Package dev.ryanhcode.sable.companion.math

Interface Pose3dc

All Known Implementing Classes:
Pose3d
public sealed interface Pose3dc permits Pose3d
A read-only 3D pose, consisting of a position, rotation, and scale.
Since:
1.0.0

  • Method Summary

    Modifier and Type
    Method
    Description
    default org.joml.Matrix4d
    bakeIntoMatrix(org.joml.Matrix4d dest)
    Bakes this pose into a matrix transform.
    default Pose3d
    lerp(Pose3dc pose, double frac, Pose3d dest)
    Lerps this pose towards the given pose by the given amount.
    org.joml.Quaterniondc
    orientation()
     
    org.joml.Vector3dc
    position()
     
    org.joml.Vector3dc
    rotationPoint()
     
    org.joml.Vector3dc
    scale()
     
    default net.minecraft.world.phys.Vec3
    transformNormal(net.minecraft.world.phys.Vec3 local)
    Transforms a local normal to a global normal.
    default org.joml.Vector3d
    transformNormal(org.joml.Vector3d local)
    Transforms and mutates a local normal to a global normal.
    default org.joml.Vector3d
    transformNormal(org.joml.Vector3dc local, org.joml.Vector3d dest)
    Transforms a local normal to a global normal.
    default net.minecraft.world.phys.Vec3
    transformNormalInverse(net.minecraft.world.phys.Vec3 global)
    Transform a global normal to a local normal.
    default org.joml.Vector3d
    transformNormalInverse(org.joml.Vector3d global)
    Transforms and mutates a global normal to a local normal.
    default org.joml.Vector3d
    transformNormalInverse(org.joml.Vector3dc global, org.joml.Vector3d dest)
    Transforms a global normal to a local normal.
    default net.minecraft.world.phys.Vec3
    transformPosition(net.minecraft.world.phys.Vec3 local)
    Transform a local position to a global position.
    default org.joml.Vector3d
    transformPosition(org.joml.Vector3d local)
    Transforms and mutates a local position to a global position.
    default org.joml.Vector3d
    transformPosition(org.joml.Vector3dc local, org.joml.Vector3d dest)
    Transform a local position to a global position.
    default net.minecraft.world.phys.Vec3
    transformPositionInverse(net.minecraft.world.phys.Vec3 global)
    Transform a global position to a local position.
    default org.joml.Vector3d
    transformPositionInverse(org.joml.Vector3d global)
    Transforms and mutates a global position to a local position.
    default org.joml.Vector3d
    transformPositionInverse(org.joml.Vector3dc global, org.joml.Vector3d dest)
    Transform a global position to a local position.
    default boolean
    withinTolerance(Pose3d pose3d, double distanceTolerance, double angularTolerance)
     

  • Method Details

    • position

      @Contract(pure=true) org.joml.Vector3dc position()
      Returns:
      the global position of this pose.

    • orientation

      @Contract(pure=true) org.joml.Quaterniondc orientation()
      Returns:
      the global orientation of this pose.

    • rotationPoint

      @Contract(pure=true) org.joml.Vector3dc rotationPoint()
      Returns:
      the rotation point of this pose.

    • scale

      @Contract(pure=true) org.joml.Vector3dc scale()
      Returns:
      the global scale of this pose.

    • transformPosition

      @Contract(value="_,_->param2", mutates="param2") default org.joml.Vector3d transformPosition(org.joml.Vector3dc local, org.joml.Vector3d dest)
      Transform a local position to a global position.
      Parameters:
      local - the local position to transform
      dest - will hold the result
      Returns:
      dest

    • transformPosition

      @Contract(value="_->new", pure=true) default net.minecraft.world.phys.Vec3 transformPosition(net.minecraft.world.phys.Vec3 local)
      Transform a local position to a global position.
      Parameters:
      local - the local position to transform
      Returns:
      a new vector holding the result

    • transformPositionInverse

      @Contract(value="_->new", pure=true) default net.minecraft.world.phys.Vec3 transformPositionInverse(net.minecraft.world.phys.Vec3 global)
      Transform a global position to a local position.
      Parameters:
      global - the global position to transform
      Returns:
      a new vector holding the result

    • transformPositionInverse

      @Contract(value="_,_->param2", mutates="param2") default org.joml.Vector3d transformPositionInverse(org.joml.Vector3dc global, org.joml.Vector3d dest)
      Transform a global position to a local position.
      Parameters:
      global - the global position to transform
      dest - will hold the result
      Returns:
      dest

    • transformNormal

      @Contract(value="_,_->param2", mutates="param2") default org.joml.Vector3d transformNormal(org.joml.Vector3dc local, org.joml.Vector3d dest)
      Transforms a local normal to a global normal. If the scale is non-uniform, the result will not be of the same magnitude.
      Parameters:
      local - the local normal to transform
      dest - will hold the result
      Returns:
      dest

    • transformNormalInverse

      @Contract(value="_,_->param2", mutates="param2") default org.joml.Vector3d transformNormalInverse(org.joml.Vector3dc global, org.joml.Vector3d dest)
      Transforms a global normal to a local normal. If the scale is non-uniform, the result will not be of the same magnitude.
      Parameters:
      global - the global normal to transform
      dest - will hold the result
      Returns:
      dest

    • transformPosition

      @Contract(value="_->param1", mutates="param1") default org.joml.Vector3d transformPosition(org.joml.Vector3d local)
      Transforms and mutates a local position to a global position.
      Parameters:
      local - the local position to transform
      Returns:
      local with the result

    • transformPositionInverse

      @Contract(value="_->param1", mutates="param1") default org.joml.Vector3d transformPositionInverse(org.joml.Vector3d global)
      Transforms and mutates a global position to a local position.
      Parameters:
      global - the global position to transform
      Returns:
      global with the result

    • transformNormal

      @Contract(value="_->param1", mutates="param1") default org.joml.Vector3d transformNormal(org.joml.Vector3d local)
      Transforms and mutates a local normal to a global normal. If the scale is non-uniform, the result will not be of the same magnitude.
      Parameters:
      local - the local normal to transform
      Returns:
      local with the result

    • transformNormalInverse

      @Contract(value="_->param1", mutates="param1") default org.joml.Vector3d transformNormalInverse(org.joml.Vector3d global)
      Transforms and mutates a global normal to a local normal. If the scale is non-uniform, the result will not be of the same magnitude.
      Parameters:
      global - the global normal to transform
      Returns:
      global with the result

    • transformNormal

      @Contract(value="_->new", pure=true) default net.minecraft.world.phys.Vec3 transformNormal(net.minecraft.world.phys.Vec3 local)
      Transforms a local normal to a global normal. If the scale is non-uniform, the result will not be of the same magnitude.
      Parameters:
      local - the local normal to transform
      Returns:
      local with the result

    • transformNormalInverse

      @Contract(value="_->new", pure=true) default net.minecraft.world.phys.Vec3 transformNormalInverse(net.minecraft.world.phys.Vec3 global)
      Transform a global normal to a local normal. If the scale is non-uniform, the result will not be of the same magnitude.
      Parameters:
      global - the global normal to transform
      Returns:
      global with the result

    • lerp

      @Contract(value="_,_,_->param3", mutates="param3") default Pose3d lerp(Pose3dc pose, double frac, Pose3d dest)
      Lerps this pose towards the given pose by the given amount.
      Parameters:
      pose - the pose to lerp towards
      frac - the amount to lerp by, 0.0 to 1.0
      dest - The destination pose to write into
      Returns:
      The dest pose

    • bakeIntoMatrix

      @Contract(value="_->param1", mutates="param1") default org.joml.Matrix4d bakeIntoMatrix(org.joml.Matrix4d dest)
      Bakes this pose into a matrix transform.
      Parameters:
      dest - will hold the result
      Returns:
      dest

    • withinTolerance

      @Contract(pure=true) default boolean withinTolerance(Pose3d pose3d, double distanceTolerance, double angularTolerance)
      Parameters:
      pose3d - the pose to compare to
      distanceTolerance - the distance tolerance [m]
      angularTolerance - the angular tolerance [rad]
      Returns:
      if this pose is within the distance tolerance and angular tolerance of another pose