Renamed all instances of Translation to Scale
This commit is contained in:
Yuri Edward
parent
1252fb00a0
commit
9c506b18e1
@ -48,6 +48,13 @@ mod translation_coordinates;
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mod translation_ops;
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mod translation_simba;
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mod scale;
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mod scale_alias;
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mod scale_construction;
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mod scale_conversion;
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mod scale_coordinates;
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mod scale_ops;
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mod isometry;
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mod isometry_alias;
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mod isometry_construction;
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@ -95,6 +102,9 @@ pub use self::unit_complex::*;
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pub use self::translation::*;
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pub use self::translation_alias::*;
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pub use self::scale::*;
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pub use self::scale_alias::*;
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pub use self::isometry::*;
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pub use self::isometry_alias::*;
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@ -20,21 +20,21 @@ 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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/// A scale which supports non-uniform scaling.
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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 struct Scale<T, const D: usize> {
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/// The scale coordinates, i.e., how much is multiplied to a point's coordinates when it is
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/// scaled.
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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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impl<T: fmt::Debug, const D: usize> fmt::Debug for Scale<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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impl<T: Scalar + hash::Hash, const D: usize> hash::Hash for Scale<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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@ -43,20 +43,20 @@ where
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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 + Copy, const D: usize> Copy for Scale<T, D> {}
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impl<T: Scalar, const D: usize> Clone for Translation<T, D>
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impl<T: Scalar, const D: usize> Clone for Scale<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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Scale::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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unsafe impl<T, const D: usize> bytemuck::Zeroable for Scale<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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@ -64,7 +64,7 @@ where
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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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unsafe impl<T, const D: usize> bytemuck::Pod for Scale<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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@ -72,7 +72,7 @@ where
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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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impl<T, const D: usize> Abomonation for Scale<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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@ -91,7 +91,7 @@ where
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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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impl<T: Scalar, const D: usize> Serialize for Scale<T, D>
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where
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Owned<T, Const<D>>: Serialize,
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{
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@ -104,7 +104,7 @@ where
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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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impl<'a, T: Scalar, const D: usize> Deserialize<'a> for Scale<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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@ -114,18 +114,18 @@ where
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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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Ok(Scale::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 super::Scale;
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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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impl<T: Archive, const D: usize> Archive for Scale<T, D> {
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type Archived = Scale<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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@ -142,69 +142,69 @@ mod rkyv_impl {
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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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impl<T: Serialize<S>, S: Fallible + ?Sized, const D: usize> Serialize<S> for Scale<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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impl<T: Archive, _D: Fallible + ?Sized, const D: usize> Deserialize<Scale<T, D>, _D>
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for Scale<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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fn deserialize(&self, deserializer: &mut _D) -> Result<Scale<T, D>, _D::Error> {
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Ok(Scale {
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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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impl<T: Scalar, const D: usize> Scale<T, D> {
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/// Creates a new Scale 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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pub fn from_vector(vector: SVector<T, D>) -> Scale<T, D> {
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Scale { 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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/// # use nalgebra::{Scale2, Scale3};
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/// let t = Scale3::new(1.0, 2.0, 3.0);
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/// assert_eq!(t * t.inverse(), Scale3::identity());
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/// assert_eq!(t.inverse() * t, Scale3::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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/// let t = Scale2::new(1.0, 2.0);
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/// assert_eq!(t * t.inverse(), Scale2::identity());
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/// assert_eq!(t.inverse() * t, Scale2::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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pub fn inverse(&self) -> Scale<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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todo!();
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}
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/// Converts this translation into its equivalent homogeneous transformation matrix.
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/// Converts this Scale 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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/// # use nalgebra::{Scale2, Scale3, Matrix3, Matrix4};
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/// let t = Scale3::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 t = Scale2::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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@ -218,83 +218,80 @@ impl<T: Scalar, const D: usize> Translation<T, D> {
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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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todo!();
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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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/// # use nalgebra::{Scale2, Scale3};
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/// let t = Scale3::new(1.0, 2.0, 3.0);
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/// let mut inv_t = Scale3::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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/// assert_eq!(t * inv_t, Scale3::identity());
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/// assert_eq!(inv_t * t, Scale3::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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/// let t = Scale2::new(1.0, 2.0);
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/// let mut inv_t = Scale2::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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/// assert_eq!(t * inv_t, Scale2::identity());
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/// assert_eq!(inv_t * t, Scale2::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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todo!();
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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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impl<T: Scalar + ClosedAdd, const D: usize> Scale<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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/// # use nalgebra::{Scale3, Point3};
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/// let t = Scale3::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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todo!();
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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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impl<T: Scalar + ClosedSub, const D: usize> Scale<T, D> {
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/// Translate the given point by the inverse of this Scale.
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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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/// # use nalgebra::{Scale3, Point3};
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/// let t = Scale3::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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todo!();
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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 + Eq, const D: usize> Eq for Scale<T, D> {}
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impl<T: Scalar + PartialEq, const D: usize> PartialEq for Translation<T, D> {
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impl<T: Scalar + PartialEq, const D: usize> PartialEq for Scale<T, D> {
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#[inline]
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fn eq(&self, right: &Translation<T, D>) -> bool {
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fn eq(&self, right: &Scale<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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impl<T: Scalar + AbsDiffEq, const D: usize> AbsDiffEq for Scale<T, D>
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where
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T::Epsilon: Clone,
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{
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@ -311,7 +308,7 @@ where
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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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impl<T: Scalar + RelativeEq, const D: usize> RelativeEq for Scale<T, D>
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where
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T::Epsilon: Clone,
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{
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@ -332,7 +329,7 @@ where
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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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impl<T: Scalar + UlpsEq, const D: usize> UlpsEq for Scale<T, D>
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where
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T::Epsilon: Clone,
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{
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@ -352,11 +349,11 @@ where
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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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impl<T: Scalar + fmt::Display, const D: usize> fmt::Display for Scale<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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writeln!(f, "Scale {{")?;
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write!(f, "{:.*}", precision, self.vector)?;
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writeln!(f, "}}")
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}
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@ -1,19 +1,19 @@
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use crate::geometry::Translation;
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use crate::geometry::Scale;
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/// A 1-dimensional translation.
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pub type Translation1<T> = Translation<T, 1>;
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/// A 1-dimensional scale.
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pub type Scale1<T> = Scale<T, 1>;
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/// A 2-dimensional translation.
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pub type Translation2<T> = Translation<T, 2>;
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/// A 2-dimensional scale.
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pub type Scale2<T> = Scale<T, 2>;
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/// A 3-dimensional translation.
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pub type Translation3<T> = Translation<T, 3>;
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/// A 3-dimensional scale.
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pub type Scale3<T> = Scale<T, 3>;
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/// A 4-dimensional translation.
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pub type Translation4<T> = Translation<T, 4>;
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/// A 4-dimensional scale.
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pub type Scale4<T> = Scale<T, 4>;
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/// A 5-dimensional translation.
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pub type Translation5<T> = Translation<T, 5>;
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/// A 5-dimensional scale.
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pub type Scale5<T> = Scale<T, 5>;
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/// A 6-dimensional translation.
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pub type Translation6<T> = Translation<T, 6>;
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/// A 6-dimensional scale.
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pub type Scale6<T> = Scale<T, 6>;
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@ -13,49 +13,49 @@ use rand::{
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use simba::scalar::{ClosedAdd, SupersetOf};
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use crate::base::{SVector, Scalar};
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use crate::geometry::Translation;
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use crate::geometry::Scale;
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impl<T: Scalar, const D: usize> Translation<T, D> {
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/// Creates a new identity translation.
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impl<T: Scalar, const D: usize> Scale<T, D> {
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/// Creates a new identity scale.
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///
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/// # Example
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/// ```
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/// # use nalgebra::{Point2, Point3, Translation2, Translation3};
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/// let t = Translation2::identity();
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/// # use nalgebra::{Point2, Point3, Scale2, Scale3};
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/// let t = Scale2::identity();
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/// let p = Point2::new(1.0, 2.0);
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/// assert_eq!(t * p, p);
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///
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/// // Works in all dimensions.
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/// let t = Translation3::identity();
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/// let t = Scale3::identity();
|
||||
/// let p = Point3::new(1.0, 2.0, 3.0);
|
||||
/// assert_eq!(t * p, p);
|
||||
/// ```
|
||||
#[inline]
|
||||
pub fn identity() -> Translation<T, D>
|
||||
pub fn identity() -> Scale<T, D>
|
||||
where
|
||||
T: Zero,
|
||||
{
|
||||
Self::from(SVector::<T, D>::from_element(T::zero()))
|
||||
todo!();
|
||||
}
|
||||
|
||||
/// Cast the components of `self` to another type.
|
||||
///
|
||||
/// # Example
|
||||
/// ```
|
||||
/// # use nalgebra::Translation2;
|
||||
/// let tra = Translation2::new(1.0f64, 2.0);
|
||||
/// # use nalgebra::Scale2;
|
||||
/// let tra = Scale2::new(1.0f64, 2.0);
|
||||
/// let tra2 = tra.cast::<f32>();
|
||||
/// assert_eq!(tra2, Translation2::new(1.0f32, 2.0));
|
||||
/// assert_eq!(tra2, Scale2::new(1.0f32, 2.0));
|
||||
/// ```
|
||||
pub fn cast<To: Scalar>(self) -> Translation<To, D>
|
||||
pub fn cast<To: Scalar>(self) -> Scale<To, D>
|
||||
where
|
||||
Translation<To, D>: SupersetOf<Self>,
|
||||
Scale<To, D>: SupersetOf<Self>,
|
||||
{
|
||||
crate::convert(self)
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Scalar + Zero + ClosedAdd, const D: usize> One for Translation<T, D> {
|
||||
impl<T: Scalar + Zero + ClosedAdd, const D: usize> One for Scale<T, D> {
|
||||
#[inline]
|
||||
fn one() -> Self {
|
||||
Self::identity()
|
||||
@ -63,19 +63,19 @@ impl<T: Scalar + Zero + ClosedAdd, const D: usize> One for Translation<T, D> {
|
||||
}
|
||||
|
||||
#[cfg(feature = "rand-no-std")]
|
||||
impl<T: Scalar, const D: usize> Distribution<Translation<T, D>> for Standard
|
||||
impl<T: Scalar, const D: usize> Distribution<Scale<T, D>> for Standard
|
||||
where
|
||||
Standard: Distribution<T>,
|
||||
{
|
||||
/// Generate an arbitrary random variate for testing purposes.
|
||||
#[inline]
|
||||
fn sample<G: Rng + ?Sized>(&self, rng: &mut G) -> Translation<T, D> {
|
||||
Translation::from(rng.gen::<SVector<T, D>>())
|
||||
fn sample<G: Rng + ?Sized>(&self, rng: &mut G) -> Scale<T, D> {
|
||||
Scale::from(rng.gen::<SVector<T, D>>())
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "arbitrary")]
|
||||
impl<T: Scalar + Arbitrary + Send, const D: usize> Arbitrary for Translation<T, D>
|
||||
impl<T: Scalar + Arbitrary + Send, const D: usize> Arbitrary for Scale<T, D>
|
||||
where
|
||||
Owned<T, crate::Const<D>>: Send,
|
||||
{
|
||||
@ -88,14 +88,14 @@ where
|
||||
|
||||
/*
|
||||
*
|
||||
* Small translation construction from components.
|
||||
* Small Scale construction from components.
|
||||
*
|
||||
*/
|
||||
macro_rules! componentwise_constructors_impl(
|
||||
($($doc: expr; $D: expr, $($args: ident:$irow: expr),*);* $(;)*) => {$(
|
||||
impl<T> Translation<T, $D>
|
||||
impl<T> Scale<T, $D>
|
||||
{
|
||||
#[doc = "Initializes this translation from its components."]
|
||||
#[doc = "Initializes this Scale from its components."]
|
||||
#[doc = "# Example\n```"]
|
||||
#[doc = $doc]
|
||||
#[doc = "```"]
|
||||
@ -108,16 +108,16 @@ macro_rules! componentwise_constructors_impl(
|
||||
);
|
||||
|
||||
componentwise_constructors_impl!(
|
||||
"# use nalgebra::Translation1;\nlet t = Translation1::new(1.0);\nassert!(t.vector.x == 1.0);";
|
||||
"# use nalgebra::Scale1;\nlet t = Scale1::new(1.0);\nassert!(t.vector.x == 1.0);";
|
||||
1, x:0;
|
||||
"# use nalgebra::Translation2;\nlet t = Translation2::new(1.0, 2.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0);";
|
||||
"# use nalgebra::Scale2;\nlet t = Scale2::new(1.0, 2.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0);";
|
||||
2, x:0, y:1;
|
||||
"# use nalgebra::Translation3;\nlet t = Translation3::new(1.0, 2.0, 3.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0);";
|
||||
"# use nalgebra::Scale3;\nlet t = Scale3::new(1.0, 2.0, 3.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0);";
|
||||
3, x:0, y:1, z:2;
|
||||
"# use nalgebra::Translation4;\nlet t = Translation4::new(1.0, 2.0, 3.0, 4.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0);";
|
||||
"# use nalgebra::Scale4;\nlet t = Scale4::new(1.0, 2.0, 3.0, 4.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0);";
|
||||
4, x:0, y:1, z:2, w:3;
|
||||
"# use nalgebra::Translation5;\nlet t = Translation5::new(1.0, 2.0, 3.0, 4.0, 5.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0);";
|
||||
"# use nalgebra::Scale5;\nlet t = Scale5::new(1.0, 2.0, 3.0, 4.0, 5.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0);";
|
||||
5, x:0, y:1, z:2, w:3, a:4;
|
||||
"# use nalgebra::Translation6;\nlet t = Translation6::new(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0 && t.vector.b == 6.0);";
|
||||
"# use nalgebra::Scale6;\nlet t = Scale6::new(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0 && t.vector.b == 6.0);";
|
||||
6, x:0, y:1, z:2, w:3, a:4, b:5;
|
||||
);
|
||||
|
||||
@ -8,8 +8,7 @@ use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
|
||||
use crate::base::{Const, DefaultAllocator, DimName, OMatrix, OVector, SVector, Scalar};
|
||||
|
||||
use crate::geometry::{
|
||||
AbstractRotation, Isometry, Similarity, SuperTCategoryOf, TAffine, Transform, Translation,
|
||||
Translation3, UnitDualQuaternion, UnitQuaternion,
|
||||
SuperTCategoryOf, TAffine, Transform, Scale
|
||||
};
|
||||
use crate::Point;
|
||||
|
||||
@ -17,106 +16,35 @@ use crate::Point;
|
||||
* This file provides the following conversions:
|
||||
* =============================================
|
||||
*
|
||||
* Translation -> Translation
|
||||
* Translation -> Isometry
|
||||
* Translation3 -> UnitDualQuaternion
|
||||
* Translation -> Similarity
|
||||
* Translation -> Transform
|
||||
* Translation -> Matrix (homogeneous)
|
||||
* Scale -> Scale
|
||||
* Scale -> Transform
|
||||
* Scale -> Matrix (homogeneous)
|
||||
*/
|
||||
|
||||
impl<T1, T2, const D: usize> SubsetOf<Translation<T2, D>> for Translation<T1, D>
|
||||
impl<T1, T2, const D: usize> SubsetOf<Scale<T2, D>> for Scale<T1, D>
|
||||
where
|
||||
T1: Scalar,
|
||||
T2: Scalar + SupersetOf<T1>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> Translation<T2, D> {
|
||||
Translation::from(self.vector.to_superset())
|
||||
fn to_superset(&self) -> Scale<T2, D> {
|
||||
Scale::from(self.vector.to_superset())
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn is_in_subset(rot: &Translation<T2, D>) -> bool {
|
||||
fn is_in_subset(rot: &Scale<T2, D>) -> bool {
|
||||
crate::is_convertible::<_, SVector<T1, D>>(&rot.vector)
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn from_superset_unchecked(rot: &Translation<T2, D>) -> Self {
|
||||
Translation {
|
||||
fn from_superset_unchecked(rot: &Scale<T2, D>) -> Self {
|
||||
Scale {
|
||||
vector: rot.vector.to_subset_unchecked(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<T1, T2, R, const D: usize> SubsetOf<Isometry<T2, R, D>> for Translation<T1, D>
|
||||
where
|
||||
T1: RealField,
|
||||
T2: RealField + SupersetOf<T1>,
|
||||
R: AbstractRotation<T2, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> Isometry<T2, R, D> {
|
||||
Isometry::from_parts(self.to_superset(), R::identity())
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn is_in_subset(iso: &Isometry<T2, R, D>) -> bool {
|
||||
iso.rotation == R::identity()
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn from_superset_unchecked(iso: &Isometry<T2, R, D>) -> Self {
|
||||
Self::from_superset_unchecked(&iso.translation)
|
||||
}
|
||||
}
|
||||
|
||||
impl<T1, T2> SubsetOf<UnitDualQuaternion<T2>> for Translation3<T1>
|
||||
where
|
||||
T1: RealField,
|
||||
T2: RealField + SupersetOf<T1>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> UnitDualQuaternion<T2> {
|
||||
let dq = UnitDualQuaternion::<T1>::from_parts(self.clone(), UnitQuaternion::identity());
|
||||
dq.to_superset()
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn is_in_subset(dq: &UnitDualQuaternion<T2>) -> bool {
|
||||
crate::is_convertible::<_, Translation<T1, 3>>(&dq.translation())
|
||||
&& dq.rotation() == UnitQuaternion::identity()
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn from_superset_unchecked(dq: &UnitDualQuaternion<T2>) -> Self {
|
||||
let dq: UnitDualQuaternion<T1> = crate::convert_ref_unchecked(dq);
|
||||
dq.translation()
|
||||
}
|
||||
}
|
||||
|
||||
impl<T1, T2, R, const D: usize> SubsetOf<Similarity<T2, R, D>> for Translation<T1, D>
|
||||
where
|
||||
T1: RealField,
|
||||
T2: RealField + SupersetOf<T1>,
|
||||
R: AbstractRotation<T2, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> Similarity<T2, R, D> {
|
||||
Similarity::from_parts(self.to_superset(), R::identity(), T2::one())
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn is_in_subset(sim: &Similarity<T2, R, D>) -> bool {
|
||||
sim.isometry.rotation == R::identity() && sim.scaling() == T2::one()
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn from_superset_unchecked(sim: &Similarity<T2, R, D>) -> Self {
|
||||
Self::from_superset_unchecked(&sim.isometry.translation)
|
||||
}
|
||||
}
|
||||
|
||||
impl<T1, T2, C, const D: usize> SubsetOf<Transform<T2, C, D>> for Translation<T1, D>
|
||||
impl<T1, T2, C, const D: usize> SubsetOf<Transform<T2, C, D>> for Scale<T1, D>
|
||||
where
|
||||
T1: RealField,
|
||||
T2: RealField + SupersetOf<T1>,
|
||||
@ -142,7 +70,7 @@ where
|
||||
}
|
||||
|
||||
impl<T1, T2, const D: usize>
|
||||
SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>> for Translation<T1, D>
|
||||
SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>> for Scale<T1, D>
|
||||
where
|
||||
T1: RealField,
|
||||
T2: RealField + SupersetOf<T1>,
|
||||
@ -180,7 +108,7 @@ where
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Scalar + Zero + One, const D: usize> From<Translation<T, D>>
|
||||
impl<T: Scalar + Zero + One, const D: usize> From<Scale<T, D>>
|
||||
for OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
|
||||
where
|
||||
Const<D>: DimNameAdd<U1>,
|
||||
@ -188,49 +116,49 @@ where
|
||||
Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> + Allocator<T, Const<D>>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(t: Translation<T, D>) -> Self {
|
||||
fn from(t: Scale<T, D>) -> Self {
|
||||
t.to_homogeneous()
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Scalar, const D: usize> From<OVector<T, Const<D>>> for Translation<T, D> {
|
||||
impl<T: Scalar, const D: usize> From<OVector<T, Const<D>>> for Scale<T, D> {
|
||||
#[inline]
|
||||
fn from(vector: OVector<T, Const<D>>) -> Self {
|
||||
Translation { vector }
|
||||
Scale { vector }
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Scalar, const D: usize> From<[T; D]> for Translation<T, D> {
|
||||
impl<T: Scalar, const D: usize> From<[T; D]> for Scale<T, D> {
|
||||
#[inline]
|
||||
fn from(coords: [T; D]) -> Self {
|
||||
Translation {
|
||||
Scale {
|
||||
vector: coords.into(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Scalar, const D: usize> From<Point<T, D>> for Translation<T, D> {
|
||||
impl<T: Scalar, const D: usize> From<Point<T, D>> for Scale<T, D> {
|
||||
#[inline]
|
||||
fn from(pt: Point<T, D>) -> Self {
|
||||
Translation { vector: pt.coords }
|
||||
Scale { vector: pt.coords }
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Scalar, const D: usize> From<Translation<T, D>> for [T; D] {
|
||||
impl<T: Scalar, const D: usize> From<Scale<T, D>> for [T; D] {
|
||||
#[inline]
|
||||
fn from(t: Translation<T, D>) -> Self {
|
||||
fn from(t: Scale<T, D>) -> Self {
|
||||
t.vector.into()
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 2]>
|
||||
for Translation<T, D>
|
||||
impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Scale<T::Element, D>; 2]>
|
||||
for Scale<T, D>
|
||||
where
|
||||
T: From<[<T as simba::simd::SimdValue>::Element; 2]>,
|
||||
T::Element: Scalar,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Translation<T::Element, D>; 2]) -> Self {
|
||||
fn from(arr: [Scale<T::Element, D>; 2]) -> Self {
|
||||
Self::from(OVector::from([
|
||||
arr[0].vector.clone(),
|
||||
arr[1].vector.clone(),
|
||||
@ -238,14 +166,14 @@ where
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 4]>
|
||||
for Translation<T, D>
|
||||
impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Scale<T::Element, D>; 4]>
|
||||
for Scale<T, D>
|
||||
where
|
||||
T: From<[<T as simba::simd::SimdValue>::Element; 4]>,
|
||||
T::Element: Scalar,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Translation<T::Element, D>; 4]) -> Self {
|
||||
fn from(arr: [Scale<T::Element, D>; 4]) -> Self {
|
||||
Self::from(OVector::from([
|
||||
arr[0].vector.clone(),
|
||||
arr[1].vector.clone(),
|
||||
@ -255,14 +183,14 @@ where
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 8]>
|
||||
for Translation<T, D>
|
||||
impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Scale<T::Element, D>; 8]>
|
||||
for Scale<T, D>
|
||||
where
|
||||
T: From<[<T as simba::simd::SimdValue>::Element; 8]>,
|
||||
T::Element: Scalar,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Translation<T::Element, D>; 8]) -> Self {
|
||||
fn from(arr: [Scale<T::Element, D>; 8]) -> Self {
|
||||
Self::from(OVector::from([
|
||||
arr[0].vector.clone(),
|
||||
arr[1].vector.clone(),
|
||||
@ -276,14 +204,14 @@ where
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 16]>
|
||||
for Translation<T, D>
|
||||
impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Scale<T::Element, D>; 16]>
|
||||
for Scale<T, D>
|
||||
where
|
||||
T: From<[<T as simba::simd::SimdValue>::Element; 16]>,
|
||||
T::Element: Scalar,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Translation<T::Element, D>; 16]) -> Self {
|
||||
fn from(arr: [Scale<T::Element, D>; 16]) -> Self {
|
||||
Self::from(OVector::from([
|
||||
arr[0].vector.clone(),
|
||||
arr[1].vector.clone(),
|
||||
|
||||
@ -3,29 +3,29 @@ use std::ops::{Deref, DerefMut};
|
||||
use crate::base::coordinates::{X, XY, XYZ, XYZW, XYZWA, XYZWAB};
|
||||
use crate::base::Scalar;
|
||||
|
||||
use crate::geometry::Translation;
|
||||
use crate::geometry::Scale;
|
||||
|
||||
/*
|
||||
*
|
||||
* Give coordinates to Translation{1 .. 6}
|
||||
* Give coordinates to Scale{1 .. 6}
|
||||
*
|
||||
*/
|
||||
|
||||
macro_rules! deref_impl(
|
||||
($D: expr, $Target: ident $(, $comps: ident)*) => {
|
||||
impl<T: Scalar> Deref for Translation<T, $D> {
|
||||
impl<T: Scalar> Deref for Scale<T, $D> {
|
||||
type Target = $Target<T>;
|
||||
|
||||
#[inline]
|
||||
fn deref(&self) -> &Self::Target {
|
||||
unsafe { &*(self as *const Translation<T, $D> as *const Self::Target) }
|
||||
unsafe { &*(self as *const Scale<T, $D> as *const Self::Target) }
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Scalar> DerefMut for Translation<T, $D> {
|
||||
impl<T: Scalar> DerefMut for Scale<T, $D> {
|
||||
#[inline]
|
||||
fn deref_mut(&mut self) -> &mut Self::Target {
|
||||
unsafe { &mut *(self as *mut Translation<T, $D> as *mut Self::Target) }
|
||||
unsafe { &mut *(self as *mut Scale<T, $D> as *mut Self::Target) }
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -6,114 +6,114 @@ use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstr
|
||||
use crate::base::dimension::U1;
|
||||
use crate::base::{Const, Scalar};
|
||||
|
||||
use crate::geometry::{Point, Translation};
|
||||
use crate::geometry::{Point, Scale};
|
||||
|
||||
// Translation × Translation
|
||||
// Scale × Scale
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: &'a Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector + &right.vector) };
|
||||
self: &'a Scale<T, D>, right: &'b Scale<T, D>, Output = Scale<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
|
||||
'a, 'b);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: &'a Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector + right.vector) };
|
||||
self: &'a Scale<T, D>, right: Scale<T, D>, Output = Scale<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
|
||||
'a);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector + &right.vector) };
|
||||
self: Scale<T, D>, right: &'b Scale<T, D>, Output = Scale<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
|
||||
'b);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector + right.vector) }; );
|
||||
self: Scale<T, D>, right: Scale<T, D>, Output = Scale<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); }; );
|
||||
|
||||
// Translation ÷ Translation
|
||||
// Scale ÷ Scale
|
||||
// TODO: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
|
||||
add_sub_impl!(Div, div, ClosedSub;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: &'a Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector - &right.vector) };
|
||||
self: &'a Scale<T, D>, right: &'b Scale<T, D>, Output = Scale<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
|
||||
'a, 'b);
|
||||
|
||||
add_sub_impl!(Div, div, ClosedSub;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: &'a Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector - right.vector) };
|
||||
self: &'a Scale<T, D>, right: Scale<T, D>, Output = Scale<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
|
||||
'a);
|
||||
|
||||
add_sub_impl!(Div, div, ClosedSub;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector - &right.vector) };
|
||||
self: Scale<T, D>, right: &'b Scale<T, D>, Output = Scale<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
|
||||
'b);
|
||||
|
||||
add_sub_impl!(Div, div, ClosedSub;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector - right.vector) }; );
|
||||
self: Scale<T, D>, right: Scale<T, D>, Output = Scale<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); }; );
|
||||
|
||||
// Translation × Point
|
||||
// Scale × Point
|
||||
// TODO: we don't handle properly non-zero origins here. Do we want this to be the intended
|
||||
// behavior?
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: &'a Translation<T, D>, right: &'b Point<T, D>, Output = Point<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { right + &self.vector };
|
||||
self: &'a Scale<T, D>, right: &'b Point<T, D>, Output = Point<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
|
||||
'a, 'b);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: &'a Translation<T, D>, right: Point<T, D>, Output = Point<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { right + &self.vector };
|
||||
self: &'a Scale<T, D>, right: Point<T, D>, Output = Point<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
|
||||
'a);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: Translation<T, D>, right: &'b Point<T, D>, Output = Point<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { right + self.vector };
|
||||
self: Scale<T, D>, right: &'b Point<T, D>, Output = Point<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
|
||||
'b);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: Translation<T, D>, right: Point<T, D>, Output = Point<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { right + self.vector }; );
|
||||
self: Scale<T, D>, right: Point<T, D>, Output = Point<T, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { todo!(); }; );
|
||||
|
||||
// Translation *= Translation
|
||||
// Scale *= Scale
|
||||
add_sub_assign_impl!(MulAssign, mul_assign, ClosedAdd;
|
||||
const D;
|
||||
self: Translation<T, D>, right: &'b Translation<T, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { self.vector += &right.vector };
|
||||
self: Scale<T, D>, right: &'b Scale<T, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { todo!(); };
|
||||
'b);
|
||||
|
||||
add_sub_assign_impl!(MulAssign, mul_assign, ClosedAdd;
|
||||
const D;
|
||||
self: Translation<T, D>, right: Translation<T, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { self.vector += right.vector }; );
|
||||
self: Scale<T, D>, right: Scale<T, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { todo!(); }; );
|
||||
|
||||
add_sub_assign_impl!(DivAssign, div_assign, ClosedSub;
|
||||
const D;
|
||||
self: Translation<T, D>, right: &'b Translation<T, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { self.vector -= &right.vector };
|
||||
self: Scale<T, D>, right: &'b Scale<T, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { todo!(); };
|
||||
'b);
|
||||
|
||||
add_sub_assign_impl!(DivAssign, div_assign, ClosedSub;
|
||||
const D;
|
||||
self: Translation<T, D>, right: Translation<T, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { self.vector -= right.vector }; );
|
||||
self: Scale<T, D>, right: Scale<T, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { todo!(); }; );
|
||||
|
||||
Loading…
Reference in New Issue
Block a user