Module utils 

Miscellaneous utilities.

Constants

DIM_MINUS_ONE

Dimension minus one (1 for 2D, 2 for 3D).

Traits

AngularInertiaOps

Trait for angular inertia operations.

ComponentMul

Extension trait for element-wise vector operations

CopySign

Trait to copy the sign of each component of one scalar/vector/matrix to another.

CrossProduct

Trait for computing generalized cross products.

CrossProductMatrix

Trait for computing cross product matrices.

DotProduct

Trait for computing generalized dot products.

IndexMut2

Methods for simultaneously indexing a container with two distinct indices.

MatrixColumn

Extension trait for matrix column access (like nalgebra’s .column())

OrthonormalBasis

Trait to compute the orthonormal basis of a vector.

PoseOps

Trait for pose types (isometry) providing access to rotation and translation.

RotationOps

Trait implemented by 2D rotation types (UnitComplex).

ScalarType

Trait for types that can be used as scalars in the generic code supporting both the scalar and AoSoA SIMD pattern.

SimdLength

Trait for computing generalized lengths.

SimdRealCopy

The trait for real numbers used by Rapier.

SimdSelect

Trait for conditional selection between two values.

Functions

mat_to_na

Convert glam Matrix to nalgebra Matrix2<Real> (2D matrix)

smallest_abs_diff_between_angles

Calculate the difference with smallest absolute value between the two given angles.

smallest_abs_diff_between_sin_angles

Calculate the difference with smallest absolute value between the two given values.

try_normalize_and_get_length

Try to normalize a vector and return both the normalized vector and the original length.

vect_to_na

Convert glam Vector to nalgebra SimdVector<Real>