Struct Mat4

#[repr(C)]
pub struct Mat4 {
    pub x_axis: Vec4,
    pub y_axis: Vec4,
    pub z_axis: Vec4,
    pub w_axis: Vec4,
}

Column-major 4x4 matrix acting on column vectors: translation * rotation * scale.

Fields

x_axis: Vec4

y_axis: Vec4

z_axis: Vec4

w_axis: Vec4

Implementations

impl Mat4

pub const IDENTITY: Mat4

pub const ZERO: Mat4

pub const NAN: Mat4

pub const fn from_cols( x_axis: Vec4, y_axis: Vec4, z_axis: Vec4, w_axis: Vec4, ) -> Mat4

pub const fn from_cols_array(v: &[f32; 16]) -> Mat4

pub const fn from_cols_array_2d(v: &[[f32; 4]; 4]) -> Mat4

pub const fn to_cols_array(self) -> [f32; 16]

pub const fn to_cols_array_2d(self) -> [[f32; 4]; 4]

pub fn col(self, index: usize) -> Vec4

pub fn row(self, index: usize) -> Vec4

pub fn transpose(self) -> Mat4

pub const fn from_translation(v: Vec3) -> Mat4

pub const fn from_scale(v: Vec3) -> Mat4

pub const fn from_diagonal(v: Vec4) -> Mat4

pub fn from_quat(rotation: Quat) -> Mat4

The quaternion is normalized to avoid embedding accidental scale.

pub fn from_axis_angle(axis: Vec3, angle: f32) -> Mat4

pub fn from_rotation_x(angle: f32) -> Mat4

pub fn from_rotation_y(angle: f32) -> Mat4

pub fn from_rotation_z(angle: f32) -> Mat4

pub fn from_rotation_translation(rotation: Quat, translation: Vec3) -> Mat4

pub fn from_scale_rotation_translation( scale: Vec3, rotation: Quat, translation: Vec3, ) -> Mat4

pub fn transform_point3(self, v: Vec3) -> Vec3

pub fn transform_vector3(self, v: Vec3) -> Vec3

pub fn project_point3(self, v: Vec3) -> Vec3

pub fn mul_vec4(self, v: Vec4) -> Vec4

pub fn mul_mat4(self, rhs: Mat4) -> Mat4

pub fn is_finite(self) -> bool

pub fn is_nan(self) -> bool

pub fn abs_diff_eq(self, rhs: Mat4, tolerance: f32) -> bool

pub fn determinant(self) -> f32

Partial-pivot Gaussian elimination with f64 intermediates.

pub fn try_inverse(self) -> Option<Mat4>

Returns None for singular/non-finite matrices or inverses outside f32 range.

pub fn inverse(self) -> Mat4

pub fn look_at_rh(eye: Vec3, target: Vec3, up: Vec3) -> Mat4

Right-handed view: the camera looks along its negative Z axis.

pub fn look_to_rh(eye: Vec3, direction: Vec3, up: Vec3) -> Mat4

pub fn look_at_lh(eye: Vec3, target: Vec3, up: Vec3) -> Mat4

pub fn look_to_lh(eye: Vec3, direction: Vec3, up: Vec3) -> Mat4

pub fn perspective_rh_gl(fov_y: f32, aspect: f32, near: f32, far: f32) -> Mat4

Right-handed perspective with OpenGL depth [-1, 1].

pub fn perspective_rh(fov_y: f32, aspect: f32, near: f32, far: f32) -> Mat4

Right-handed perspective with WebGPU/Vulkan/Metal depth [0, 1].

pub fn perspective_lh(fov_y: f32, aspect: f32, near: f32, far: f32) -> Mat4

pub fn perspective_infinite_rh(fov_y: f32, aspect: f32, near: f32) -> Mat4

pub fn perspective_infinite_reverse_rh( fov_y: f32, aspect: f32, near: f32, ) -> Mat4

pub fn orthographic_rh_gl( left: f32, right: f32, bottom: f32, top: f32, near: f32, far: f32, ) -> Mat4

pub fn orthographic_rh( left: f32, right: f32, bottom: f32, top: f32, near: f32, far: f32, ) -> Mat4

pub fn orthographic_lh( left: f32, right: f32, bottom: f32, top: f32, near: f32, far: f32, ) -> Mat4

pub fn try_to_scale_rotation_translation(self) -> Option<(Vec3, Quat, Vec3)>

Extracts TRS from an affine matrix with orthogonal, nonzero scale axes. Shear and perspective are rejected rather than approximated.

pub fn to_scale_rotation_translation(self) -> (Vec3, Quat, Vec3)

Trait Implementations

impl Add for Mat4

type Output = Mat4

The resulting type after applying the + operator.

fn add(self, rhs: Mat4) -> Mat4

Performs the + operation.

impl Clone for Mat4

fn clone(&self) -> Mat4

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Mat4

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

Formats the value using the given formatter.

impl Default for Mat4

fn default() -> Mat4

Returns the “default value” for a type.

impl Index<usize> for Mat4

type Output = Vec4

The returned type after indexing.

fn index(&self, index: usize) -> &Vec4

Performs the indexing (container[index]) operation.

impl IndexMut<usize> for Mat4

fn index_mut(&mut self, index: usize) -> &mut Vec4

Performs the mutable indexing (container[index]) operation.

impl Mul<Vec4> for Mat4

type Output = Vec4

The resulting type after applying the * operator.

fn mul(self, rhs: Vec4) -> Vec4

Performs the * operation.

impl Mul<f32> for Mat4

type Output = Mat4

The resulting type after applying the * operator.

fn mul(self, rhs: f32) -> Mat4

Performs the * operation.

impl Mul for Mat4

type Output = Mat4

The resulting type after applying the * operator.

fn mul(self, rhs: Mat4) -> Mat4

Performs the * operation.

impl MulAssign for Mat4

fn mul_assign(&mut self, rhs: Mat4)

Performs the *= operation.

impl PartialEq for Mat4

fn eq(&self, other: &Mat4) -> 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 Sub for Mat4

type Output = Mat4

The resulting type after applying the - operator.

fn sub(self, rhs: Mat4) -> Mat4

Performs the - operation.

impl Copy for Mat4

impl StructuralPartialEq for Mat4