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<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="API documentation for the Rust `Rotation` trait in crate `cgmath`."><meta name="keywords" content="rust, rustlang, rust-lang, Rotation"><title>cgmath::Rotation - Rust</title><link rel="stylesheet" type="text/css" href="../normalize.css"><link rel="stylesheet" type="text/css" href="../rustdoc.css" id="mainThemeStyle"><link rel="stylesheet" type="text/css" href="../dark.css"><link rel="stylesheet" type="text/css" href="../light.css" id="themeStyle"><script src="../storage.js"></script><noscript><link rel="stylesheet" href="../noscript.css"></noscript><link rel="shortcut icon" href="../favicon.ico"><style type="text/css">#crate-search{background-image:url("../down-arrow.svg");}</style></head><body class="rustdoc trait"><!--[if lte IE 8]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="sidebar"><div class="sidebar-menu">☰</div><a href='../cgmath/index.html'><div class='logo-container'><img src='../rust-logo.png' alt='logo'></div></a><p class='location'>Trait Rotation</p><div class="sidebar-elems"><div class="block items"><a class="sidebar-title" href="#required-methods">Required Methods</a><div class="sidebar-links"><a href="#tymethod.between_vectors">between_vectors</a><a href="#tymethod.invert">invert</a><a href="#tymethod.look_at">look_at</a><a href="#tymethod.rotate_vector">rotate_vector</a></div><a class="sidebar-title" href="#provided-methods">Provided Methods</a><div class="sidebar-links"><a href="#method.rotate_point">rotate_point</a></div><a class="sidebar-title" href="#implementors">Implementors</a></div><p class='location'><a href='index.html'>cgmath</a></p><script>window.sidebarCurrent = {name: 'Rotation', ty: 'trait', relpath: ''};</script><script defer src="sidebar-items.js"></script></div></nav><div class="theme-picker"><button id="theme-picker" aria-label="Pick another theme!"><img src="../brush.svg" width="18" alt="Pick another theme!"></button><div id="theme-choices"></div></div><script src="../theme.js"></script><nav class="sub"><form class="search-form js-only"><div class="search-container"><div><select id="crate-search"><option value="All crates">All crates</option></select><input class="search-input" name="search" autocomplete="off" spellcheck="false" placeholder="Click or press ‘S’ to search, ‘?’ for more options…" type="search"></div><a id="settings-menu" href="../settings.html"><img src="../wheel.svg" width="18" alt="Change settings"></a></div></form></nav><section id="main" class="content"><h1 class='fqn'><span class='out-of-band'><span id='render-detail'><a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">[<span class='inner'>−</span>]</a></span><a class='srclink' href='../src/cgmath/rotation.rs.html#33-62' title='goto source code'>[src]</a></span><span class='in-band'>Trait <a href='index.html'>cgmath</a>::<wbr><a class="trait" href=''>Rotation</a></span></h1><div class="docblock type-decl hidden-by-usual-hider"><pre class='rust trait'>pub trait Rotation<P: <a class="trait" href="../cgmath/prelude/trait.EuclideanSpace.html" title="trait cgmath::prelude::EuclideanSpace">EuclideanSpace</a>>: <a class="trait" href="https://doc.rust-lang.org/nightly/core/marker/trait.Sized.html" title="trait core::marker::Sized">Sized</a> + <a class="trait" href="https://doc.rust-lang.org/nightly/core/marker/trait.Copy.html" title="trait core::marker::Copy">Copy</a> + <a class="trait" href="../cgmath/prelude/trait.One.html" title="trait cgmath::prelude::One">One</a> <span class="where fmt-newline">where<br> Self: <a class="trait" href="../cgmath/trait.AbsDiffEq.html" title="trait cgmath::AbsDiffEq">AbsDiffEq</a><Epsilon = P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Scalar" title="type cgmath::prelude::EuclideanSpace::Scalar">Scalar</a>>,<br> Self: <a class="trait" href="../cgmath/trait.RelativeEq.html" title="trait cgmath::RelativeEq">RelativeEq</a><Epsilon = P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Scalar" title="type cgmath::prelude::EuclideanSpace::Scalar">Scalar</a>>,<br> Self: <a class="trait" href="../cgmath/trait.UlpsEq.html" title="trait cgmath::UlpsEq">UlpsEq</a><Epsilon = P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Scalar" title="type cgmath::prelude::EuclideanSpace::Scalar">Scalar</a>>,<br> P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Scalar" title="type cgmath::prelude::EuclideanSpace::Scalar">Scalar</a>: <a class="trait" href="../cgmath/trait.BaseFloat.html" title="trait cgmath::BaseFloat">BaseFloat</a>,<br> Self: <a class="trait" href="https://doc.rust-lang.org/nightly/core/iter/traits/accum/trait.Product.html" title="trait core::iter::traits::accum::Product">Product</a><Self>, </span>{
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fn <a href='#tymethod.look_at' class='fnname'>look_at</a>(dir: P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a>, up: P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a>) -> Self;
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<div class='item-spacer'></div> fn <a href='#tymethod.between_vectors' class='fnname'>between_vectors</a>(a: P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a>, b: P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a>) -> Self;
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<div class='item-spacer'></div> fn <a href='#tymethod.rotate_vector' class='fnname'>rotate_vector</a>(&self, vec: P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a>) -> P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a>;
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<div class='item-spacer'></div> fn <a href='#tymethod.invert' class='fnname'>invert</a>(&self) -> Self;
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fn <a href='#method.rotate_point' class='fnname'>rotate_point</a>(&self, point: P) -> P { ... }
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}</pre></div><div class='docblock'><p>A trait for a generic rotation. A rotation is a transformation that
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creates a circular motion, and preserves at least one point in the space.</p>
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</div>
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<h2 id='required-methods' class='small-section-header'>Required methods<a href='#required-methods' class='anchor'></a></h2><div class='methods'><h3 id='tymethod.look_at' class='method'><code id='look_at.v'>fn <a href='#tymethod.look_at' class='fnname'>look_at</a>(dir: P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a>, up: P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a>) -> Self</code></h3><div class='docblock'><p>Create a rotation to a given direction with an 'up' vector.</p>
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</div><h3 id='tymethod.between_vectors' class='method'><code id='between_vectors.v'>fn <a href='#tymethod.between_vectors' class='fnname'>between_vectors</a>(a: P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a>, b: P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a>) -> Self</code></h3><div class='docblock'><p>Create a shortest rotation to transform vector 'a' into 'b'.
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Both given vectors are assumed to have unit length.</p>
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</div><h3 id='tymethod.rotate_vector' class='method'><code id='rotate_vector.v'>fn <a href='#tymethod.rotate_vector' class='fnname'>rotate_vector</a>(&self, vec: P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a>) -> P::<a class="type" href="../cgmath/prelude/trait.EuclideanSpace.html#associatedtype.Diff" title="type cgmath::prelude::EuclideanSpace::Diff">Diff</a></code></h3><div class='docblock'><p>Rotate a vector using this rotation.</p>
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</div><h3 id='tymethod.invert' class='method'><code id='invert.v'>fn <a href='#tymethod.invert' class='fnname'>invert</a>(&self) -> Self</code></h3><div class='docblock'><p>Create a new rotation which "un-does" this rotation. That is,
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<code>r * r.invert()</code> is the identity.</p>
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</div></div><span class='loading-content'>Loading content...</span>
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<h2 id='provided-methods' class='small-section-header'>Provided methods<a href='#provided-methods' class='anchor'></a></h2><div class='methods'><h3 id='method.rotate_point' class='method'><code id='rotate_point.v'>fn <a href='#method.rotate_point' class='fnname'>rotate_point</a>(&self, point: P) -> P</code></h3><div class='docblock'><p>Rotate a point using this rotation, by converting it to its
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representation as a vector.</p>
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</div></div><span class='loading-content'>Loading content...</span>
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<h2 id='implementors' class='small-section-header'>Implementors<a href='#implementors' class='anchor'></a></h2><div class='item-list' id='implementors-list'><h3 id='impl-Rotation%3CPoint2%3CS%3E%3E' class='impl'><code class='in-band'>impl<S: <a class="trait" href="../cgmath/trait.BaseFloat.html" title="trait cgmath::BaseFloat">BaseFloat</a>> Rotation<<a class="struct" href="../cgmath/struct.Point2.html" title="struct cgmath::Point2">Point2</a><S>> for <a class="struct" href="../cgmath/struct.Basis2.html" title="struct cgmath::Basis2">Basis2</a><S></code><a href='#impl-Rotation%3CPoint2%3CS%3E%3E' class='anchor'></a><a class='srclink' href='../src/cgmath/rotation.rs.html#177-203' title='goto source code'>[src]</a></h3><div class='impl-items'><h4 id='method.look_at' class="method hidden"><code id='look_at.v-1'>fn <a href='#method.look_at' class='fnname'>look_at</a>(dir: <a class="struct" href="../cgmath/struct.Vector2.html" title="struct cgmath::Vector2">Vector2</a><S>, up: <a class="struct" href="../cgmath/struct.Vector2.html" title="struct cgmath::Vector2">Vector2</a><S>) -> <a class="struct" href="../cgmath/struct.Basis2.html" title="struct cgmath::Basis2">Basis2</a><S></code><a class='srclink' href='../src/cgmath/rotation.rs.html#179-183' title='goto source code'>[src]</a></h4><h4 id='method.between_vectors' class="method hidden"><code id='between_vectors.v-1'>fn <a href='#method.between_vectors' class='fnname'>between_vectors</a>(a: <a class="struct" href="../cgmath/struct.Vector2.html" title="struct cgmath::Vector2">Vector2</a><S>, b: <a class="struct" href="../cgmath/struct.Vector2.html" title="struct cgmath::Vector2">Vector2</a><S>) -> <a class="struct" href="../cgmath/struct.Basis2.html" title="struct cgmath::Basis2">Basis2</a><S></code><a class='srclink' href='../src/cgmath/rotation.rs.html#186-188' title='goto source code'>[src]</a></h4><h4 id='method.rotate_vector' class="method hidden"><code id='rotate_vector.v-1'>fn <a href='#method.rotate_vector' class='fnname'>rotate_vector</a>(&self, vec: <a class="struct" href="../cgmath/struct.Vector2.html" title="struct cgmath::Vector2">Vector2</a><S>) -> <a class="struct" href="../cgmath/struct.Vector2.html" title="struct cgmath::Vector2">Vector2</a><S></code><a class='srclink' href='../src/cgmath/rotation.rs.html#191-193' title='goto source code'>[src]</a></h4><h4 id='method.invert' class="method hidden"><code id='invert.v-1'>fn <a href='#method.invert' class='fnname'>invert</a>(&self) -> <a class="struct" href="../cgmath/struct.Basis2.html" title="struct cgmath::Basis2">Basis2</a><S></code><a class='srclink' href='../src/cgmath/rotation.rs.html#198-202' title='goto source code'>[src]</a></h4></div><h3 id='impl-Rotation%3CPoint3%3CS%3E%3E' class='impl'><code class='in-band'>impl<S: <a class="trait" href="../cgmath/trait.BaseFloat.html" title="trait cgmath::BaseFloat">BaseFloat</a>> Rotation<<a class="struct" href="../cgmath/struct.Point3.html" title="struct cgmath::Point3">Point3</a><S>> for <a class="struct" href="../cgmath/struct.Quaternion.html" title="struct cgmath::Quaternion">Quaternion</a><S></code><a href='#impl-Rotation%3CPoint3%3CS%3E%3E' class='anchor'></a><a class='srclink' href='../src/cgmath/quaternion.rs.html#700-741' title='goto source code'>[src]</a></h3><div class='impl-items'><h4 id='method.look_at-1' class="method hidden"><code id='look_at.v-2'>fn <a href='#method.look_at-1' class='fnname'>look_at</a>(dir: <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S>, up: <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S>) -> <a class="struct" href="../cgmath/struct.Quaternion.html" title="struct cgmath::Quaternion">Quaternion</a><S></code><a class='srclink' href='../src/cgmath/quaternion.rs.html#702-704' title='goto source code'>[src]</a></h4><h4 id='method.between_vectors-1' class="method hidden"><code id='between_vectors.v-2'>fn <a href='#method.between_vectors-1' class='fnname'>between_vectors</a>(a: <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S>, b: <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S>) -> <a class="struct" href="../cgmath/struct.Quaternion.html" title="struct cgmath::Quaternion">Quaternion</a><S></code><a class='srclink' href='../src/cgmath/quaternion.rs.html#707-730' title='goto source code'>[src]</a></h4><h4 id='method.rotate_vector-1' class="method hidden"><code id='rotate_vector.v-2'>fn <a href='#method.rotate_vector-1' class='fnname'>rotate_vector</a>(&self, vec: <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S>) -> <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S></code><a class='srclink' href='../src/cgmath/quaternion.rs.html#733-735' title='goto source code'>[src]</a></h4><h4 id='method.invert-1' class="method hidden"><code id='invert.v-2'>fn <a href='#method.invert-1' class='fnname'>invert</a>(&self) -> <a class="struct" href="../cgmath/struct.Quaternion.html" title="struct cgmath::Quaternion">Quaternion</a><S></code><a class='srclink' href='../src/cgmath/quaternion.rs.html#738-740' title='goto source code'>[src]</a></h4></div><h3 id='impl-Rotation%3CPoint3%3CS%3E%3E-1' class='impl'><code class='in-band'>impl<S: <a class="trait" href="../cgmath/trait.BaseFloat.html" title="trait cgmath::BaseFloat">BaseFloat</a>> Rotation<<a class="struct" href="../cgmath/struct.Point3.html" title="struct cgmath::Point3">Point3</a><S>> for <a class="struct" href="../cgmath/struct.Basis3.html" title="struct cgmath::Basis3">Basis3</a><S></code><a href='#impl-Rotation%3CPoint3%3CS%3E%3E-1' class='anchor'></a><a class='srclink' href='../src/cgmath/rotation.rs.html#328-355' title='goto source code'>[src]</a></h3><div class='impl-items'><h4 id='method.look_at-2' class="method hidden"><code id='look_at.v-3'>fn <a href='#method.look_at-2' class='fnname'>look_at</a>(dir: <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S>, up: <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S>) -> <a class="struct" href="../cgmath/struct.Basis3.html" title="struct cgmath::Basis3">Basis3</a><S></code><a class='srclink' href='../src/cgmath/rotation.rs.html#330-334' title='goto source code'>[src]</a></h4><h4 id='method.between_vectors-2' class="method hidden"><code id='between_vectors.v-3'>fn <a href='#method.between_vectors-2' class='fnname'>between_vectors</a>(a: <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S>, b: <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S>) -> <a class="struct" href="../cgmath/struct.Basis3.html" title="struct cgmath::Basis3">Basis3</a><S></code><a class='srclink' href='../src/cgmath/rotation.rs.html#337-340' title='goto source code'>[src]</a></h4><h4 id='method.rotate_vector-2' class="method hidden"><code id='rotate_vector.v-3'>fn <a href='#method.rotate_vector-2' class='fnname'>rotate_vector</a>(&self, vec: <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S>) -> <a class="struct" href="../cgmath/struct.Vector3.html" title="struct cgmath::Vector3">Vector3</a><S></code><a class='srclink' href='../src/cgmath/rotation.rs.html#343-345' title='goto source code'>[src]</a></h4><h4 id='method.invert-2' class="method hidden"><code id='invert.v-3'>fn <a href='#method.invert-2' class='fnname'>invert</a>(&self) -> <a class="struct" href="../cgmath/struct.Basis3.html" title="struct cgmath::Basis3">Basis3</a><S></code><a class='srclink' href='../src/cgmath/rotation.rs.html#350-354' title='goto source code'>[src]</a></h4></div></div><span class='loading-content'>Loading content...</span><script 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