Struct Pose3 

pub struct Pose3 {
    pub rotation: Rot3,
    pub translation: Vec3,
}

A 3D pose (rotation + translation), representing a rigid body transformation (f32 precision).

Fields

rotation: Rot3

The rotational part of the pose.

translation: Vec3

The translational part of the pose.

Implementations

impl Pose3

pub const IDENTITY: Self

The identity pose (no rotation, no translation).

pub fn identity() -> Self

Creates the identity pose.

pub fn from_translation(translation: Vec3) -> Self

Creates a pose from a translation vector.

pub fn translation(x: f32, y: f32, z: f32) -> Self

Creates a pose from translation components.

pub fn from_rotation(rotation: Rot3) -> Self

Creates a pose from a rotation.

pub fn from_parts(translation: Vec3, rotation: Rot3) -> Self

Creates a pose from translation and rotation parts.

pub fn new(translation: Vec3, axisangle: Vec3) -> Self

Creates a pose from translation and axis-angle rotation.

pub fn rotation(axisangle: Vec3) -> Self

Creates a pose from axis-angle rotation only (no translation).

pub fn prepend_translation(self, translation: Vec3) -> Self

Prepends a translation to this pose (applies translation in local frame).

pub fn append_translation(self, translation: Vec3) -> Self

Appends a translation to this pose (applies translation in world frame).

pub fn inverse(&self) -> Self

Returns the inverse of this pose.

pub fn inv_mul(&self, rhs: &Self) -> Self

Computes self.inverse() * rhs.

pub fn transform_point(&self, p: Vec3) -> Vec3

Transforms a 3D point by this pose.

This applies both the rotation and translation.

pub fn transform_vector(&self, v: Vec3) -> Vec3

Transforms a 3D vector by this pose.

This applies only the rotation (ignores translation).

pub fn inverse_transform_point(&self, p: Vec3) -> Vec3

Transforms a point by the inverse of this pose.

pub fn inverse_transform_vector(&self, v: Vec3) -> Vec3

Transforms a vector by the inverse of this pose.

pub fn lerp(&self, other: &Self, t: f32) -> Self

Linearly interpolates between two poses.

Uses spherical linear interpolation for the rotation part.

pub fn is_finite(&self) -> bool

Returns true if, and only if, all elements are finite.

pub fn is_nan(&self) -> bool

Returns true if any element is NaN.

pub fn to_mat4(&self) -> Mat4

Converts this pose to a homogeneous 4x4 matrix.

pub fn from_mat4(mat: Mat4) -> Self

Creates a pose from a homogeneous 4x4 matrix.

The matrix is assumed to represent a rigid body transformation (rotation + translation only, no scaling or shearing).

pub fn look_at_rh(eye: Vec3, target: Vec3, up: Vec3) -> Pose3

Builds a right-handed look-at view matrix.

It maps the view direction target - eye to the negative z axis to and the eye to the origin. This conforms to the common notion of right-handed camera look-at view matrix from the computer graphics community, i.e. the camera is assumed to look toward its local -z axis.

Arguments

• eye: The eye position.
• target: The target position.
• up: A vector approximately aligned with required the vertical axis. The only requirement of this parameter is to not be collinear to target - eye.

pub fn face_towards(eye: Vec3, target: Vec3, up: Vec3) -> Pose3

Creates a pose that corresponds to the local frame of an observer standing at the point eye and looking toward target.

It maps the z axis to the view direction target - eye and the origin to the eye.

Arguments

• eye: The observer position.
• target: The target position.
• up: Vertical direction. The only requirement of this parameter is to not be collinear to eye - at. Non-collinearity is not checked.

Trait Implementations

impl AbsDiffEq for Pose3

Available on crate feature approx only.

type Epsilon = f32

Used for specifying relative comparisons.

fn default_epsilon() -> Self::Epsilon

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

fn abs_diff_eq(&self, other: &Self, epsilon: Self::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 Clone for Pose3

fn clone(&self) -> Pose3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Pose3

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

Formats the value using the given formatter.

impl Default for Pose3

fn default() -> Self

Returns the “default value” for a type.

impl From<DPose3> for Pose3

fn from(p: DPose3) -> Self

Converts to this type from the input type.

impl From<Pose3> for DPose3

fn from(p: Pose3) -> Self

Converts to this type from the input type.

impl From<Pose3> for Pose3A

fn from(p: Pose3) -> Self

Converts to this type from the input type.

impl From<Pose3A> for Pose3

fn from(p: Pose3A) -> Self

Converts to this type from the input type.

impl From<Quat> for Pose3

fn from(rotation: Rot3) -> Self

Converts to this type from the input type.

impl Mul<&Pose3> for &Pose3

type Output = Pose3

The resulting type after applying the * operator.

fn mul(self, rhs: &Pose3) -> Self::Output

Performs the * operation.

impl Mul<&Pose3> for Pose3

type Output = Pose3

The resulting type after applying the * operator.

fn mul(self, rhs: &Pose3) -> Self::Output

Performs the * operation.

impl Mul<&Vec3> for Pose3

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, rhs: &Vec3) -> Self::Output

Performs the * operation.

impl Mul<Pose3> for &Pose3

type Output = Pose3

The resulting type after applying the * operator.

fn mul(self, rhs: Pose3) -> Self::Output

Performs the * operation.

impl Mul<Pose3> for Rot3

type Output = Pose3

The resulting type after applying the * operator.

fn mul(self, rhs: Pose3) -> Self::Output

Performs the * operation.

impl Mul<Quat> for Pose3

type Output = Pose3

The resulting type after applying the * operator.

fn mul(self, rhs: Rot3) -> Self::Output

Performs the * operation.

impl Mul<Vec3> for &Pose3

type Output = Vec3

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<Vec3> for Pose3

type Output = Vec3

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul for Pose3

type Output = Pose3

The resulting type after applying the * operator.

fn mul(self, rhs: Self) -> Self::Output

Performs the * operation.

impl MulAssign<Quat> for Pose3

fn mul_assign(&mut self, rhs: Rot3)

Performs the *= operation.

impl MulAssign for Pose3

fn mul_assign(&mut self, rhs: Self)

Performs the *= operation.

impl PartialEq for Pose3

fn eq(&self, other: &Pose3) -> 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 RelativeEq for Pose3

Available on crate feature approx only.

fn default_max_relative() -> Self::Epsilon

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

fn relative_eq( &self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::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 Copy for Pose3

impl StructuralPartialEq for Pose3