rapier3d::geometry

Struct ColliderPosition

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pub struct ColliderPosition(pub Isometry<f32>);
Expand description

The position of a collider.

Tuple Fields§

§0: Isometry<f32>

Implementations§

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impl ColliderPosition

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pub fn identity() -> Self

The identity position.

Methods from Deref<Target = Isometry<f32>>§

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pub fn inverse(&self) -> Isometry<T, R, D>

Inverts self.

§Example
let iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let inv = iso.inverse();
let pt = Point2::new(1.0, 2.0);

assert_eq!(inv * (iso * pt), pt);
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pub fn inverse_mut(&mut self)

Inverts self in-place.

§Example
let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let pt = Point2::new(1.0, 2.0);
let transformed_pt = iso * pt;
iso.inverse_mut();

assert_eq!(iso * transformed_pt, pt);
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pub fn inv_mul(&self, rhs: &Isometry<T, R, D>) -> Isometry<T, R, D>

Computes self.inverse() * rhs in a more efficient way.

§Example
let mut iso1 = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let mut iso2 = Isometry2::new(Vector2::new(10.0, 20.0), f32::consts::FRAC_PI_4);

assert_eq!(iso1.inverse() * iso2, iso1.inv_mul(&iso2));
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pub fn append_translation_mut(&mut self, t: &Translation<T, D>)

Appends to self the given translation in-place.

§Example
let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let tra = Translation2::new(3.0, 4.0);
// Same as `iso = tra * iso`.
iso.append_translation_mut(&tra);

assert_eq!(iso.translation, Translation2::new(4.0, 6.0));
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pub fn append_rotation_mut(&mut self, r: &R)

Appends to self the given rotation in-place.

§Example
let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::PI / 6.0);
let rot = UnitComplex::new(f32::consts::PI / 2.0);
// Same as `iso = rot * iso`.
iso.append_rotation_mut(&rot);

assert_relative_eq!(iso, Isometry2::new(Vector2::new(-2.0, 1.0), f32::consts::PI * 2.0 / 3.0), epsilon = 1.0e-6);
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pub fn append_rotation_wrt_point_mut(&mut self, r: &R, p: &OPoint<T, Const<D>>)

Appends in-place to self a rotation centered at the point p, i.e., the rotation that lets p invariant.

§Example
let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let rot = UnitComplex::new(f32::consts::FRAC_PI_2);
let pt = Point2::new(1.0, 0.0);
iso.append_rotation_wrt_point_mut(&rot, &pt);

assert_relative_eq!(iso * pt, Point2::new(-2.0, 0.0), epsilon = 1.0e-6);
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pub fn append_rotation_wrt_center_mut(&mut self, r: &R)

Appends in-place to self a rotation centered at the point with coordinates self.translation.

§Example
let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
let rot = UnitComplex::new(f32::consts::FRAC_PI_2);
iso.append_rotation_wrt_center_mut(&rot);

// The translation part should not have changed.
assert_eq!(iso.translation.vector, Vector2::new(1.0, 2.0));
assert_eq!(iso.rotation, UnitComplex::new(f32::consts::PI));
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pub fn transform_point(&self, pt: &OPoint<T, Const<D>>) -> OPoint<T, Const<D>>

Transform the given point by this isometry.

This is the same as the multiplication self * pt.

§Example
let tra = Translation3::new(0.0, 0.0, 3.0);
let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
let iso = Isometry3::from_parts(tra, rot);

let transformed_point = iso.transform_point(&Point3::new(1.0, 2.0, 3.0));
assert_relative_eq!(transformed_point, Point3::new(3.0, 2.0, 2.0), epsilon = 1.0e-6);
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pub fn transform_vector( &self, v: &Matrix<T, Const<D>, Const<1>, ArrayStorage<T, D, 1>>, ) -> Matrix<T, Const<D>, Const<1>, ArrayStorage<T, D, 1>>

Transform the given vector by this isometry, ignoring the translation component of the isometry.

This is the same as the multiplication self * v.

§Example
let tra = Translation3::new(0.0, 0.0, 3.0);
let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
let iso = Isometry3::from_parts(tra, rot);

let transformed_point = iso.transform_vector(&Vector3::new(1.0, 2.0, 3.0));
assert_relative_eq!(transformed_point, Vector3::new(3.0, 2.0, -1.0), epsilon = 1.0e-6);
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pub fn inverse_transform_point( &self, pt: &OPoint<T, Const<D>>, ) -> OPoint<T, Const<D>>

Transform the given point by the inverse of this isometry. This may be less expensive than computing the entire isometry inverse and then transforming the point.

§Example
let tra = Translation3::new(0.0, 0.0, 3.0);
let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
let iso = Isometry3::from_parts(tra, rot);

let transformed_point = iso.inverse_transform_point(&Point3::new(1.0, 2.0, 3.0));
assert_relative_eq!(transformed_point, Point3::new(0.0, 2.0, 1.0), epsilon = 1.0e-6);
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pub fn inverse_transform_vector( &self, v: &Matrix<T, Const<D>, Const<1>, ArrayStorage<T, D, 1>>, ) -> Matrix<T, Const<D>, Const<1>, ArrayStorage<T, D, 1>>

Transform the given vector by the inverse of this isometry, ignoring the translation component of the isometry. This may be less expensive than computing the entire isometry inverse and then transforming the point.

§Example
let tra = Translation3::new(0.0, 0.0, 3.0);
let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
let iso = Isometry3::from_parts(tra, rot);

let transformed_point = iso.inverse_transform_vector(&Vector3::new(1.0, 2.0, 3.0));
assert_relative_eq!(transformed_point, Vector3::new(-3.0, 2.0, 1.0), epsilon = 1.0e-6);
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pub fn inverse_transform_unit_vector( &self, v: &Unit<Matrix<T, Const<D>, Const<1>, ArrayStorage<T, D, 1>>>, ) -> Unit<Matrix<T, Const<D>, Const<1>, ArrayStorage<T, D, 1>>>

Transform the given unit vector by the inverse of this isometry, ignoring the translation component of the isometry. This may be less expensive than computing the entire isometry inverse and then transforming the point.

§Example
let tra = Translation3::new(0.0, 0.0, 3.0);
let rot = UnitQuaternion::from_scaled_axis(Vector3::z() * f32::consts::FRAC_PI_2);
let iso = Isometry3::from_parts(tra, rot);

let transformed_point = iso.inverse_transform_unit_vector(&Vector3::x_axis());
assert_relative_eq!(transformed_point, -Vector3::y_axis(), epsilon = 1.0e-6);
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pub fn to_homogeneous( &self, ) -> Matrix<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output, <DefaultAllocator as Allocator<<Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>>::Buffer<T>>
where Const<D>: DimNameAdd<Const<1>>, R: SubsetOf<Matrix<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output, <DefaultAllocator as Allocator<<Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>>::Buffer<T>>>, DefaultAllocator: Allocator<<Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>,

Converts this isometry into its equivalent homogeneous transformation matrix.

This is the same as self.to_matrix().

§Example
let iso = Isometry2::new(Vector2::new(10.0, 20.0), f32::consts::FRAC_PI_6);
let expected = Matrix3::new(0.8660254, -0.5,      10.0,
                            0.5,       0.8660254, 20.0,
                            0.0,       0.0,       1.0);

assert_relative_eq!(iso.to_homogeneous(), expected, epsilon = 1.0e-6);
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pub fn to_matrix( &self, ) -> Matrix<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output, <DefaultAllocator as Allocator<<Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>>::Buffer<T>>
where Const<D>: DimNameAdd<Const<1>>, R: SubsetOf<Matrix<T, <Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output, <DefaultAllocator as Allocator<<Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>>::Buffer<T>>>, DefaultAllocator: Allocator<<Const<D> as DimNameAdd<Const<1>>>::Output, <Const<D> as DimNameAdd<Const<1>>>::Output>,

Converts this isometry into its equivalent homogeneous transformation matrix.

This is the same as self.to_homogeneous().

§Example
let iso = Isometry2::new(Vector2::new(10.0, 20.0), f32::consts::FRAC_PI_6);
let expected = Matrix3::new(0.8660254, -0.5,      10.0,
                            0.5,       0.8660254, 20.0,
                            0.0,       0.0,       1.0);

assert_relative_eq!(iso.to_matrix(), expected, epsilon = 1.0e-6);
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pub fn lerp_slerp( &self, other: &Isometry<T, Unit<Quaternion<T>>, 3>, t: T, ) -> Isometry<T, Unit<Quaternion<T>>, 3>
where T: RealField,

Interpolates between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Panics if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined). Use .try_lerp_slerp instead to avoid the panic.

§Examples:

let t1 = Translation3::new(1.0, 2.0, 3.0);
let t2 = Translation3::new(4.0, 8.0, 12.0);
let q1 = UnitQuaternion::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
let q2 = UnitQuaternion::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
let iso1 = Isometry3::from_parts(t1, q1);
let iso2 = Isometry3::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
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pub fn try_lerp_slerp( &self, other: &Isometry<T, Unit<Quaternion<T>>, 3>, t: T, epsilon: T, ) -> Option<Isometry<T, Unit<Quaternion<T>>, 3>>
where T: RealField,

Attempts to interpolate between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Returns None if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined).

§Examples:

let t1 = Translation3::new(1.0, 2.0, 3.0);
let t2 = Translation3::new(4.0, 8.0, 12.0);
let q1 = UnitQuaternion::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
let q2 = UnitQuaternion::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
let iso1 = Isometry3::from_parts(t1, q1);
let iso2 = Isometry3::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
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pub fn lerp_slerp( &self, other: &Isometry<T, Rotation<T, 3>, 3>, t: T, ) -> Isometry<T, Rotation<T, 3>, 3>
where T: RealField,

Interpolates between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Panics if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined). Use .try_lerp_slerp instead to avoid the panic.

§Examples:

let t1 = Translation3::new(1.0, 2.0, 3.0);
let t2 = Translation3::new(4.0, 8.0, 12.0);
let q1 = Rotation3::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
let q2 = Rotation3::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
let iso1 = IsometryMatrix3::from_parts(t1, q1);
let iso2 = IsometryMatrix3::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
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pub fn try_lerp_slerp( &self, other: &Isometry<T, Rotation<T, 3>, 3>, t: T, epsilon: T, ) -> Option<Isometry<T, Rotation<T, 3>, 3>>
where T: RealField,

Attempts to interpolate between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Returns None if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined).

§Examples:

let t1 = Translation3::new(1.0, 2.0, 3.0);
let t2 = Translation3::new(4.0, 8.0, 12.0);
let q1 = Rotation3::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
let q2 = Rotation3::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
let iso1 = IsometryMatrix3::from_parts(t1, q1);
let iso2 = IsometryMatrix3::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
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pub fn lerp_slerp( &self, other: &Isometry<T, Unit<Complex<T>>, 2>, t: T, ) -> Isometry<T, Unit<Complex<T>>, 2>
where T: RealField,

Interpolates between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Panics if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined). Use .try_lerp_slerp instead to avoid the panic.

§Examples:

let t1 = Translation2::new(1.0, 2.0);
let t2 = Translation2::new(4.0, 8.0);
let q1 = UnitComplex::new(std::f32::consts::FRAC_PI_4);
let q2 = UnitComplex::new(-std::f32::consts::PI);
let iso1 = Isometry2::from_parts(t1, q1);
let iso2 = Isometry2::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector2::new(2.0, 4.0));
assert_relative_eq!(iso3.rotation.angle(), std::f32::consts::FRAC_PI_2);
Source

pub fn lerp_slerp( &self, other: &Isometry<T, Rotation<T, 2>, 2>, t: T, ) -> Isometry<T, Rotation<T, 2>, 2>
where T: RealField,

Interpolates between two isometries using a linear interpolation for the translation part, and a spherical interpolation for the rotation part.

Panics if the angle between both rotations is 180 degrees (in which case the interpolation is not well-defined). Use .try_lerp_slerp instead to avoid the panic.

§Examples:

let t1 = Translation2::new(1.0, 2.0);
let t2 = Translation2::new(4.0, 8.0);
let q1 = Rotation2::new(std::f32::consts::FRAC_PI_4);
let q2 = Rotation2::new(-std::f32::consts::PI);
let iso1 = IsometryMatrix2::from_parts(t1, q1);
let iso2 = IsometryMatrix2::from_parts(t2, q2);

let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);

assert_eq!(iso3.translation.vector, Vector2::new(2.0, 4.0));
assert_relative_eq!(iso3.rotation.angle(), std::f32::consts::FRAC_PI_2);

Trait Implementations§

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impl AsMut<Isometry<f32, Unit<Quaternion<f32>>, 3>> for ColliderPosition

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fn as_mut(&mut self) -> &mut Isometry<f32>

Converts this type into a mutable reference of the (usually inferred) input type.
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impl AsRef<Isometry<f32, Unit<Quaternion<f32>>, 3>> for ColliderPosition

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fn as_ref(&self) -> &Isometry<f32>

Converts this type into a shared reference of the (usually inferred) input type.
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impl Clone for ColliderPosition

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fn clone(&self) -> ColliderPosition

Returns a copy of the value. Read more
1.0.0 · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for ColliderPosition

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

Formats the value using the given formatter. Read more
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impl Default for ColliderPosition

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl Deref for ColliderPosition

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type Target = Isometry<f32, Unit<Quaternion<f32>>, 3>

The resulting type after dereferencing.
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fn deref(&self) -> &Isometry<f32>

Dereferences the value.
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impl DerefMut for ColliderPosition

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fn deref_mut(&mut self) -> &mut Self::Target

Mutably dereferences the value.
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impl<T> From<T> for ColliderPosition
where Isometry<f32>: From<T>,

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fn from(position: T) -> Self

Converts to this type from the input type.
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impl PartialEq for ColliderPosition

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

Tests for self and other values to be equal, and is used by ==.
1.0.0 · Source§

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

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

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impl StructuralPartialEq for ColliderPosition

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