330 lines
8.9 KiB
Rust
Executable File
330 lines
8.9 KiB
Rust
Executable File
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")]
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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::{DimName, DimNameAdd, DimNameSum, U1};
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use crate::base::storage::Owned;
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use crate::base::{DefaultAllocator, MatrixN, Scalar, VectorN};
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use crate::geometry::Point;
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/// A translation.
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#[repr(C)]
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#[derive(Debug)]
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pub struct Translation<N: Scalar, D: DimName>
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where
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DefaultAllocator: Allocator<N, D>,
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{
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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: VectorN<N, D>,
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}
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impl<N: Scalar + hash::Hash, D: DimName + hash::Hash> hash::Hash for Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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Owned<N, 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<N: Scalar + Copy, D: DimName> Copy for Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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Owned<N, D>: Copy,
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{
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}
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impl<N: Scalar, D: DimName> Clone for Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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Owned<N, 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 = "abomonation-serialize")]
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impl<N, D> Abomonation for Translation<N, D>
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where
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N: Scalar,
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D: DimName,
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VectorN<N, D>: Abomonation,
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DefaultAllocator: Allocator<N, D>,
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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")]
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impl<N: Scalar, D: DimName> Serialize for Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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Owned<N, 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")]
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impl<'a, N: Scalar, D: DimName> Deserialize<'a> for Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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Owned<N, 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 = VectorN::<N, D>::deserialize(deserializer)?;
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Ok(Translation::from(matrix))
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}
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}
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impl<N: Scalar, D: DimName> Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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{
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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: VectorN<N, D>) -> Translation<N, 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<N, D>
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where
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N: 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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pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
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where
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N: Zero + One,
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D: DimNameAdd<U1>,
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DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
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{
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let mut res = MatrixN::<N, DimNameSum<D, U1>>::identity();
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res.fixed_slice_mut::<D, U1>(0, D::dim())
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.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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N: 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<N: Scalar + ClosedAdd, D: DimName> Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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{
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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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pub fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
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pt + &self.vector
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}
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}
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impl<N: Scalar + ClosedSub, D: DimName> Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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{
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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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pub fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
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pt - &self.vector
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}
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}
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impl<N: Scalar + Eq, D: DimName> Eq for Translation<N, D> where DefaultAllocator: Allocator<N, D> {}
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impl<N: Scalar + PartialEq, D: DimName> PartialEq for Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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{
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#[inline]
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fn eq(&self, right: &Translation<N, D>) -> bool {
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self.vector == right.vector
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}
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}
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impl<N: Scalar + AbsDiffEq, D: DimName> AbsDiffEq for Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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N::Epsilon: Copy,
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{
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type Epsilon = N::Epsilon;
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#[inline]
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fn default_epsilon() -> Self::Epsilon {
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N::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<N: Scalar + RelativeEq, D: DimName> RelativeEq for Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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N::Epsilon: Copy,
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{
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#[inline]
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fn default_max_relative() -> Self::Epsilon {
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N::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<N: Scalar + UlpsEq, D: DimName> UlpsEq for Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D>,
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N::Epsilon: Copy,
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{
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#[inline]
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fn default_max_ulps() -> u32 {
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N::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<N: Scalar + fmt::Display, D: DimName> fmt::Display for Translation<N, D>
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where
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DefaultAllocator: Allocator<N, D> + Allocator<usize, D>,
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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, "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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