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    Struct RigidTransform

    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, math.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, math.RotationOrder order = math.RotationOrder.ZXY)
    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.

    math.RotationOrder order

    The order in which the rotations are applied.

    Returns
    Type Description
    RigidTransform

    Euler(float3, math.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, math.RotationOrder order = math.RotationOrder.ZXY)
    Parameters
    Type Name Description
    float3 xyz

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

    math.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
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