Struct graphene::Euler

#[repr(transparent)]
pub struct Euler { /* private fields */ }

Describe a rotation using Euler angles.

The contents of the Euler structure are private and should never be accessed directly.

Implementations

impl Euler

pub fn alpha(&self) -> f32

Retrieves the first component of the Euler angle vector, depending on the order of rotation.

See also: x()

Returns

the first component of the Euler angle vector, in radians

pub fn beta(&self) -> f32

Retrieves the second component of the Euler angle vector, depending on the order of rotation.

See also: y()

Returns

the second component of the Euler angle vector, in radians

pub fn gamma(&self) -> f32

Retrieves the third component of the Euler angle vector, depending on the order of rotation.

See also: z()

Returns

the third component of the Euler angle vector, in radians

pub fn order(&self) -> EulerOrder

Retrieves the order used to apply the rotations described in the Euler structure, when converting to and from other structures, like Quaternion and Matrix.

This function does not return the EulerOrder::Default enumeration value; it will return the effective order of rotation instead.

Returns

the order used to apply the rotations

pub fn x(&self) -> f32

Retrieves the rotation angle on the X axis, in degrees.

Returns

the rotation angle

pub fn y(&self) -> f32

Retrieves the rotation angle on the Y axis, in degrees.

Returns

the rotation angle

pub fn z(&self) -> f32

Retrieves the rotation angle on the Z axis, in degrees.

Returns

the rotation angle

pub fn reorder(&self, order: EulerOrder) -> Euler

Reorders a Euler using order.

This function is equivalent to creating a Quaternion from the given Euler, and then converting the quaternion into another Euler.

order

the new order

Returns

res

return location for the reordered Euler

pub fn to_matrix(&self) -> Matrix

Converts a Euler into a transformation matrix expressing the extrinsic composition of rotations described by the Euler angles.

The rotations are applied over the reference frame axes in the order associated with the Euler; for instance, if the order used to initialize self is EulerOrder::Xyz:

• the first rotation moves the body around the X axis with an angle φ
• the second rotation moves the body around the Y axis with an angle of ϑ
• the third rotation moves the body around the Z axis with an angle of ψ

The rotation sign convention is right-handed, to preserve compatibility between Euler-based, quaternion-based, and angle-axis-based rotations.

Returns

res

return location for a Matrix

pub fn to_quaternion(&self) -> Quaternion

Converts a Euler into a Quaternion.

Returns

res

return location for a Quaternion

pub fn to_vec3(&self) -> Vec3

Retrieves the angles of a Euler and initializes a Vec3 with them.

Returns

res

return location for a Vec3

impl Euler

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

Initializes a Euler using the given angles.

The order of the rotations is EulerOrder::Default.

x

rotation angle on the X axis, in degrees

y

rotation angle on the Y axis, in degrees

z

rotation angle on the Z axis, in degrees

Returns

the initialized Euler

pub fn from_matrix(m: Option<&Matrix>, order: EulerOrder) -> Self

Initializes a Euler using the given rotation matrix.

If the Matrix m is None, the Euler will be initialized with all angles set to 0.

m

a rotation matrix

order

the order used to apply the rotations

Returns

the initialized Euler

pub fn from_quaternion(q: Option<&Quaternion>, order: EulerOrder) -> Self

Initializes a Euler using the given normalized quaternion.

If the Quaternion q is None, the Euler will be initialized with all angles set to 0.

q

a normalized Quaternion

order

the order used to apply the rotations

Returns

the initialized Euler

pub fn from_radians(x: f32, y: f32, z: f32, order: EulerOrder) -> Self

Initializes a Euler using the given angles and order of rotation.

x

rotation angle on the X axis, in radians

y

rotation angle on the Y axis, in radians

z

rotation angle on the Z axis, in radians

order

order of rotations

Returns

the initialized Euler

pub fn from_vec3(v: Option<&Vec3>, order: EulerOrder) -> Self

Initializes a Euler using the angles contained in a Vec3.

If the Vec3 v is None, the Euler will be initialized with all angles set to 0.

v

a Vec3 containing the rotation angles in degrees

order

the order used to apply the rotations

Returns

the initialized Euler

pub fn with_order(x: f32, y: f32, z: f32, order: EulerOrder) -> Self

Initializes a Euler with the given angles and order.

x

rotation angle on the X axis, in degrees

y

rotation angle on the Y axis, in degrees

z

rotation angle on the Z axis, in degrees

order

the order used to apply the rotations

Returns

the initialized Euler

Trait Implementations

impl Clone for Euler

fn clone(&self) -> Self

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Euler

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

Formats the value using the given formatter.

impl PartialEq<Euler> for Euler

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

This method tests for self and other values to be equal, and is used by ==.

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

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StaticType for Euler

fn static_type() -> Type

Returns the type identifier of Self.

impl Copy for Euler

impl Eq for Euler