Module nalgebra::geometry[][src]

[Reexported at the root of this crate.] Data structures for points and usual transformations (rotations, isometries, etc.)

Structs

Isometry

A direct isometry, i.e., a rotation followed by a translation, aka. a rigid-body motion, aka. an element of a Special Euclidean (SE) group.

Orthographic3

A 3D orthographic projection stored as an homogeneous 4x4 matrix.

Perspective3

A 3D perspective projection stored as an homogeneous 4x4 matrix.

Point

A point in a n-dimensional euclidean space.

Quaternion

A quaternion. See the type alias UnitQuaternion = Unit<Quaternion> for a quaternion that may be used as a rotation.

Reflection

A reflection wrt. a plane.

Rotation

A rotation matrix.

Similarity

A similarity, i.e., an uniform scaling, followed by a rotation, followed by a translation.

Transform

A transformation matrix in homogeneous coordinates.

Translation

A translation.

Enums

TAffine

Tag representing an affine Transform. Its bottom-row is equal to (0, 0 ... 0, 1).

TGeneral

Tag representing the most general (not necessarily inversible) Transform type.

TProjective

Tag representing the most general inversible Transform type.

Traits

SubTCategoryOf

Indicates that Self is a more specific Transform category than Other.

SuperTCategoryOf

Indicates that Self is a more general Transform category than Other.

TCategory

Trait implemented by phantom types identifying the projective transformation type.

TCategoryMul

Traits that gives the Transform category that is compatible with the result of the multiplication of transformations with categories Self and Other.

Type Definitions

Affine2

A 2D affine transformation. Stored as an homogeneous 3x3 matrix.

Affine3

A 3D affine transformation. Stored as an homogeneous 4x4 matrix.

Isometry2

A 2-dimensional direct isometry using a unit complex number for its rotational part. Also known as a rigid-body motion, or as an element of SE(2).

Isometry3

A 3-dimensional direct isometry using a unit quaternion for its rotational part. Also known as a rigid-body motion, or as an element of SE(3).

IsometryMatrix2

A 2-dimensional direct isometry using a rotation matrix for its rotational part. Also known as a rigid-body motion, or as an element of SE(2).

IsometryMatrix3

A 3-dimensional direct isometry using a rotation matrix for its rotational part. Also known as a rigid-body motion, or as an element of SE(3).

Point1

A statically sized 1-dimensional column point.

Point2

A statically sized 2-dimensional column point.

Point3

A statically sized 3-dimensional column point.

Point4

A statically sized 4-dimensional column point.

Point5

A statically sized 5-dimensional column point.

Point6

A statically sized 6-dimensional column point.

Projective2

An inversible 2D general transformation. Stored as an homogeneous 3x3 matrix.

Projective3

An inversible 3D general transformation. Stored as an homogeneous 4x4 matrix.

Rotation2

A 2-dimensional rotation matrix.

Rotation3

A 3-dimensional rotation matrix.

Similarity2

A 2-dimensional similarity.

Similarity3

A 3-dimensional similarity.

SimilarityMatrix2

A 2-dimensional similarity using a rotation matrix for its rotation part.

SimilarityMatrix3

A 3-dimensional similarity using a rotation matrix for its rotation part.

Transform2

A 2D general transformation that may not be inversible. Stored as an homogeneous 3x3 matrix.

Transform3

A 3D general transformation that may not be inversible. Stored as an homogeneous 4x4 matrix.

Translation2

A 2-dimensional translation.

Translation3

A 3-dimensional translation.

UnitComplex

A complex number with a norm equal to 1.

UnitQuaternion

A unit quaternions. May be used to represent a rotation.