Trait nalgebra::geometry::AbstractRotation [−][src]
pub trait AbstractRotation<T: Scalar, const D: usize>: PartialEq + ClosedMul + Clone {
fn identity() -> Self;
fn inverse(&self) -> Self;
fn inverse_mut(&mut self);
fn transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D>;
fn transform_point(&self, p: &Point<T, D>) -> Point<T, D>;
fn inverse_transform_vector(
&self,
v: &OVector<T, Const<D>>
) -> OVector<T, Const<D>>;
fn inverse_transform_point(&self, p: &Point<T, D>) -> Point<T, D>;
fn inverse_transform_unit_vector(
&self,
v: &Unit<SVector<T, D>>
) -> Unit<SVector<T, D>> { ... }
}
Expand description
Trait implemented by rotations that can be used inside of an Isometry
or Similarity
.
Required methods
fn inverse_mut(&mut self)
fn inverse_mut(&mut self)
Change self
to its inverse.
fn transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D>
fn transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D>
Apply the rotation to the given vector.
fn transform_point(&self, p: &Point<T, D>) -> Point<T, D>
fn transform_point(&self, p: &Point<T, D>) -> Point<T, D>
Apply the rotation to the given point.
Apply the inverse rotation to the given vector.
fn inverse_transform_point(&self, p: &Point<T, D>) -> Point<T, D>
fn inverse_transform_point(&self, p: &Point<T, D>) -> Point<T, D>
Apply the inverse rotation to the given point.