416 lines
14 KiB
Rust
Executable File
416 lines
14 KiB
Rust
Executable File
use approx::{AbsDiffEq, RelativeEq, UlpsEq};
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use num::Zero;
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use std::fmt;
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use std::hash;
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#[cfg(feature = "serde-serialize-no-std")]
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use serde::{Deserialize, Serialize};
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use simba::scalar::{RealField, SubsetOf};
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use simba::simd::SimdRealField;
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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::{AbstractRotation, Isometry, Point, Translation};
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/// A similarity, i.e., an uniform scaling, followed by a rotation, followed by a translation.
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#[repr(C)]
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#[derive(Debug, Copy, Clone)]
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#[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
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#[cfg_attr(feature = "serde-serialize-no-std", derive(Serialize, Deserialize))]
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#[cfg_attr(
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feature = "serde-serialize-no-std",
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serde(bound(serialize = "T: Scalar + Serialize,
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R: Serialize,
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DefaultAllocator: Allocator<T, Const<D>>,
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Owned<T, Const<D>>: Serialize"))
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)]
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#[cfg_attr(
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feature = "serde-serialize-no-std",
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serde(bound(deserialize = "T: Scalar + Deserialize<'de>,
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R: Deserialize<'de>,
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DefaultAllocator: Allocator<T, Const<D>>,
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Owned<T, Const<D>>: Deserialize<'de>"))
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)]
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#[cfg_attr(feature = "rkyv-serialize", derive(bytecheck::CheckBytes))]
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#[cfg_attr(
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feature = "rkyv-serialize-no-std",
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derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
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archive(
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as = "Similarity<T::Archived, R::Archived, D>",
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bound(archive = "
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T: rkyv::Archive,
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R: rkyv::Archive,
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Isometry<T, R, D>: rkyv::Archive<Archived = Isometry<T::Archived, R::Archived, D>>
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")
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)
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)]
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pub struct Similarity<T, R, const D: usize> {
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/// The part of this similarity that does not include the scaling factor.
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pub isometry: Isometry<T, R, D>,
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scaling: T,
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}
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impl<T: Scalar + hash::Hash, R: hash::Hash, const D: usize> hash::Hash for Similarity<T, R, 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.isometry.hash(state);
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self.scaling.hash(state);
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}
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}
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impl<T: Scalar + Zero, R, const D: usize> Similarity<T, R, D>
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where
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R: AbstractRotation<T, D>,
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{
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/// Creates a new similarity from its rotational and translational parts.
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#[inline]
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pub fn from_parts(translation: Translation<T, D>, rotation: R, scaling: T) -> Self {
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Self::from_isometry(Isometry::from_parts(translation, rotation), scaling)
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}
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/// Creates a new similarity from its rotational and translational parts.
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#[inline]
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pub fn from_isometry(isometry: Isometry<T, R, D>, scaling: T) -> Self {
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assert!(!scaling.is_zero(), "The scaling factor must not be zero.");
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Self { isometry, scaling }
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}
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/// The scaling factor of this similarity transformation.
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#[inline]
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pub fn set_scaling(&mut self, scaling: T) {
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assert!(
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!scaling.is_zero(),
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"The similarity scaling factor must not be zero."
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);
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self.scaling = scaling;
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}
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}
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impl<T: Scalar, R, const D: usize> Similarity<T, R, D> {
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/// The scaling factor of this similarity transformation.
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#[inline]
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#[must_use]
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pub fn scaling(&self) -> T {
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self.scaling.clone()
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}
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}
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impl<T: SimdRealField, R, const D: usize> Similarity<T, R, D>
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where
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T::Element: SimdRealField,
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R: AbstractRotation<T, D>,
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{
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/// Creates a new similarity that applies only a scaling factor.
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#[inline]
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pub fn from_scaling(scaling: T) -> Self {
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Self::from_isometry(Isometry::identity(), scaling)
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}
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/// Inverts `self`.
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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) -> Self {
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let mut res = self.clone();
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res.inverse_mut();
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res
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}
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/// Inverts `self` in-place.
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#[inline]
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pub fn inverse_mut(&mut self) {
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self.scaling = T::one() / self.scaling.clone();
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self.isometry.inverse_mut();
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self.isometry.translation.vector *= self.scaling.clone();
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}
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/// The similarity transformation that applies a scaling factor `scaling` before `self`.
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#[inline]
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#[must_use = "Did you mean to use prepend_scaling_mut()?"]
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pub fn prepend_scaling(&self, scaling: T) -> Self {
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assert!(
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!scaling.is_zero(),
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"The similarity scaling factor must not be zero."
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);
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Self::from_isometry(self.isometry.clone(), self.scaling.clone() * scaling)
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}
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/// The similarity transformation that applies a scaling factor `scaling` after `self`.
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#[inline]
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#[must_use = "Did you mean to use append_scaling_mut()?"]
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pub fn append_scaling(&self, scaling: T) -> Self {
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assert!(
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!scaling.is_zero(),
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"The similarity scaling factor must not be zero."
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);
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Self::from_parts(
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Translation::from(&self.isometry.translation.vector * scaling.clone()),
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self.isometry.rotation.clone(),
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self.scaling.clone() * scaling,
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)
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}
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/// Sets `self` to the similarity transformation that applies a scaling factor `scaling` before `self`.
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#[inline]
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pub fn prepend_scaling_mut(&mut self, scaling: T) {
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assert!(
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!scaling.is_zero(),
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"The similarity scaling factor must not be zero."
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);
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self.scaling *= scaling
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}
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/// Sets `self` to the similarity transformation that applies a scaling factor `scaling` after `self`.
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#[inline]
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pub fn append_scaling_mut(&mut self, scaling: T) {
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assert!(
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!scaling.is_zero(),
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"The similarity scaling factor must not be zero."
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);
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self.isometry.translation.vector *= scaling.clone();
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self.scaling *= scaling;
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}
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/// Appends to `self` the given translation in-place.
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#[inline]
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pub fn append_translation_mut(&mut self, t: &Translation<T, D>) {
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self.isometry.append_translation_mut(t)
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}
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/// Appends to `self` the given rotation in-place.
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#[inline]
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pub fn append_rotation_mut(&mut self, r: &R) {
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self.isometry.append_rotation_mut(r)
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}
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/// Appends in-place to `self` a rotation centered at the point `p`, i.e., the rotation that
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/// lets `p` invariant.
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#[inline]
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pub fn append_rotation_wrt_point_mut(&mut self, r: &R, p: &Point<T, D>) {
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self.isometry.append_rotation_wrt_point_mut(r, p)
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}
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/// Appends in-place to `self` a rotation centered at the point with coordinates
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/// `self.translation`.
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#[inline]
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pub fn append_rotation_wrt_center_mut(&mut self, r: &R) {
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self.isometry.append_rotation_wrt_center_mut(r)
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}
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/// Transform the given point by this similarity.
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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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/// # #[macro_use] extern crate approx;
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/// # use std::f32;
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/// # use nalgebra::{Point3, Similarity3, Vector3};
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/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
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/// let translation = Vector3::new(1.0, 2.0, 3.0);
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/// let sim = Similarity3::new(translation, axisangle, 3.0);
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/// let transformed_point = sim.transform_point(&Point3::new(4.0, 5.0, 6.0));
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/// assert_relative_eq!(transformed_point, Point3::new(19.0, 17.0, -9.0), epsilon = 1.0e-5);
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/// ```
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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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self * pt
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}
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/// Transform the given vector by this similarity, ignoring the translational
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/// component.
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///
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/// This is the same as the multiplication `self * t`.
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///
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/// # Example
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/// ```
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/// # #[macro_use] extern crate approx;
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/// # use std::f32;
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/// # use nalgebra::{Similarity3, Vector3};
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/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
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/// let translation = Vector3::new(1.0, 2.0, 3.0);
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/// let sim = Similarity3::new(translation, axisangle, 3.0);
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/// let transformed_vector = sim.transform_vector(&Vector3::new(4.0, 5.0, 6.0));
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/// assert_relative_eq!(transformed_vector, Vector3::new(18.0, 15.0, -12.0), epsilon = 1.0e-5);
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/// ```
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#[inline]
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#[must_use]
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pub fn transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D> {
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self * v
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}
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/// Transform the given point by the inverse of this similarity. This may
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/// be cheaper than inverting the similarity and then transforming the
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/// given point.
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///
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/// # Example
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/// ```
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/// # #[macro_use] extern crate approx;
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/// # use std::f32;
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/// # use nalgebra::{Point3, Similarity3, Vector3};
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/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
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/// let translation = Vector3::new(1.0, 2.0, 3.0);
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/// let sim = Similarity3::new(translation, axisangle, 2.0);
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/// let transformed_point = sim.inverse_transform_point(&Point3::new(4.0, 5.0, 6.0));
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/// assert_relative_eq!(transformed_point, Point3::new(-1.5, 1.5, 1.5), epsilon = 1.0e-5);
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/// ```
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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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self.isometry.inverse_transform_point(pt) / self.scaling()
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}
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/// Transform the given vector by the inverse of this similarity,
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/// ignoring the translational component. This may be cheaper than
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/// inverting the similarity and then transforming the given vector.
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///
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/// # Example
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/// ```
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/// # #[macro_use] extern crate approx;
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/// # use std::f32;
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/// # use nalgebra::{Similarity3, Vector3};
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/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
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/// let translation = Vector3::new(1.0, 2.0, 3.0);
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/// let sim = Similarity3::new(translation, axisangle, 2.0);
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/// let transformed_vector = sim.inverse_transform_vector(&Vector3::new(4.0, 5.0, 6.0));
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/// assert_relative_eq!(transformed_vector, Vector3::new(-3.0, 2.5, 2.0), epsilon = 1.0e-5);
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/// ```
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#[inline]
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#[must_use]
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pub fn inverse_transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D> {
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self.isometry.inverse_transform_vector(v) / self.scaling()
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}
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}
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// NOTE: we don't require `R: Rotation<...>` here because this is not useful for the implementation
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// and makes it harder to use it, e.g., for Transform × Isometry implementation.
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// This is OK since all constructors of the isometry enforce the Rotation bound already (and
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// explicit struct construction is prevented by the private scaling factor).
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impl<T: SimdRealField, R, const D: usize> Similarity<T, R, D> {
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/// Converts this similarity into its equivalent homogeneous transformation matrix.
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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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Const<D>: DimNameAdd<U1>,
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R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, 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 = self.isometry.to_homogeneous();
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for e in res.fixed_view_mut::<D, D>(0, 0).iter_mut() {
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*e *= self.scaling.clone()
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}
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res
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}
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}
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impl<T: SimdRealField, R, const D: usize> Eq for Similarity<T, R, D> where
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R: AbstractRotation<T, D> + Eq
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{
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}
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impl<T: SimdRealField, R, const D: usize> PartialEq for Similarity<T, R, D>
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where
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R: AbstractRotation<T, D> + PartialEq,
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{
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#[inline]
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fn eq(&self, right: &Self) -> bool {
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self.isometry == right.isometry && self.scaling == right.scaling
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}
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}
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impl<T: RealField, R, const D: usize> AbsDiffEq for Similarity<T, R, D>
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where
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R: AbstractRotation<T, D> + AbsDiffEq<Epsilon = T::Epsilon>,
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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.isometry.abs_diff_eq(&other.isometry, epsilon.clone())
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&& self.scaling.abs_diff_eq(&other.scaling, epsilon)
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}
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}
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impl<T: RealField, R, const D: usize> RelativeEq for Similarity<T, R, D>
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where
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R: AbstractRotation<T, D> + RelativeEq<Epsilon = T::Epsilon>,
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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.isometry
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.relative_eq(&other.isometry, epsilon.clone(), max_relative.clone())
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&& self
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.scaling
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.relative_eq(&other.scaling, epsilon, max_relative)
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}
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}
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impl<T: RealField, R, const D: usize> UlpsEq for Similarity<T, R, D>
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where
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R: AbstractRotation<T, D> + UlpsEq<Epsilon = T::Epsilon>,
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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.isometry
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.ulps_eq(&other.isometry, epsilon.clone(), max_ulps)
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&& self.scaling.ulps_eq(&other.scaling, 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, R, const D: usize> fmt::Display for Similarity<T, R, D>
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where
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T: RealField + fmt::Display,
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R: AbstractRotation<T, D> + fmt::Display,
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{
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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, "Similarity {{")?;
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write!(f, "{:.*}", precision, self.isometry)?;
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write!(f, "Scaling: {:.*}", precision, self.scaling)?;
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writeln!(f, "}}")
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}
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}
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