45 lines
1.8 KiB
Rust
45 lines
1.8 KiB
Rust
use crate::base::dimension::{U2, U3};
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use crate::geometry::{Isometry, Rotation2, Rotation3, UnitComplex, UnitQuaternion};
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/// A 2-dimensional direct isometry using a unit complex number for its rotational part.
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///
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/// **Because this is an alias, not all its methods are listed here. See the [`Isometry`](crate::Isometry) type too.**
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///
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/// Also known as a 2D rigid-body motion, or as an element of SE(2).
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pub type Isometry2<N> = Isometry<N, U2, UnitComplex<N>>;
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/// A 3-dimensional direct isometry using a unit quaternion for its rotational part.
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///
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/// **Because this is an alias, not all its methods are listed here. See the [`Isometry`](crate::Isometry) type too.**
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///
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/// Also known as a rigid-body motion, or as an element of SE(3).
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pub type Isometry3<N> = Isometry<N, U3, UnitQuaternion<N>>;
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/// A 2-dimensional direct isometry using a rotation matrix for its rotational part.
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///
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/// **Because this is an alias, not all its methods are listed here. See the [`Isometry`](crate::Isometry) type too.**
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///
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/// Also known as a rigid-body motion, or as an element of SE(2).
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pub type IsometryMatrix2<N> = Isometry<N, U2, Rotation2<N>>;
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/// A 3-dimensional direct isometry using a rotation matrix for its rotational part.
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///
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/// **Because this is an alias, not all its methods are listed here. See the [`Isometry`](crate::Isometry) type too.**
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///
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/// Also known as a rigid-body motion, or as an element of SE(3).
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pub type IsometryMatrix3<N> = Isometry<N, U3, Rotation3<N>>;
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// This tests that the types correctly implement `Copy`, without having to run tests
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// (when targeting no-std for example).
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#[allow(dead_code)]
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fn ensure_copy() {
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fn is_copy<T: Copy>() {}
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is_copy::<IsometryMatrix2<f32>>();
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is_copy::<IsometryMatrix3<f32>>();
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is_copy::<Isometry2<f32>>();
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is_copy::<Isometry3<f32>>();
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}
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