Struct rerun::archetypes::Transform3D

pub struct Transform3D {
    pub translation: Option<SerializedComponentBatch>,
    pub rotation_axis_angle: Option<SerializedComponentBatch>,
    pub quaternion: Option<SerializedComponentBatch>,
    pub scale: Option<SerializedComponentBatch>,
    pub mat3x3: Option<SerializedComponentBatch>,
    pub relation: Option<SerializedComponentBatch>,
    pub axis_length: Option<SerializedComponentBatch>,
}

Archetype: A transform between two 3D spaces, i.e. a pose.

From the point of view of the entity’s coordinate system, all components are applied in the inverse order they are listed here. E.g. if both a translation and a max3x3 transform are present, the 3x3 matrix is applied first, followed by the translation.

Whenever you log this archetype, it will write all components, even if you do not explicitly set them. This means that if you first log a transform with only a translation, and then log one with only a rotation, it will be resolved to a transform with only a rotation.

For transforms that affect only a single entity and do not propagate along the entity tree refer to archetypes::InstancePoses3D.

Examples

Variety of 3D transforms

use std::f32::consts::TAU;

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_transform3d").spawn()?;

    let arrow = rerun::Arrows3D::from_vectors([(0.0, 1.0, 0.0)]).with_origins([(0.0, 0.0, 0.0)]);

    rec.log("base", &arrow)?;

    rec.log(
        "base/translated",
        &rerun::Transform3D::from_translation([1.0, 0.0, 0.0]),
    )?;

    rec.log("base/translated", &arrow)?;

    rec.log(
        "base/rotated_scaled",
        &rerun::Transform3D::from_rotation_scale(
            rerun::RotationAxisAngle::new([0.0, 0.0, 1.0], rerun::Angle::from_radians(TAU / 8.0)),
            rerun::Scale3D::from(2.0),
        ),
    )?;

    rec.log("base/rotated_scaled", &arrow)?;

    Ok(())
}

Transform hierarchy

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_transform3d_hierarchy").spawn()?;

    // TODO(#5521): log two views as in the python example

    rec.set_time_seconds("sim_time", 0.0);

    // Planetary motion is typically in the XY plane.
    rec.log_static("/", &rerun::ViewCoordinates::RIGHT_HAND_Z_UP())?;

    // Setup points, all are in the center of their own space:
    rec.log(
        "sun",
        &rerun::Points3D::new([[0.0, 0.0, 0.0]])
            .with_radii([1.0])
            .with_colors([rerun::Color::from_rgb(255, 200, 10)]),
    )?;
    rec.log(
        "sun/planet",
        &rerun::Points3D::new([[0.0, 0.0, 0.0]])
            .with_radii([0.4])
            .with_colors([rerun::Color::from_rgb(40, 80, 200)]),
    )?;
    rec.log(
        "sun/planet/moon",
        &rerun::Points3D::new([[0.0, 0.0, 0.0]])
            .with_radii([0.15])
            .with_colors([rerun::Color::from_rgb(180, 180, 180)]),
    )?;

    // Draw fixed paths where the planet & moon move.
    let d_planet = 6.0;
    let d_moon = 3.0;
    let angles = (0..=100).map(|i| i as f32 * 0.01 * std::f32::consts::TAU);
    let circle: Vec<_> = angles.map(|angle| [angle.sin(), angle.cos()]).collect();
    rec.log(
        "sun/planet_path",
        &rerun::LineStrips3D::new([rerun::LineStrip3D::from_iter(
            circle
                .iter()
                .map(|p| [p[0] * d_planet, p[1] * d_planet, 0.0]),
        )]),
    )?;
    rec.log(
        "sun/planet/moon_path",
        &rerun::LineStrips3D::new([rerun::LineStrip3D::from_iter(
            circle.iter().map(|p| [p[0] * d_moon, p[1] * d_moon, 0.0]),
        )]),
    )?;

    // Movement via transforms.
    for i in 0..(6 * 120) {
        let time = i as f32 / 120.0;
        rec.set_time_seconds("sim_time", time);
        let r_moon = time * 5.0;
        let r_planet = time * 2.0;

        rec.log(
            "sun/planet",
            &rerun::Transform3D::from_translation_rotation(
                [r_planet.sin() * d_planet, r_planet.cos() * d_planet, 0.0],
                rerun::RotationAxisAngle {
                    axis: [1.0, 0.0, 0.0].into(),
                    angle: rerun::Angle::from_degrees(20.0),
                },
            ),
        )?;
        rec.log(
            "sun/planet/moon",
            &rerun::Transform3D::from_translation([
                r_moon.cos() * d_moon,
                r_moon.sin() * d_moon,
                0.0,
            ])
            .with_relation(rerun::TransformRelation::ChildFromParent),
        )?;
    }

    Ok(())
}

Update a transform over time

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec =
        rerun::RecordingStreamBuilder::new("rerun_example_transform3d_row_updates").spawn()?;

    rec.set_time_sequence("tick", 0);
    rec.log(
        "box",
        &[
            &rerun::Boxes3D::from_half_sizes([(4.0, 2.0, 1.0)])
                .with_fill_mode(rerun::FillMode::Solid) as &dyn rerun::AsComponents,
            &rerun::Transform3D::default().with_axis_length(10.0),
        ],
    )?;

    for t in 0..100 {
        rec.set_time_sequence("tick", t + 1);
        rec.log(
            "box",
            &rerun::Transform3D::default()
                .with_translation([0.0, 0.0, t as f32 / 10.0])
                .with_rotation(rerun::RotationAxisAngle::new(
                    [0.0, 1.0, 0.0],
                    rerun::Angle::from_radians(truncated_radians((t * 4) as f32)),
                )),
        )?;
    }

    Ok(())
}

fn truncated_radians(deg: f32) -> f32 {
    ((deg.to_radians() * 1000.0) as i32) as f32 / 1000.0
}

Update a transform over time, in a single operation

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec =
        rerun::RecordingStreamBuilder::new("rerun_example_transform3d_column_updates").spawn()?;

    rec.set_time_sequence("tick", 0);
    rec.log(
        "box",
        &[
            &rerun::Boxes3D::from_half_sizes([(4.0, 2.0, 1.0)])
                .with_fill_mode(rerun::FillMode::Solid) as &dyn rerun::AsComponents,
            &rerun::Transform3D::default().with_axis_length(10.0),
        ],
    )?;

    let translations = (0..100).map(|t| [0.0, 0.0, t as f32 / 10.0]);
    let rotations = (0..100)
        .map(|t| truncated_radians((t * 4) as f32))
        .map(|rad| rerun::RotationAxisAngle::new([0.0, 1.0, 0.0], rerun::Angle::from_radians(rad)));

    let ticks = rerun::TimeColumn::new_sequence("tick", 1..101);
    rec.send_columns(
        "box",
        [ticks],
        rerun::Transform3D::default()
            .with_many_translation(translations)
            .with_many_rotation_axis_angle(rotations)
            .columns_of_unit_batches()?,
    )?;

    Ok(())
}

fn truncated_radians(deg: f32) -> f32 {
    ((deg.to_radians() * 1000.0) as i32) as f32 / 1000.0
}

Update specific properties of a transform over time

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec =
        rerun::RecordingStreamBuilder::new("rerun_example_transform3d_partial_updates").spawn()?;

    // Set up a 3D box.
    rec.log(
        "box",
        &[
            &rerun::Boxes3D::from_half_sizes([(4.0, 2.0, 1.0)])
                .with_fill_mode(rerun::FillMode::Solid) as &dyn rerun::AsComponents,
            &rerun::Transform3D::default().with_axis_length(10.0),
        ],
    )?;

    // Update only the rotation of the box.
    for deg in 0..=45 {
        let rad = truncated_radians((deg * 4) as f32);
        rec.log(
            "box",
            &rerun::Transform3D::update_fields().with_rotation(rerun::RotationAxisAngle::new(
                [0.0, 1.0, 0.0],
                rerun::Angle::from_radians(rad),
            )),
        )?;
    }

    // Update only the position of the box.
    for t in 0..=50 {
        rec.log(
            "box",
            &rerun::Transform3D::update_fields().with_translation([0.0, 0.0, t as f32 / 10.0]),
        )?;
    }

    // Update only the rotation of the box.
    for deg in 0..=45 {
        let rad = truncated_radians(((deg + 45) * 4) as f32);
        rec.log(
            "box",
            &rerun::Transform3D::update_fields().with_rotation(rerun::RotationAxisAngle::new(
                [0.0, 1.0, 0.0],
                rerun::Angle::from_radians(rad),
            )),
        )?;
    }

    // Clear all of the box's attributes, and reset its axis length.
    rec.log(
        "box",
        &rerun::Transform3D::clear_fields().with_axis_length(15.0),
    )?;

    Ok(())
}

fn truncated_radians(deg: f32) -> f32 {
    ((deg.to_radians() * 1000.0) as i32) as f32 / 1000.0
}

Fields

translation: Option<SerializedComponentBatch>

Translation vector.

rotation_axis_angle: Option<SerializedComponentBatch>

Rotation via axis + angle.

quaternion: Option<SerializedComponentBatch>

Rotation via quaternion.

scale: Option<SerializedComponentBatch>

Scaling factor.

mat3x3: Option<SerializedComponentBatch>

3x3 transformation matrix.

relation: Option<SerializedComponentBatch>

Specifies the relation this transform establishes between this entity and its parent.

axis_length: Option<SerializedComponentBatch>

Visual length of the 3 axes.

The length is interpreted in the local coordinate system of the transform. If the transform is scaled, the axes will be scaled accordingly.

Implementations

impl Transform3D

pub fn descriptor_translation() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::translation.

pub fn descriptor_rotation_axis_angle() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::rotation_axis_angle.

pub fn descriptor_quaternion() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::quaternion.

pub fn descriptor_scale() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::scale.

pub fn descriptor_mat3x3() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::mat3x3.

pub fn descriptor_relation() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::relation.

pub fn descriptor_axis_length() -> ComponentDescriptor

Returns the ComponentDescriptor for Self::axis_length.

pub fn descriptor_indicator() -> ComponentDescriptor

Returns the ComponentDescriptor for the associated indicator component.

impl Transform3D

pub const NUM_COMPONENTS: usize = 8usize

The total number of components in the archetype: 0 required, 1 recommended, 7 optional

impl Transform3D

pub fn update_fields() -> Transform3D

Update only some specific fields of a Transform3D.

pub fn clear_fields() -> Transform3D

Clear all the fields of a Transform3D.

pub fn columns<I>( self, _lengths: I, ) -> Result<impl Iterator<Item = SerializedComponentColumn>, SerializationError>

where I: IntoIterator<Item = usize> + Clone,

Partitions the component data into multiple sub-batches.

Specifically, this transforms the existing SerializedComponentBatches data into SerializedComponentColumns instead, via SerializedComponentBatch::partitioned.

This makes it possible to use RecordingStream::send_columns to send columnar data directly into Rerun.

The specified lengths must sum to the total length of the component batch.

pub fn columns_of_unit_batches( self, ) -> Result<impl Iterator<Item = SerializedComponentColumn>, SerializationError>

Helper to partition the component data into unit-length sub-batches.

This is semantically similar to calling Self::columns with std::iter::take(1).repeat(n), where n is automatically guessed.

pub fn with_translation( self, translation: impl Into<Translation3D>, ) -> Transform3D

Translation vector.

pub fn with_many_translation( self, translation: impl IntoIterator<Item = impl Into<Translation3D>>, ) -> Transform3D

This method makes it possible to pack multiple crate::components::Translation3D in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_translation should be used when logging a single row’s worth of data.

pub fn with_rotation_axis_angle( self, rotation_axis_angle: impl Into<RotationAxisAngle>, ) -> Transform3D

Rotation via axis + angle.

pub fn with_many_rotation_axis_angle( self, rotation_axis_angle: impl IntoIterator<Item = impl Into<RotationAxisAngle>>, ) -> Transform3D

This method makes it possible to pack multiple crate::components::RotationAxisAngle in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_rotation_axis_angle should be used when logging a single row’s worth of data.

pub fn with_quaternion(self, quaternion: impl Into<RotationQuat>) -> Transform3D

Rotation via quaternion.

pub fn with_many_quaternion( self, quaternion: impl IntoIterator<Item = impl Into<RotationQuat>>, ) -> Transform3D

This method makes it possible to pack multiple crate::components::RotationQuat in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_quaternion should be used when logging a single row’s worth of data.

pub fn with_scale(self, scale: impl Into<Scale3D>) -> Transform3D

Scaling factor.

pub fn with_many_scale( self, scale: impl IntoIterator<Item = impl Into<Scale3D>>, ) -> Transform3D

This method makes it possible to pack multiple crate::components::Scale3D in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_scale should be used when logging a single row’s worth of data.

pub fn with_mat3x3(self, mat3x3: impl Into<TransformMat3x3>) -> Transform3D

3x3 transformation matrix.

pub fn with_many_mat3x3( self, mat3x3: impl IntoIterator<Item = impl Into<TransformMat3x3>>, ) -> Transform3D

This method makes it possible to pack multiple crate::components::TransformMat3x3 in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_mat3x3 should be used when logging a single row’s worth of data.

pub fn with_relation( self, relation: impl Into<TransformRelation>, ) -> Transform3D

Specifies the relation this transform establishes between this entity and its parent.

pub fn with_many_relation( self, relation: impl IntoIterator<Item = impl Into<TransformRelation>>, ) -> Transform3D

This method makes it possible to pack multiple crate::components::TransformRelation in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_relation should be used when logging a single row’s worth of data.

pub fn with_axis_length(self, axis_length: impl Into<AxisLength>) -> Transform3D

Visual length of the 3 axes.

The length is interpreted in the local coordinate system of the transform. If the transform is scaled, the axes will be scaled accordingly.

pub fn with_many_axis_length( self, axis_length: impl IntoIterator<Item = impl Into<AxisLength>>, ) -> Transform3D

This method makes it possible to pack multiple crate::components::AxisLength in a single component batch.

This only makes sense when used in conjunction with Self::columns. Self::with_axis_length should be used when logging a single row’s worth of data.

impl Transform3D

pub const IDENTITY: Transform3D = _

The identity transform.

This is the same as Self::clear, i.e. it logs an empty (default) value for all components.

pub fn clear() -> Transform3D

👎Deprecated since 0.22.0: Use Self::clear_fields() instead.

Clear all the fields of a Transform3D.

pub fn with_rotation(self, rotation: impl Into<Rotation3D>) -> Transform3D

Convenience method that takes any kind of (single) rotation representation and sets it on this transform.

pub fn from_translation(translation: impl Into<Translation3D>) -> Transform3D

From a translation, clearing all other fields.

pub fn from_mat3x3(mat3x3: impl Into<TransformMat3x3>) -> Transform3D

From a 3x3 matrix, clearing all other fields.

pub fn from_rotation(rotation: impl Into<Rotation3D>) -> Transform3D

From a rotation, clearing all other fields.

pub fn from_scale(scale: impl Into<Scale3D>) -> Transform3D

From a scale, clearing all other fields.

pub fn from_translation_rotation( translation: impl Into<Translation3D>, rotation: impl Into<Rotation3D>, ) -> Transform3D

From a translation applied after a rotation, known as a rigid transformation.

Clears all other fields.

pub fn from_translation_mat3x3( translation: impl Into<Translation3D>, mat3x3: impl Into<TransformMat3x3>, ) -> Transform3D

From a translation applied after a 3x3 matrix, clearing all other fields.

pub fn from_translation_scale( translation: impl Into<Translation3D>, scale: impl Into<Scale3D>, ) -> Transform3D

From a translation applied after a scale, clearing all other fields.

pub fn from_translation_rotation_scale( translation: impl Into<Translation3D>, rotation: impl Into<Rotation3D>, scale: impl Into<Scale3D>, ) -> Transform3D

From a translation, applied after a rotation & scale, known as an affine transformation, clearing all other fields.

pub fn from_rotation_scale( rotation: impl Into<Rotation3D>, scale: impl Into<Scale3D>, ) -> Transform3D

From a rotation & scale, clearing all other fields.

Trait Implementations

impl Archetype for Transform3D

type Indicator = GenericIndicatorComponent<Transform3D>

The associated indicator component, whose presence indicates that the high-level archetype-based APIs were used to log the data.

fn name() -> ArchetypeName

The fully-qualified name of this archetype, e.g. rerun.archetypes.Points2D.

fn display_name() -> &'static str

Readable name for displaying in UI.

fn indicator() -> SerializedComponentBatch

Creates a ComponentBatch out of the associated Self::Indicator component.

fn required_components() -> Cow<'static, [ComponentDescriptor]>

Returns all component descriptors that must be provided by the user when constructing this archetype.

fn recommended_components() -> Cow<'static, [ComponentDescriptor]>

Returns all component descriptors that should be provided by the user when constructing this archetype.

fn optional_components() -> Cow<'static, [ComponentDescriptor]>

Returns all component descriptors that may be provided by the user when constructing this archetype.

fn all_components() -> Cow<'static, [ComponentDescriptor]>

Returns all component descriptors that must, should and may be provided by the user when constructing this archetype.

fn from_arrow_components( arrow_data: impl IntoIterator<Item = (ComponentDescriptor, Arc<dyn Array>)>, ) -> Result<Transform3D, DeserializationError>

Given an iterator of Arrow arrays and their respective ComponentNames, deserializes them into this archetype.

fn from_arrow( data: impl IntoIterator<Item = (Field, Arc<dyn Array>)>, ) -> Result<Self, DeserializationError>

where Self: Sized,

Given an iterator of Arrow arrays and their respective field metadata, deserializes them into this archetype.

impl AsComponents for Transform3D

fn as_serialized_batches(&self) -> Vec<SerializedComponentBatch>

Exposes the object’s contents as a set of SerializedComponentBatches.

fn to_arrow(&self) -> Result<Vec<(Field, Arc<dyn Array>)>, SerializationError>

Serializes all non-null Components of this bundle into Arrow arrays.

impl Clone for Transform3D

fn clone(&self) -> Transform3D

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Transform3D

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

Formats the value using the given formatter.

impl Default for Transform3D

fn default() -> Transform3D

Returns the “default value” for a type.

impl PartialEq for Transform3D

fn eq(&self, other: &Transform3D) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl SizeBytes for Transform3D

fn heap_size_bytes(&self) -> u64

Returns how many bytes self uses on the heap.

fn total_size_bytes(&self) -> u64

Returns the total size of self in bytes, accounting for both stack and heap space.

fn stack_size_bytes(&self) -> u64

Returns the total size of self on the stack, in bytes.

fn is_pod() -> bool

Is Self just plain old data?

impl ArchetypeReflectionMarker for Transform3D

impl StructuralPartialEq for Transform3D