you require data in row major order transpose
the matrix first.
sourcepub const fn from_cols_array_2d(m: &[[f64; 3]; 3]) -> Self
pub const fn from_cols_array_2d(m: &[[f64; 3]; 3]) -> Self
Creates a 3x3 matrix from a [[f64; 3]; 3]
3D array stored in column major order.
If your data is in row major order you will need to transpose
the returned
matrix.
sourcepub const fn to_cols_array_2d(&self) -> [[f64; 3]; 3]
pub const fn to_cols_array_2d(&self) -> [[f64; 3]; 3]
Creates a [[f64; 3]; 3]
3D array storing data in column major order.
If you require data in row major order transpose
the matrix first.
sourcepub const fn from_diagonal(diagonal: DVec3) -> Self
pub const fn from_diagonal(diagonal: DVec3) -> Self
Creates a 3x3 matrix with its diagonal set to diagonal
and all other entries set to 0.
sourcepub fn from_mat4(m: DMat4) -> Self
pub fn from_mat4(m: DMat4) -> Self
Creates a 3x3 matrix from a 4x4 matrix, discarding the 4th row and column.
sourcepub fn from_quat(rotation: DQuat) -> Self
pub fn from_quat(rotation: DQuat) -> Self
Creates a 3D rotation matrix from the given quaternion.
§Panics
Will panic if rotation
is not normalized when glam_assert
is enabled.
sourcepub fn from_axis_angle(axis: DVec3, angle: f64) -> Self
pub fn from_axis_angle(axis: DVec3, angle: f64) -> Self
Creates a 3D rotation matrix from a normalized rotation axis
and angle
(in
radians).
§Panics
Will panic if axis
is not normalized when glam_assert
is enabled.
sourcepub fn from_euler(order: EulerRot, a: f64, b: f64, c: f64) -> Self
pub fn from_euler(order: EulerRot, a: f64, b: f64, c: f64) -> Self
Creates a 3D rotation matrix from the given euler rotation sequence and the angles (in radians).
sourcepub fn from_rotation_x(angle: f64) -> Self
pub fn from_rotation_x(angle: f64) -> Self
Creates a 3D rotation matrix from angle
(in radians) around the x axis.
sourcepub fn from_rotation_y(angle: f64) -> Self
pub fn from_rotation_y(angle: f64) -> Self
Creates a 3D rotation matrix from angle
(in radians) around the y axis.
sourcepub fn from_rotation_z(angle: f64) -> Self
pub fn from_rotation_z(angle: f64) -> Self
Creates a 3D rotation matrix from angle
(in radians) around the z axis.
sourcepub fn from_translation(translation: DVec2) -> Self
pub fn from_translation(translation: DVec2) -> Self
Creates an affine transformation matrix from the given 2D translation
.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
sourcepub fn from_angle(angle: f64) -> Self
pub fn from_angle(angle: f64) -> Self
Creates an affine transformation matrix from the given 2D rotation angle
(in
radians).
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
sourcepub fn from_scale_angle_translation(
scale: DVec2,
angle: f64,
translation: DVec2
) -> Self
pub fn from_scale_angle_translation( scale: DVec2, angle: f64, translation: DVec2 ) -> Self
Creates an affine transformation matrix from the given 2D scale
, rotation angle
(in
radians) and translation
.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
sourcepub fn from_scale(scale: DVec2) -> Self
pub fn from_scale(scale: DVec2) -> Self
Creates an affine transformation matrix from the given non-uniform 2D scale
.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
§Panics
Will panic if all elements of scale
are zero when glam_assert
is enabled.
sourcepub fn from_mat2(m: DMat2) -> Self
pub fn from_mat2(m: DMat2) -> Self
Creates an affine transformation matrix from the given 2x2 matrix.
The resulting matrix can be used to transform 2D points and vectors. See
Self::transform_point2()
and Self::transform_vector2()
.
sourcepub const fn from_cols_slice(slice: &[f64]) -> Self
pub const fn from_cols_slice(slice: &[f64]) -> Self
Creates a 3x3 matrix from the first 9 values in slice
.
§Panics
Panics if slice
is less than 9 elements long.
sourcepub fn write_cols_to_slice(self, slice: &mut [f64])
pub fn write_cols_to_slice(self, slice: &mut [f64])
Writes the columns of self
to the first 9 elements in slice
.
§Panics
Panics if slice
is less than 9 elements long.
sourcepub fn col_mut(&mut self, index: usize) -> &mut DVec3
pub fn col_mut(&mut self, index: usize) -> &mut DVec3
Returns a mutable reference to the matrix column for the given index
.
§Panics
Panics if index
is greater than 2.
sourcepub fn is_finite(&self) -> bool
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
.
sourcepub fn determinant(&self) -> f64
pub fn determinant(&self) -> f64
Returns the determinant of self
.
sourcepub fn inverse(&self) -> Self
pub fn inverse(&self) -> Self
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.
sourcepub fn transform_point2(&self, rhs: DVec2) -> DVec2
pub fn transform_point2(&self, rhs: DVec2) -> DVec2
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.
sourcepub fn transform_vector2(&self, rhs: DVec2) -> DVec2
pub fn transform_vector2(&self, rhs: DVec2) -> DVec2
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.
sourcepub fn mul_scalar(&self, rhs: f64) -> Self
pub fn mul_scalar(&self, rhs: f64) -> Self
Multiplies a 3x3 matrix by a scalar.
sourcepub fn div_scalar(&self, rhs: f64) -> Self
pub fn div_scalar(&self, rhs: f64) -> Self
Divides a 3x3 matrix by a scalar.
sourcepub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f64) -> bool
pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f64) -> 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 as_mat3(&self) -> Mat3
Trait Implementations§
source§impl AddAssign for DMat3
impl AddAssign for DMat3
source§fn add_assign(&mut self, rhs: Self)
fn add_assign(&mut self, rhs: Self)
+=
operation. Read moresource§impl<'de> Deserialize<'de> for DMat3
impl<'de> Deserialize<'de> for DMat3
source§fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>where
D: Deserializer<'de>,
fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>where
D: Deserializer<'de>,
source§impl Distribution<DMat3> for Standard
impl Distribution<DMat3> for Standard
source§impl DivAssign<f64> for DMat3
impl DivAssign<f64> for DMat3
source§fn div_assign(&mut self, rhs: f64)
fn div_assign(&mut self, rhs: f64)
/=
operation. Read moresource§impl MulAssign<f64> for DMat3
impl MulAssign<f64> for DMat3
source§fn mul_assign(&mut self, rhs: f64)
fn mul_assign(&mut self, rhs: f64)
*=
operation. Read moresource§impl MulAssign for DMat3
impl MulAssign for DMat3
source§fn mul_assign(&mut self, rhs: Self)
fn mul_assign(&mut self, rhs: Self)
*=
operation. Read moresource§impl SubAssign for DMat3
impl SubAssign for DMat3
source§fn sub_assign(&mut self, rhs: Self)
fn sub_assign(&mut self, rhs: Self)
-=
operation. Read moreimpl Copy for DMat3
impl Pod for DMat3
Auto Trait Implementations§
impl Freeze for DMat3
impl RefUnwindSafe for DMat3
impl Send for DMat3
impl Sync for DMat3
impl Unpin for DMat3
impl UnwindSafe for DMat3
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
source§impl<T> CheckedBitPattern for Twhere
T: AnyBitPattern,
impl<T> CheckedBitPattern for Twhere
T: AnyBitPattern,
§type Bits = T
type Bits = T
Self
must have the same layout as the specified Bits
except for
the possible invalid bit patterns being checked during
is_valid_bit_pattern
.source§fn is_valid_bit_pattern(_bits: &T) -> bool
fn is_valid_bit_pattern(_bits: &T) -> bool
bits
as &Self
.