nalgebra/src/geometry/similarity.rs

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use std::fmt;
use std::hash;
use approx::ApproxEq;
#[cfg(feature = "serde-serialize")]
use serde;
#[cfg(feature = "abomonation-serialize")]
use abomonation::Abomonation;
use alga::general::{Real, SubsetOf};
use alga::linear::Rotation;
use core::{DefaultAllocator, MatrixN};
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use core::dimension::{DimName, DimNameAdd, DimNameSum, U1};
use core::storage::Owned;
use core::allocator::Allocator;
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use geometry::{Isometry, Point, Translation};
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/// A similarity, i.e., an uniform scaling, followed by a rotation, followed by a translation.
#[repr(C)]
#[derive(Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[cfg_attr(feature = "serde-serialize",
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serde(bound(serialize = "N: serde::Serialize,
R: serde::Serialize,
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: serde::Serialize")))]
#[cfg_attr(feature = "serde-serialize",
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serde(bound(deserialize = "N: serde::Deserialize<'de>,
R: serde::Deserialize<'de>,
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: serde::Deserialize<'de>")))]
pub struct Similarity<N: Real, D: DimName, R>
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where
DefaultAllocator: Allocator<N, D>,
{
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/// The part of this similarity that does not include the scaling factor.
pub isometry: Isometry<N, D, R>,
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scaling: N,
}
#[cfg(feature = "abomonation-serialize")]
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impl<N: Real, D: DimName, R> Abomonation for Similarity<N, D, R>
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where
Isometry<N, D, R>: Abomonation,
DefaultAllocator: Allocator<N, D>,
{
unsafe fn entomb(&self, writer: &mut Vec<u8>) {
self.isometry.entomb(writer)
}
unsafe fn embalm(&mut self) {
self.isometry.embalm()
}
unsafe fn exhume<'a, 'b>(&'a mut self, bytes: &'b mut [u8]) -> Option<&'b mut [u8]> {
self.isometry.exhume(bytes)
}
}
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impl<N: Real + hash::Hash, D: DimName + hash::Hash, R: hash::Hash> hash::Hash
for Similarity<N, D, R>
where
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: hash::Hash,
{
fn hash<H: hash::Hasher>(&self, state: &mut H) {
self.isometry.hash(state);
self.scaling.hash(state);
}
}
impl<N: Real, D: DimName + Copy, R: Rotation<Point<N, D>> + Copy> Copy for Similarity<N, D, R>
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where
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: Copy,
{
}
impl<N: Real, D: DimName, R: Rotation<Point<N, D>> + Clone> Clone for Similarity<N, D, R>
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where
DefaultAllocator: Allocator<N, D>,
{
#[inline]
fn clone(&self) -> Self {
Similarity::from_isometry(self.isometry.clone(), self.scaling)
}
}
impl<N: Real, D: DimName, R> Similarity<N, D, R>
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where
R: Rotation<Point<N, D>>,
DefaultAllocator: Allocator<N, D>,
{
/// Creates a new similarity from its rotational and translational parts.
#[inline]
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pub fn from_parts(
translation: Translation<N, D>,
rotation: R,
scaling: N,
) -> Similarity<N, D, R> {
Similarity::from_isometry(Isometry::from_parts(translation, rotation), scaling)
}
/// Creates a new similarity from its rotational and translational parts.
#[inline]
pub fn from_isometry(isometry: Isometry<N, D, R>, scaling: N) -> Similarity<N, D, R> {
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assert!(
!relative_eq!(scaling, N::zero()),
"The scaling factor must not be zero."
);
Similarity {
isometry: isometry,
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scaling: scaling,
}
}
/// Creates a new similarity that applies only a scaling factor.
#[inline]
pub fn from_scaling(scaling: N) -> Similarity<N, D, R> {
Self::from_isometry(Isometry::identity(), scaling)
}
/// Inverts `self`.
#[inline]
pub fn inverse(&self) -> Similarity<N, D, R> {
let mut res = self.clone();
res.inverse_mut();
res
}
/// Inverts `self` in-place.
#[inline]
pub fn inverse_mut(&mut self) {
self.scaling = N::one() / self.scaling;
self.isometry.inverse_mut();
self.isometry.translation.vector *= self.scaling;
}
/// The scaling factor of this similarity transformation.
#[inline]
pub fn set_scaling(&mut self, scaling: N) {
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assert!(
!relative_eq!(scaling, N::zero()),
"The similarity scaling factor must not be zero."
);
self.scaling = scaling;
}
/// The scaling factor of this similarity transformation.
#[inline]
pub fn scaling(&self) -> N {
self.scaling
}
/// The similarity transformation that applies a scaling factor `scaling` before `self`.
#[inline]
pub fn prepend_scaling(&self, scaling: N) -> Self {
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assert!(
!relative_eq!(scaling, N::zero()),
"The similarity scaling factor must not be zero."
);
Self::from_isometry(self.isometry.clone(), self.scaling * scaling)
}
/// The similarity transformation that applies a scaling factor `scaling` after `self`.
#[inline]
pub fn append_scaling(&self, scaling: N) -> Self {
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assert!(
!relative_eq!(scaling, N::zero()),
"The similarity scaling factor must not be zero."
);
Self::from_parts(
Translation::from_vector(&self.isometry.translation.vector * scaling),
self.isometry.rotation.clone(),
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self.scaling * scaling,
)
}
/// Sets `self` to the similarity transformation that applies a scaling factor `scaling` before `self`.
#[inline]
pub fn prepend_scaling_mut(&mut self, scaling: N) {
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assert!(
!relative_eq!(scaling, N::zero()),
"The similarity scaling factor must not be zero."
);
self.scaling *= scaling
}
/// Sets `self` to the similarity transformation that applies a scaling factor `scaling` after `self`.
#[inline]
pub fn append_scaling_mut(&mut self, scaling: N) {
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assert!(
!relative_eq!(scaling, N::zero()),
"The similarity scaling factor must not be zero."
);
self.isometry.translation.vector *= scaling;
self.scaling *= scaling;
}
/// Appends to `self` the given translation in-place.
#[inline]
pub fn append_translation_mut(&mut self, t: &Translation<N, D>) {
self.isometry.append_translation_mut(t)
}
/// Appends to `self` the given rotation in-place.
#[inline]
pub fn append_rotation_mut(&mut self, r: &R) {
self.isometry.append_rotation_mut(r)
}
/// Appends in-place to `self` a rotation centered at the point `p`, i.e., the rotation that
/// lets `p` invariant.
#[inline]
pub fn append_rotation_wrt_point_mut(&mut self, r: &R, p: &Point<N, D>) {
self.isometry.append_rotation_wrt_point_mut(r, p)
}
/// Appends in-place to `self` a rotation centered at the point with coordinates
/// `self.translation`.
#[inline]
pub fn append_rotation_wrt_center_mut(&mut self, r: &R) {
self.isometry.append_rotation_wrt_center_mut(r)
}
}
// NOTE: we don't require `R: Rotation<...>` here becaus this is not useful for the implementation
// and makes it harde to use it, e.g., for Transform × Isometry implementation.
// This is OK since all constructors of the isometry enforce the Rotation bound already (and
// explicit struct construction is prevented by the private scaling factor).
impl<N: Real, D: DimName, R> Similarity<N, D, R>
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where
DefaultAllocator: Allocator<N, D>,
{
/// Converts this similarity into its equivalent homogeneous transformation matrix.
#[inline]
pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
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where
D: DimNameAdd<U1>,
R: SubsetOf<MatrixN<N, DimNameSum<D, U1>>>,
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
{
let mut res = self.isometry.to_homogeneous();
for e in res.fixed_slice_mut::<D, D>(0, 0).iter_mut() {
*e *= self.scaling
}
res
}
}
impl<N: Real, D: DimName, R> Eq for Similarity<N, D, R>
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where
R: Rotation<Point<N, D>> + Eq,
DefaultAllocator: Allocator<N, D>,
{
}
impl<N: Real, D: DimName, R> PartialEq for Similarity<N, D, R>
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where
R: Rotation<Point<N, D>> + PartialEq,
DefaultAllocator: Allocator<N, D>,
{
#[inline]
fn eq(&self, right: &Similarity<N, D, R>) -> bool {
self.isometry == right.isometry && self.scaling == right.scaling
}
}
impl<N: Real, D: DimName, R> ApproxEq for Similarity<N, D, R>
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where
R: Rotation<Point<N, D>> + ApproxEq<Epsilon = N::Epsilon>,
DefaultAllocator: Allocator<N, D>,
N::Epsilon: Copy,
{
type Epsilon = N::Epsilon;
#[inline]
fn default_epsilon() -> Self::Epsilon {
N::default_epsilon()
}
#[inline]
fn default_max_relative() -> Self::Epsilon {
N::default_max_relative()
}
#[inline]
fn default_max_ulps() -> u32 {
N::default_max_ulps()
}
#[inline]
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fn relative_eq(
&self,
other: &Self,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon,
) -> bool {
self.isometry
.relative_eq(&other.isometry, epsilon, max_relative)
&& self.scaling
.relative_eq(&other.scaling, epsilon, max_relative)
}
#[inline]
fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
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self.isometry.ulps_eq(&other.isometry, epsilon, max_ulps)
&& self.scaling.ulps_eq(&other.scaling, epsilon, max_ulps)
}
}
/*
*
* Display
*
*/
impl<N, D: DimName, R> fmt::Display for Similarity<N, D, R>
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where
N: Real + fmt::Display,
R: Rotation<Point<N, D>> + fmt::Display,
DefaultAllocator: Allocator<N, D> + Allocator<usize, D>,
{
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
let precision = f.precision().unwrap_or(3);
try!(writeln!(f, "Similarity {{"));
try!(write!(f, "{:.*}", precision, self.isometry));
try!(write!(f, "Scaling: {:.*}", precision, self.scaling));
writeln!(f, "}}")
}
}