Module math 

Elementary mathematical entities (vectors, matrices, isometries, etc).

Re-exports

pub use parry::glamx;

pub use f32 as Real;

pub use i32 as Int;

Structs

Mat2

A 2x2 column major matrix.

Mat3

A 3x3 column major matrix.

Pose2

A 2D pose (rotation + translation), representing a rigid body transformation (f32 precision).

Pose3

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

Rot2

A 2D rotation represented as a unit complex number (f32 precision).

SymmetricEigen2

The eigen decomposition of a symmetric 2x2 matrix (f32 precision).

SymmetricEigen3

The eigen decomposition of a symmetric 3x3 matrix (f32 precision).

Vec2

A 2-dimensional vector.

Vec3

A 3-dimensional vector.

Vec4

A 4-dimensional vector.

Vec3A

A 3-dimensional vector.

Constants

ANG_DIM

The maximum number of rotational degrees of freedom of a rigid-body.

DEFAULT_EPSILON

The default tolerance used for geometric operations.

DIM

The dimension of the space.

MAX_MANIFOLD_POINTS

Max number of pairs of contact points from the same contact manifold that can be solved as part of a single contact constraint.

SIMD_LAST_INDEX

SIMD_WIDTH - 1

SIMD_WIDTH

The number of lanes of a SIMD number.

SPATIAL_DIM

The maximum number of possible rotations and translations of a rigid body.

TWO_DIM

The dimension of the space multiplied by two.

Traits

ComplexField

Trait shared by all complex fields and its subfields (like real numbers).

MatExt

Extension trait for square matrix types.

RealField

Trait shared by all reals.

VectorExt

Extension trait for glam vector types to provide additional functionality.

Functions

ivect_to_vect

Converts an integer vector to a floating-point vector.

orthonormal_subspace_basis

Computes an orthonormal basis for the subspace orthogonal to the given vectors. Calls the callback f with each basis vector.

rotation_from_angle

Creates a rotation from an angular vector.

vect_to_ivect

Converts a floating-point vector to an integer vector.

Type Aliases

AngDim

The angular dimension type constant (U3 for 3D).

AngVector

The angular vector type.

AngularInertia

The angular inertia of a rigid body.

CrossMatrix

A matrix that represent the cross product with a given vector.

DMatrix

Dynamic matrix type for multibody/solver code

DVector

Dynamic vector type for multibody/solver code

Dim

The dimension type constant (U3 for 3D).

IVector

The integer vector type.

Jacobian

The type of a constraint Jacobian in twist coordinates.

JacobianView

The type of a slice of the constraint Jacobian in twist coordinates.

JacobianViewMut

The type of a mutable slice of the constraint Jacobian in twist coordinates.

Matrix

The matrix type.

Matrix2

A 2x2 matrix type for use in any dimension context.

Matrix3

A 3x3 matrix type for use in any dimension context.

Orientation

The orientation type.

Pose

The transformation matrix type (pose = rotation + translation).

PrincipalAngularInertia

The principal angular inertia of a rigid body.

Rot3

A 3D rotation represented as a unit quaternion (f32 precision).

Rotation

The rotation type.

SdpMatrix

A 3D symmetric-definite-positive matrix.

SimdAngVector

Generic angular vector type (nalgebra) for SoA SIMD code

SimdAngularInertia

Generic angular inertia type for SoA SIMD code (scalar in 2D, SdpMatrix3 in 3D)

SimdBool

A SIMD bool with SIMD_WIDTH lanes.

SimdMatrix

Generic 2D/3D square matrix for SoA SIMD code

SimdPoint

Generic point type (nalgebra) for SoA SIMD code

SimdPose

Generic isometry type (nalgebra) for SoA SIMD code

SimdReal

A SIMD float with SIMD_WIDTH lanes.

SimdRotation

Generic rotation type (nalgebra) for SoA SIMD code

SimdVector

Generic vector type (nalgebra) for SoA SIMD code

SpatialVector

A vector with a dimension equal to the maximum number of degrees of freedom of a rigid body.

SymmetricEigen

The result of eigendecomposition of a symmetric matrix.

TangentImpulse

The type of impulse applied for friction constraints.

Vector

The vector type.

Vector2

A 2D vector type for use in any dimension context.

Vector3

A 3D vector type for use in any dimension context.