45 lines
1.3 KiB
Rust
45 lines
1.3 KiB
Rust
#[macro_use]
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extern crate approx;
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extern crate nalgebra as na;
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use na::{Isometry2, Point2, Vector2};
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use std::f32;
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fn use_dedicated_types() {
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let iso = Isometry2::new(Vector2::new(1.0, 1.0), f32::consts::PI);
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let pt = Point2::new(1.0, 0.0);
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let vec = Vector2::x();
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let transformed_pt = iso * pt;
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let transformed_vec = iso * vec;
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assert_relative_eq!(transformed_pt, Point2::new(0.0, 1.0));
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assert_relative_eq!(transformed_vec, Vector2::new(-1.0, 0.0));
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}
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fn use_homogeneous_coordinates() {
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let iso = Isometry2::new(Vector2::new(1.0, 1.0), f32::consts::PI);
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let pt = Point2::new(1.0, 0.0);
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let vec = Vector2::x();
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// Compute using homogeneous coordinates.
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let hom_iso = iso.to_homogeneous();
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let hom_pt = pt.to_homogeneous();
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let hom_vec = vec.to_homogeneous();
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let hom_transformed_pt = hom_iso * hom_pt;
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let hom_transformed_vec = hom_iso * hom_vec;
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// Convert back to the cartesian coordinates.
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let transformed_pt = Point2::from_homogeneous(hom_transformed_pt).unwrap();
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let transformed_vec = Vector2::from_homogeneous(hom_transformed_vec).unwrap();
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assert_relative_eq!(transformed_pt, Point2::new(0.0, 1.0));
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assert_relative_eq!(transformed_vec, Vector2::new(-1.0, 0.0));
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}
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fn main() {
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use_dedicated_types();
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use_homogeneous_coordinates();
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}
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