```
#[repr(C)]pub struct Affine3A {
pub matrix3: Mat3A,
pub translation: Vec3A,
}
```

## Expand description

A 3D affine transform, which can represent translation, rotation, scaling and shear.

This type is 16 byte aligned.

## Fields§

§`matrix3: Mat3A`

§`translation: Vec3A`

## Implementations§

source§### impl Affine3A

### impl Affine3A

source#### pub const ZERO: Self = _

#### pub const ZERO: Self = _

The degenerate zero transform.

This transforms any finite vector and point to zero. The zero transform is non-invertible.

source#### pub const IDENTITY: Self = _

#### pub const IDENTITY: Self = _

The identity transform.

Multiplying a vector with this returns the same vector.

source#### pub const fn from_cols(
x_axis: Vec3A,
y_axis: Vec3A,
z_axis: Vec3A,
w_axis: Vec3A
) -> Self

#### pub const fn from_cols( x_axis: Vec3A, y_axis: Vec3A, z_axis: Vec3A, w_axis: Vec3A ) -> Self

Creates an affine transform from three column vectors.

source#### pub fn from_cols_array(m: &[f32; 12]) -> Self

#### pub fn from_cols_array(m: &[f32; 12]) -> Self

Creates an affine transform from a `[f32; 12]`

array stored in column major order.

source#### pub fn to_cols_array(&self) -> [f32; 12]

#### pub fn to_cols_array(&self) -> [f32; 12]

Creates a `[f32; 12]`

array storing data in column major order.

source#### pub fn from_cols_array_2d(m: &[[f32; 3]; 4]) -> Self

#### pub fn from_cols_array_2d(m: &[[f32; 3]; 4]) -> Self

Creates an affine transform from a `[[f32; 3]; 4]`

3D array stored in column major order.
If your data is in row major order you will need to `transpose`

the returned
matrix.

source#### pub fn to_cols_array_2d(&self) -> [[f32; 3]; 4]

#### pub fn to_cols_array_2d(&self) -> [[f32; 3]; 4]

Creates a `[[f32; 3]; 4]`

3D array storing data in
column major order.
If you require data in row major order `transpose`

the matrix first.

source#### pub fn from_cols_slice(slice: &[f32]) -> Self

#### pub fn from_cols_slice(slice: &[f32]) -> Self

Creates an affine transform from the first 12 values in `slice`

.

##### Panics

Panics if `slice`

is less than 12 elements long.

source#### pub fn write_cols_to_slice(self, slice: &mut [f32])

#### pub fn write_cols_to_slice(self, slice: &mut [f32])

Writes the columns of `self`

to the first 12 elements in `slice`

.

##### Panics

Panics if `slice`

is less than 12 elements long.

source#### pub fn from_scale(scale: Vec3) -> Self

#### pub fn from_scale(scale: Vec3) -> Self

Creates an affine transform that changes scale. Note that if any scale is zero the transform will be non-invertible.

source#### pub fn from_quat(rotation: Quat) -> Self

#### pub fn from_quat(rotation: Quat) -> Self

Creates an affine transform from the given `rotation`

quaternion.

source#### pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self

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

Creates an affine transform containing a 3D rotation around a normalized
rotation `axis`

of `angle`

(in radians).

source#### pub fn from_rotation_x(angle: f32) -> Self

#### pub fn from_rotation_x(angle: f32) -> Self

Creates an affine transform containing a 3D rotation around the x axis of
`angle`

(in radians).

source#### pub fn from_rotation_y(angle: f32) -> Self

#### pub fn from_rotation_y(angle: f32) -> Self

Creates an affine transform containing a 3D rotation around the y axis of
`angle`

(in radians).

source#### pub fn from_rotation_z(angle: f32) -> Self

#### pub fn from_rotation_z(angle: f32) -> Self

Creates an affine transform containing a 3D rotation around the z axis of
`angle`

(in radians).

source#### pub fn from_translation(translation: Vec3) -> Self

#### pub fn from_translation(translation: Vec3) -> Self

Creates an affine transformation from the given 3D `translation`

.

source#### pub fn from_mat3(mat3: Mat3) -> Self

#### pub fn from_mat3(mat3: Mat3) -> Self

Creates an affine transform from a 3x3 matrix (expressing scale, shear and rotation)

source#### pub fn from_mat3_translation(mat3: Mat3, translation: Vec3) -> Self

#### pub fn from_mat3_translation(mat3: Mat3, translation: Vec3) -> Self

Creates an affine transform from a 3x3 matrix (expressing scale, shear and rotation) and a translation vector.

Equivalent to `Affine3A::from_translation(translation) * Affine3A::from_mat3(mat3)`

source#### pub fn from_scale_rotation_translation(
scale: Vec3,
rotation: Quat,
translation: Vec3
) -> Self

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

Creates an affine transform from the given 3D `scale`

, `rotation`

and
`translation`

.

Equivalent to `Affine3A::from_translation(translation) * Affine3A::from_quat(rotation) * Affine3A::from_scale(scale)`

source#### pub fn from_rotation_translation(rotation: Quat, translation: Vec3) -> Self

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

Creates an affine transform from the given 3D `rotation`

and `translation`

.

Equivalent to `Affine3A::from_translation(translation) * Affine3A::from_quat(rotation)`

source#### pub fn from_mat4(m: Mat4) -> Self

#### pub fn from_mat4(m: Mat4) -> Self

The given `Mat4`

must be an affine transform,
i.e. contain no perspective transform.

source#### pub fn to_scale_rotation_translation(&self) -> (Vec3, Quat, Vec3)

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

Extracts `scale`

, `rotation`

and `translation`

from `self`

.

The transform is expected to be non-degenerate and without shearing, or the output will be invalid.

##### Panics

Will panic if the determinant `self.matrix3`

is zero or if the resulting scale
vector contains any zero elements when `glam_assert`

is enabled.

source#### pub fn look_to_lh(eye: Vec3, dir: Vec3, up: Vec3) -> Self

#### pub fn look_to_lh(eye: Vec3, dir: Vec3, up: Vec3) -> Self

Creates a left-handed view transform using a camera position, an up direction, and a facing direction.

For a view coordinate system with `+X=right`

, `+Y=up`

and `+Z=forward`

.

source#### pub fn look_to_rh(eye: Vec3, dir: Vec3, up: Vec3) -> Self

#### pub fn look_to_rh(eye: Vec3, dir: Vec3, up: Vec3) -> Self

Creates a right-handed view transform using a camera position, an up direction, and a facing direction.

For a view coordinate system with `+X=right`

, `+Y=up`

and `+Z=back`

.

source#### pub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Self

#### pub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Self

Creates a left-handed view transform using a camera position, an up direction, and a focal
point.
For a view coordinate system with `+X=right`

, `+Y=up`

and `+Z=forward`

.

##### Panics

Will panic if `up`

is not normalized when `glam_assert`

is enabled.

source#### pub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Self

#### pub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Self

Creates a right-handed view transform using a camera position, an up direction, and a focal
point.
For a view coordinate system with `+X=right`

, `+Y=up`

and `+Z=back`

.

##### Panics

Will panic if `up`

is not normalized when `glam_assert`

is enabled.

source#### pub fn transform_point3(&self, rhs: Vec3) -> Vec3

#### pub fn transform_point3(&self, rhs: Vec3) -> Vec3

Transforms the given 3D points, applying shear, scale, rotation and translation.

source#### pub fn transform_vector3(&self, rhs: Vec3) -> Vec3

#### pub fn transform_vector3(&self, rhs: Vec3) -> Vec3

Transforms the given 3D vector, applying shear, scale and rotation (but NOT translation).

To also apply translation, use `Self::transform_point3()`

instead.

source#### pub fn transform_point3a(&self, rhs: Vec3A) -> Vec3A

#### pub fn transform_point3a(&self, rhs: Vec3A) -> Vec3A

Transforms the given `Vec3A`

, applying shear, scale, rotation and translation.

source#### pub fn transform_vector3a(&self, rhs: Vec3A) -> Vec3A

#### pub fn transform_vector3a(&self, rhs: Vec3A) -> Vec3A

Transforms the given `Vec3A`

, applying shear, scale and rotation (but NOT
translation).

To also apply translation, use `Self::transform_point3a()`

instead.

source#### pub fn is_finite(&self) -> bool

#### pub fn is_finite(&self) -> bool

Returns `true`

if, and only if, all elements are finite.

If any element is either `NaN`

, positive or negative infinity, this will return
`false`

.

source#### pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f32) -> bool

#### pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f32) -> bool

Returns true if the absolute difference of all elements between `self`

and `rhs`

is less than or equal to `max_abs_diff`

.

This can be used to compare if two 3x4 matrices contain similar elements. It works
best when comparing with a known value. The `max_abs_diff`

that should be used used
depends on the values being compared against.

For more see comparing floating point numbers.

## Trait Implementations§

source§### impl MulAssign<Affine3A> for Affine3A

### impl MulAssign<Affine3A> for Affine3A

source§#### fn mul_assign(&mut self, rhs: Affine3A)

#### fn mul_assign(&mut self, rhs: Affine3A)

`*=`

operation. Read more