Struct SpaceFrame

pub struct SpaceFrame { /* private fields */ }

An origin and a right-handed orthonormal triad of axes.

Invariant

A SpaceFrame that exists is valid: finite, unit-length on every axis, mutually perpendicular, and right-handed, all judged when it was built. Fields are private so a struct literal cannot bypass that.

Implementations

impl SpaceFrame

pub const fn world() -> SpaceFrame

The world axes at the origin.

pub fn new( origin: DVec3, x: DVec3, y: DVec3, z: DVec3, tolerance: Tolerance, ) -> Result<SpaceFrame, FrameError>

Validate a basis and build a frame from it.

Unit length, perpendicularity, and handedness are all DIMENSIONLESS properties, so all three are judged against the ANGULAR tolerance. Using the linear tolerance would tie a pure direction test to the model length unit.

Handedness is checked explicitly because it is invisible to the other two tests: a mirrored basis is perfectly orthonormal and still reflects every point it maps.

Errors

Returns the property that failed, so a caller can name the cause.

pub fn to_local(&self, point: DVec3) -> DVec3

Map a model-space point into local coordinates.

Exact inverse of to_world: the frame is orthonormal, so the inverse of the rotation is its transpose, which is a projection onto the axes.

pub fn to_world(&self, local: DVec3) -> DVec3

Map local coordinates back into model space.

pub const fn origin(&self) -> DVec3

The frame origin.

pub const fn x(&self) -> DVec3

The local x axis.

pub const fn y(&self) -> DVec3

The local y axis.

pub const fn z(&self) -> DVec3

The local z axis.

Trait Implementations

impl Clone for SpaceFrame

fn clone(&self) -> SpaceFrame

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for SpaceFrame

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

Formats the value using the given formatter.

impl PartialEq for SpaceFrame

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

Tests for self and other values to be equal, and is used by ==.

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

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

impl Copy for SpaceFrame

impl StructuralPartialEq for SpaceFrame