Added scale.rs
This commit is contained in:
Yuri Edward
parent
8c6ad490bc
commit
1252fb00a0
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@ -0,0 +1,363 @@
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use approx::{AbsDiffEq, RelativeEq, UlpsEq};
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use num::{One, Zero};
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use std::fmt;
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use std::hash;
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#[cfg(feature = "abomonation-serialize")]
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use std::io::{Result as IOResult, Write};
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#[cfg(feature = "serde-serialize-no-std")]
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use serde::{Deserialize, Deserializer, Serialize, Serializer};
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#[cfg(feature = "abomonation-serialize")]
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use abomonation::Abomonation;
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use simba::scalar::{ClosedAdd, ClosedNeg, ClosedSub};
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use crate::base::allocator::Allocator;
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use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
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use crate::base::storage::Owned;
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use crate::base::{Const, DefaultAllocator, OMatrix, SVector, Scalar};
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use crate::geometry::Point;
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/// A translation.
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#[repr(C)]
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pub struct Translation<T, const D: usize> {
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/// The translation coordinates, i.e., how much is added to a point's coordinates when it is
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/// translated.
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pub vector: SVector<T, D>,
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}
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impl<T: fmt::Debug, const D: usize> fmt::Debug for Translation<T, D> {
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fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
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self.vector.as_slice().fmt(formatter)
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}
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}
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impl<T: Scalar + hash::Hash, const D: usize> hash::Hash for Translation<T, D>
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where
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Owned<T, Const<D>>: hash::Hash,
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{
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fn hash<H: hash::Hasher>(&self, state: &mut H) {
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self.vector.hash(state)
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}
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}
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impl<T: Scalar + Copy, const D: usize> Copy for Translation<T, D> {}
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impl<T: Scalar, const D: usize> Clone for Translation<T, D>
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where
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Owned<T, Const<D>>: Clone,
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{
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#[inline]
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fn clone(&self) -> Self {
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Translation::from(self.vector.clone())
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}
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}
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#[cfg(feature = "bytemuck")]
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unsafe impl<T, const D: usize> bytemuck::Zeroable for Translation<T, D>
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where
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T: Scalar + bytemuck::Zeroable,
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SVector<T, D>: bytemuck::Zeroable,
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{
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}
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#[cfg(feature = "bytemuck")]
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unsafe impl<T, const D: usize> bytemuck::Pod for Translation<T, D>
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where
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T: Scalar + bytemuck::Pod,
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SVector<T, D>: bytemuck::Pod,
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{
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}
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#[cfg(feature = "abomonation-serialize")]
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impl<T, const D: usize> Abomonation for Translation<T, D>
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where
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T: Scalar,
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SVector<T, D>: Abomonation,
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{
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unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
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self.vector.entomb(writer)
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}
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fn extent(&self) -> usize {
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self.vector.extent()
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}
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unsafe fn exhume<'a, 'b>(&'a mut self, bytes: &'b mut [u8]) -> Option<&'b mut [u8]> {
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self.vector.exhume(bytes)
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}
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}
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#[cfg(feature = "serde-serialize-no-std")]
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impl<T: Scalar, const D: usize> Serialize for Translation<T, D>
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where
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Owned<T, Const<D>>: Serialize,
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{
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fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
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where
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S: Serializer,
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{
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self.vector.serialize(serializer)
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}
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}
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#[cfg(feature = "serde-serialize-no-std")]
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impl<'a, T: Scalar, const D: usize> Deserialize<'a> for Translation<T, D>
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where
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Owned<T, Const<D>>: Deserialize<'a>,
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{
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fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
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where
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Des: Deserializer<'a>,
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{
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let matrix = SVector::<T, D>::deserialize(deserializer)?;
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Ok(Translation::from(matrix))
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}
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}
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#[cfg(feature = "rkyv-serialize-no-std")]
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mod rkyv_impl {
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use super::Translation;
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use crate::base::SVector;
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use rkyv::{offset_of, project_struct, Archive, Deserialize, Fallible, Serialize};
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impl<T: Archive, const D: usize> Archive for Translation<T, D> {
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type Archived = Translation<T::Archived, D>;
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type Resolver = <SVector<T, D> as Archive>::Resolver;
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fn resolve(
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&self,
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pos: usize,
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resolver: Self::Resolver,
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out: &mut core::mem::MaybeUninit<Self::Archived>,
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) {
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self.vector.resolve(
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pos + offset_of!(Self::Archived, vector),
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resolver,
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project_struct!(out: Self::Archived => vector),
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);
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}
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}
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impl<T: Serialize<S>, S: Fallible + ?Sized, const D: usize> Serialize<S> for Translation<T, D> {
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fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
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self.vector.serialize(serializer)
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}
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}
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impl<T: Archive, _D: Fallible + ?Sized, const D: usize> Deserialize<Translation<T, D>, _D>
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for Translation<T::Archived, D>
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where
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T::Archived: Deserialize<T, _D>,
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{
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fn deserialize(&self, deserializer: &mut _D) -> Result<Translation<T, D>, _D::Error> {
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Ok(Translation {
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vector: self.vector.deserialize(deserializer)?,
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})
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}
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}
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}
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impl<T: Scalar, const D: usize> Translation<T, D> {
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/// Creates a new translation from the given vector.
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#[inline]
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#[deprecated(note = "Use `::from` instead.")]
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pub fn from_vector(vector: SVector<T, D>) -> Translation<T, D> {
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Translation { vector }
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}
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/// Inverts `self`.
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///
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/// # Example
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/// ```
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/// # use nalgebra::{Translation2, Translation3};
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/// let t = Translation3::new(1.0, 2.0, 3.0);
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/// assert_eq!(t * t.inverse(), Translation3::identity());
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/// assert_eq!(t.inverse() * t, Translation3::identity());
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///
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/// // Work in all dimensions.
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/// let t = Translation2::new(1.0, 2.0);
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/// assert_eq!(t * t.inverse(), Translation2::identity());
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/// assert_eq!(t.inverse() * t, Translation2::identity());
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/// ```
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#[inline]
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#[must_use = "Did you mean to use inverse_mut()?"]
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pub fn inverse(&self) -> Translation<T, D>
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where
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T: ClosedNeg,
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{
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Translation::from(-&self.vector)
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}
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/// Converts this translation into its equivalent homogeneous transformation matrix.
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///
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/// # Example
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/// ```
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/// # use nalgebra::{Translation2, Translation3, Matrix3, Matrix4};
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/// let t = Translation3::new(10.0, 20.0, 30.0);
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/// let expected = Matrix4::new(1.0, 0.0, 0.0, 10.0,
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/// 0.0, 1.0, 0.0, 20.0,
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/// 0.0, 0.0, 1.0, 30.0,
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/// 0.0, 0.0, 0.0, 1.0);
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/// assert_eq!(t.to_homogeneous(), expected);
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///
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/// let t = Translation2::new(10.0, 20.0);
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/// let expected = Matrix3::new(1.0, 0.0, 10.0,
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/// 0.0, 1.0, 20.0,
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/// 0.0, 0.0, 1.0);
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/// assert_eq!(t.to_homogeneous(), expected);
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/// ```
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#[inline]
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#[must_use]
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pub fn to_homogeneous(&self) -> OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
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where
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T: Zero + One,
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Const<D>: DimNameAdd<U1>,
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DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
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{
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let mut res = OMatrix::<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>::identity();
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res.fixed_slice_mut::<D, 1>(0, D).copy_from(&self.vector);
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res
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}
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/// Inverts `self` in-place.
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///
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/// # Example
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/// ```
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/// # use nalgebra::{Translation2, Translation3};
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/// let t = Translation3::new(1.0, 2.0, 3.0);
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/// let mut inv_t = Translation3::new(1.0, 2.0, 3.0);
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/// inv_t.inverse_mut();
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/// assert_eq!(t * inv_t, Translation3::identity());
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/// assert_eq!(inv_t * t, Translation3::identity());
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///
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/// // Work in all dimensions.
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/// let t = Translation2::new(1.0, 2.0);
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/// let mut inv_t = Translation2::new(1.0, 2.0);
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/// inv_t.inverse_mut();
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/// assert_eq!(t * inv_t, Translation2::identity());
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/// assert_eq!(inv_t * t, Translation2::identity());
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/// ```
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#[inline]
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pub fn inverse_mut(&mut self)
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where
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T: ClosedNeg,
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{
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self.vector.neg_mut()
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}
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}
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impl<T: Scalar + ClosedAdd, const D: usize> Translation<T, D> {
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/// Translate the given point.
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///
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/// This is the same as the multiplication `self * pt`.
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///
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/// # Example
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/// ```
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/// # use nalgebra::{Translation3, Point3};
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/// let t = Translation3::new(1.0, 2.0, 3.0);
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/// let transformed_point = t.transform_point(&Point3::new(4.0, 5.0, 6.0));
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/// assert_eq!(transformed_point, Point3::new(5.0, 7.0, 9.0));
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#[inline]
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#[must_use]
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pub fn transform_point(&self, pt: &Point<T, D>) -> Point<T, D> {
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pt + &self.vector
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}
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}
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impl<T: Scalar + ClosedSub, const D: usize> Translation<T, D> {
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/// Translate the given point by the inverse of this translation.
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///
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/// # Example
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/// ```
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/// # use nalgebra::{Translation3, Point3};
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/// let t = Translation3::new(1.0, 2.0, 3.0);
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/// let transformed_point = t.inverse_transform_point(&Point3::new(4.0, 5.0, 6.0));
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/// assert_eq!(transformed_point, Point3::new(3.0, 3.0, 3.0));
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#[inline]
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#[must_use]
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pub fn inverse_transform_point(&self, pt: &Point<T, D>) -> Point<T, D> {
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pt - &self.vector
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}
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}
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impl<T: Scalar + Eq, const D: usize> Eq for Translation<T, D> {}
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impl<T: Scalar + PartialEq, const D: usize> PartialEq for Translation<T, D> {
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#[inline]
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fn eq(&self, right: &Translation<T, D>) -> bool {
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self.vector == right.vector
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}
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}
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impl<T: Scalar + AbsDiffEq, const D: usize> AbsDiffEq for Translation<T, D>
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where
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T::Epsilon: Clone,
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{
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type Epsilon = T::Epsilon;
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#[inline]
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fn default_epsilon() -> Self::Epsilon {
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T::default_epsilon()
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}
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#[inline]
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fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool {
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self.vector.abs_diff_eq(&other.vector, epsilon)
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}
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}
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impl<T: Scalar + RelativeEq, const D: usize> RelativeEq for Translation<T, D>
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where
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T::Epsilon: Clone,
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{
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#[inline]
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fn default_max_relative() -> Self::Epsilon {
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T::default_max_relative()
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}
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#[inline]
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fn relative_eq(
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&self,
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other: &Self,
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epsilon: Self::Epsilon,
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max_relative: Self::Epsilon,
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) -> bool {
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self.vector
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.relative_eq(&other.vector, epsilon, max_relative)
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}
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}
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impl<T: Scalar + UlpsEq, const D: usize> UlpsEq for Translation<T, D>
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where
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T::Epsilon: Clone,
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{
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#[inline]
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fn default_max_ulps() -> u32 {
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T::default_max_ulps()
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}
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#[inline]
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fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
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self.vector.ulps_eq(&other.vector, epsilon, max_ulps)
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}
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}
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/*
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*
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* Display
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*
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*/
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impl<T: Scalar + fmt::Display, const D: usize> fmt::Display for Translation<T, D> {
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fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
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let precision = f.precision().unwrap_or(3);
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writeln!(f, "Translation {{")?;
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write!(f, "{:.*}", precision, self.vector)?;
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writeln!(f, "}}")
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}
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}
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