Struct Mat3

#[repr(C)]
pub struct Mat3 {
    pub cols: [Vec3; 3],
}

A 3x3 column-major matrix, typically used for 2D affine transformations (scale, rotation).

While it can represent any 3x3 matrix, its primary role in a 3D engine is often as the upper-left rotation and scale part of a Mat4.

Fields

cols: [Vec3; 3]

The columns of the matrix. cols[0] is the first column, and so on.

Implementations

impl Mat3

pub const IDENTITY: Self

The 3x3 identity matrix.

pub const ZERO: Self

A 3x3 matrix with all elements set to 0.

pub fn from_cols(c0: Vec3, c1: Vec3, c2: Vec3) -> Self

Creates a new matrix from three column vectors.

pub fn from_scale_vec2(scale: Vec2) -> Self

Creates a 2D scaling matrix.

The Z-axis scale is set to 1.0, making it a no-op in that dimension.

pub fn from_scale(scale: Vec3) -> Self

Creates a 3D scaling matrix.

pub fn from_rotation_x(angle_radians: f32) -> Self

Creates a matrix for a rotation around the X-axis.

Arguments

• angle_radians: The angle of rotation in radians.

pub fn from_rotation_y(angle_radians: f32) -> Self

Creates a matrix for a right-handed rotation around the Y-axis.

Arguments

• angle_radians: The angle of rotation in radians.

pub fn from_rotation_z(angle_radians: f32) -> Self

Creates a matrix for a rotation around the Z-axis.

Arguments

• angle_radians: The angle of rotation in radians.

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

Creates a rotation matrix from a normalized axis and an angle.

Arguments

• axis: The axis of rotation. Must be a unit vector.
• angle_radians: The angle of rotation in radians.

pub fn from_quat(q: Quaternion) -> Self

Creates a rotation matrix from a quaternion. The quaternion is normalized before conversion to ensure a valid rotation matrix.

pub fn from_mat4(m4: &Mat4) -> Self

Creates a Mat3 from the upper-left 3x3 corner of a Mat4. This effectively extracts the rotation and scale components, discarding translation.

pub fn determinant(&self) -> f32

Computes the determinant of the matrix.

The determinant is a scalar value indicating the volume scaling factor of the linear transformation. A determinant of 0 means the matrix is not invertible.

pub fn transpose(&self) -> Self

Returns the transpose of the matrix, where rows and columns are swapped.

pub fn inverse(&self) -> Option<Self>

Computes the inverse of the matrix.

If the matrix is not invertible (i.e., its determinant is close to zero), this method returns None.

pub fn to_mat4(&self) -> Mat4

Converts this Mat3 into a Mat4, preserving its values in the upper-left corner. The new fourth column and row are set to (0, 0, 0, 1).

Trait Implementations

impl Clone for Mat3

fn clone(&self) -> Mat3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Mat3

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

Formats the value using the given formatter.

impl Default for Mat3

fn default() -> Self

Returns the 3x3 identity matrix.

impl Index<usize> for Mat3

fn index(&self, index: usize) -> &Self::Output

Allows accessing a matrix column by index.

type Output = Vec3

The returned type after indexing.

impl IndexMut<usize> for Mat3

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

Allows mutably accessing a matrix column by index.

impl Mul<Vec3> for Mat3

fn mul(self, v: Vec3) -> Self::Output

Transforms a Vec3 by this matrix.

type Output = Vec3

The resulting type after applying the * operator.

impl Mul for Mat3

fn mul(self, rhs: Mat3) -> Self::Output

Multiplies this matrix by another Mat3.

type Output = Mat3

The resulting type after applying the * operator.

impl PartialEq for Mat3

fn eq(&self, other: &Mat3) -> 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 Copy for Mat3

impl StructuralPartialEq for Mat3