Struct RigidTransform

Inherited Members

System.Object.Equals(System.Object, System.Object)

System.Object.ReferenceEquals(System.Object, System.Object)

System.Object.GetType()

Namespace: Unity.Mathematics

Syntax

public struct RigidTransform

Constructors

RigidTransform(float3x3, float3)

Constructs a RigidTransform from a rotation represented by a float3x3 matrix and a translation represented by a float3 vector.

Declaration

public RigidTransform(float3x3 rotation, float3 translation)

Parameters

Type	Name	Description
float3x3	rotation
float3	translation

RigidTransform(float4x4)

Constructs a RigidTransform from a float4x4. Assumes the matrix is orthonormal.

Declaration

public RigidTransform(float4x4 transform)

Parameters

Type	Name	Description
float4x4	transform

RigidTransform(quaternion, float3)

Constructs a RigidTransform from a rotation represented by a unit quaternion and a translation represented by a float3 vector.

Declaration

public RigidTransform(quaternion rotation, float3 translation)

Parameters

Type	Name	Description
quaternion	rotation
float3	translation

Fields

identity

A RigidTransform representing the identity transform.

Declaration

public static readonly RigidTransform identity

Field Value

Type	Description
RigidTransform

pos

Declaration

public float3 pos

Field Value

Type	Description
float3

rot

Declaration

public quaternion rot

Field Value

Type	Description
quaternion

Methods

AxisAngle(float3, Single)

Returns a RigidTransform representing a rotation around a unit axis by an angle in radians. The rotation direction is clockwise when looking along the rotation axis towards the origin.

Declaration

public static RigidTransform AxisAngle(float3 axis, float angle)

Parameters

Type	Name	Description
float3	axis
System.Single	angle

Returns

Type	Description
RigidTransform

Equals(Object)

Returns true if the RigidTransform is equal to a given RigidTransform, false otherwise.

Declaration

public override bool Equals(object x)

Parameters

Type	Name	Description
System.Object	x

Returns

Type	Description
System.Boolean

Overrides

System.ValueType.Equals(System.Object)

Equals(RigidTransform)

Returns true if the RigidTransform is equal to a given RigidTransform, false otherwise.

Declaration

public bool Equals(RigidTransform x)

Parameters

Type	Name	Description
RigidTransform	x

Returns

Type	Description
System.Boolean

Euler(Single, Single, Single, RotationOrder)

Returns a RigidTransform constructed by first performing 3 rotations around the principal axes in a given order. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin. When the rotation order is known at compile time, it is recommended for performance reasons to use specific Euler rotation constructors such as EulerZXY(...).

Declaration

public static RigidTransform Euler(float x, float y, float z, RotationOrder order = null)

Parameters

Type	Name	Description
System.Single	x	The rotation angle around the x-axis in radians.
System.Single	y	The rotation angle around the y-axis in radians.
System.Single	z	The rotation angle around the z-axis in radians.
RotationOrder	order	The order in which the rotations are applied.

Returns

Type	Description
RigidTransform

Euler(float3, RotationOrder)

Returns a RigidTransform constructed by first performing 3 rotations around the principal axes in a given order. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin. When the rotation order is known at compile time, it is recommended for performance reasons to use specific Euler rotation constructors such as EulerZXY(...).

Declaration

public static RigidTransform Euler(float3 xyz, RotationOrder order = null)

Parameters

Type	Name	Description
float3	xyz	A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.
RotationOrder	order	The order in which the rotations are applied.

Returns

Type	Description
RigidTransform

EulerXYZ(Single, Single, Single)

Returns a RigidTransform constructed by first performing a rotation around the x-axis, then the y-axis and finally the z-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

Declaration

public static RigidTransform EulerXYZ(float x, float y, float z)

Parameters

Type	Name	Description
System.Single	x	The rotation angle around the x-axis in radians.
System.Single	y	The rotation angle around the y-axis in radians.
System.Single	z	The rotation angle around the z-axis in radians.

Returns

Type	Description
RigidTransform

EulerXYZ(float3)

Returns a RigidTransform constructed by first performing a rotation around the x-axis, then the y-axis and finally the z-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

Declaration

public static RigidTransform EulerXYZ(float3 xyz)

Parameters

Type	Name	Description
float3	xyz	A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

Type	Description
RigidTransform

EulerXZY(Single, Single, Single)

Returns a RigidTransform constructed by first performing a rotation around the x-axis, then the z-axis and finally the y-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

Declaration

public static RigidTransform EulerXZY(float x, float y, float z)

Parameters

Type	Name	Description
System.Single	x	The rotation angle around the x-axis in radians.
System.Single	y	The rotation angle around the y-axis in radians.
System.Single	z	The rotation angle around the z-axis in radians.

Returns

Type	Description
RigidTransform

EulerXZY(float3)

Returns a RigidTransform constructed by first performing a rotation around the x-axis, then the z-axis and finally the y-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

Declaration

public static RigidTransform EulerXZY(float3 xyz)

Parameters

Type	Name	Description
float3	xyz	A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

Type	Description
RigidTransform

EulerYXZ(Single, Single, Single)

Returns a RigidTransform constructed by first performing a rotation around the y-axis, then the x-axis and finally the z-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

Declaration

public static RigidTransform EulerYXZ(float x, float y, float z)

Parameters

Type	Name	Description
System.Single	x	The rotation angle around the x-axis in radians.
System.Single	y	The rotation angle around the y-axis in radians.
System.Single	z	The rotation angle around the z-axis in radians.

Returns

Type	Description
RigidTransform

EulerYXZ(float3)

Returns a RigidTransform constructed by first performing a rotation around the y-axis, then the x-axis and finally the z-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

Declaration

public static RigidTransform EulerYXZ(float3 xyz)

Parameters

Type	Name	Description
float3	xyz	A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

Type	Description
RigidTransform

EulerYZX(Single, Single, Single)

Returns a RigidTransform constructed by first performing a rotation around the y-axis, then the z-axis and finally the x-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

Declaration

public static RigidTransform EulerYZX(float x, float y, float z)

Parameters

Type	Name	Description
System.Single	x	The rotation angle around the x-axis in radians.
System.Single	y	The rotation angle around the y-axis in radians.
System.Single	z	The rotation angle around the z-axis in radians.

Returns

Type	Description
RigidTransform

EulerYZX(float3)

Returns a RigidTransform constructed by first performing a rotation around the y-axis, then the z-axis and finally the x-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

Declaration

public static RigidTransform EulerYZX(float3 xyz)

Parameters

Type	Name	Description
float3	xyz	A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

Type	Description
RigidTransform

EulerZXY(Single, Single, Single)

Returns a RigidTransform constructed by first performing a rotation around the z-axis, then the x-axis and finally the y-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin. This is the default order rotation order in Unity.

Declaration

public static RigidTransform EulerZXY(float x, float y, float z)

Parameters

Type	Name	Description
System.Single	x	The rotation angle around the x-axis in radians.
System.Single	y	The rotation angle around the y-axis in radians.
System.Single	z	The rotation angle around the z-axis in radians.

Returns

Type	Description
RigidTransform

EulerZXY(float3)

Returns a RigidTransform constructed by first performing a rotation around the z-axis, then the x-axis and finally the y-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin. This is the default order rotation order in Unity.

Declaration

public static RigidTransform EulerZXY(float3 xyz)

Parameters

Type	Name	Description
float3	xyz	A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

Type	Description
RigidTransform

EulerZYX(Single, Single, Single)

Returns a RigidTransform constructed by first performing a rotation around the z-axis, then the y-axis and finally the x-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

Declaration

public static RigidTransform EulerZYX(float x, float y, float z)

Parameters

Type	Name	Description
System.Single	x	The rotation angle around the x-axis in radians.
System.Single	y	The rotation angle around the y-axis in radians.
System.Single	z	The rotation angle around the z-axis in radians.

Returns

Type	Description
RigidTransform

EulerZYX(float3)

Returns a RigidTransform constructed by first performing a rotation around the z-axis, then the y-axis and finally the x-axis. All rotation angles are in radians and clockwise when looking along the rotation axis towards the origin.

Declaration

public static RigidTransform EulerZYX(float3 xyz)

Parameters

Type	Name	Description
float3	xyz	A float3 vector containing the rotation angles around the x-, y- and z-axis measures in radians.

Returns

Type	Description
RigidTransform

GetHashCode()

Returns a hash code for the RigidTransform.

Declaration

public override int GetHashCode()

Returns

Type	Description
System.Int32

Overrides

System.ValueType.GetHashCode()

RotateX(Single)

Returns a float4x4 matrix that rotates around the x-axis by a given number of radians.

Declaration

public static RigidTransform RotateX(float angle)

Parameters

Type	Name	Description
System.Single	angle	The clockwise rotation angle when looking along the x-axis towards the origin in radians.

Returns

Type	Description
RigidTransform

RotateY(Single)

Returns a float4x4 matrix that rotates around the y-axis by a given number of radians.

Declaration

public static RigidTransform RotateY(float angle)

Parameters

Type	Name	Description
System.Single	angle	The clockwise rotation angle when looking along the y-axis towards the origin in radians.

Returns

Type	Description
RigidTransform

RotateZ(Single)

Returns a float4x4 matrix that rotates around the z-axis by a given number of radians.

Declaration

public static RigidTransform RotateZ(float angle)

Parameters

Type	Name	Description
System.Single	angle	The clockwise rotation angle when looking along the z-axis towards the origin in radians.

Returns

Type	Description
RigidTransform

ToString()

Returns a string representation of the RigidTransform.

Declaration

public override string ToString()

Returns

Type	Description
System.String

Overrides

System.ValueType.ToString()

ToString(String, IFormatProvider)

Returns a string representation of the quaternion using a specified format and culture-specific format information.

Declaration

public string ToString(string format, IFormatProvider formatProvider)

Parameters

Type	Name	Description
System.String	format
System.IFormatProvider	formatProvider

Returns

Type	Description
System.String

Translate(float3)

Returns a RigidTransform that translates by an amount specified by a float3 vector.

Declaration

public static RigidTransform Translate(float3 vector)

Parameters

Type	Name	Description
float3	vector

Returns

Type	Description
RigidTransform