Type Definition nalgebra::base::Matrix4

pub type Matrix4<N> = Matrix<N, U4, U4, Owned<N, U4, U4>>;

A stack-allocated, column-major, 4x4 square matrix.

Because this is an alias, not all its methods are listed here. See the Matrix type too.

Implementations

impl<N: RealField> Matrix4<N>

3D transformations as a Matrix4

pub fn new_rotation(axisangle: Vector3<N>) -> Self

Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).

Returns the identity matrix if the given argument is zero.

pub fn new_rotation_wrt_point(axisangle: Vector3<N>, pt: Point3<N>) -> Self

Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).

Returns the identity matrix if the given argument is zero.

pub fn new_nonuniform_scaling_wrt_point(
    scaling: &Vector3<N>,
    pt: &Point3<N>
) -> Self

Creates a new homogeneous matrix that applies a scaling factor for each dimension with respect to point.

Can be used to implement “zoom_to” functionality.

pub fn from_scaled_axis(axisangle: Vector3<N>) -> Self

Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).

Returns the identity matrix if the given argument is zero. This is identical to Self::new_rotation.

pub fn from_euler_angles(roll: N, pitch: N, yaw: N) -> Self

Creates a new rotation from Euler angles.

The primitive rotations are applied in order: 1 roll − 2 pitch − 3 yaw.

pub fn from_axis_angle(axis: &Unit<Vector3<N>>, angle: N) -> Self

Builds a 3D homogeneous rotation matrix from an axis and a rotation angle.

pub fn new_orthographic(
    left: N,
    right: N,
    bottom: N,
    top: N,
    znear: N,
    zfar: N
) -> Self

Creates a new homogeneous matrix for an orthographic projection.

pub fn new_perspective(aspect: N, fovy: N, znear: N, zfar: N) -> Self

Creates a new homogeneous matrix for a perspective projection.

pub fn face_towards(
    eye: &Point3<N>,
    target: &Point3<N>,
    up: &Vector3<N>
) -> Self

Creates an isometry that corresponds to the local frame of an observer standing at the point eye and looking toward target.

It maps the view direction target - eye to the positive z axis and the origin to the eye.

pub fn new_observer_frame(
    eye: &Point3<N>,
    target: &Point3<N>,
    up: &Vector3<N>
) -> Self

👎 Deprecated:

renamed to face_towards

Deprecated: Use Matrix4::face_towards instead.

pub fn look_at_rh(eye: &Point3<N>, target: &Point3<N>, up: &Vector3<N>) -> Self

Builds a right-handed look-at view matrix.

pub fn look_at_lh(eye: &Point3<N>, target: &Point3<N>, up: &Vector3<N>) -> Self

Builds a left-handed look-at view matrix.

Trait Implementations

impl<N: RealField> From<Orthographic3<N>> for Matrix4<N>

fn from(orth: Orthographic3<N>) -> Self

Performs the conversion.

impl<N: RealField> From<Perspective3<N>> for Matrix4<N>

fn from(pers: Perspective3<N>) -> Self

Performs the conversion.

impl<N: RealField> From<Rotation<N, U3>> for Matrix4<N>

fn from(q: Rotation3<N>) -> Self

Performs the conversion.

impl<N: SimdRealField + RealField> From<Unit<DualQuaternion<N>>> for Matrix4<N> where
    N::Element: SimdRealField, 

fn from(dq: UnitDualQuaternion<N>) -> Self

Performs the conversion.

impl<N: SimdRealField> From<Unit<Quaternion<N>>> for Matrix4<N> where
    N::Element: SimdRealField, 

fn from(q: UnitQuaternion<N>) -> Self

Performs the conversion.