nalgebra/examples/transform_matrix4.rs

46 lines
1.5 KiB
Rust

#[macro_use]
extern crate approx;
extern crate nalgebra as na;
use na::{Matrix4, Point3, Vector3};
fn main() {
// Create a uniform scaling matrix with scaling factor 2.
let mut m = Matrix4::new_scaling(2.0);
assert_eq!(m.transform_vector(&Vector3::x()), Vector3::x() * 2.0);
assert_eq!(m.transform_vector(&Vector3::y()), Vector3::y() * 2.0);
assert_eq!(m.transform_vector(&Vector3::z()), Vector3::z() * 2.0);
// Append a nonuniform scaling in-place.
m.append_nonuniform_scaling_mut(&Vector3::new(1.0, 2.0, 3.0));
assert_eq!(m.transform_vector(&Vector3::x()), Vector3::x() * 2.0);
assert_eq!(m.transform_vector(&Vector3::y()), Vector3::y() * 4.0);
assert_eq!(m.transform_vector(&Vector3::z()), Vector3::z() * 6.0);
// Append a translation out-of-place.
let m2 = m.append_translation(&Vector3::new(42.0, 0.0, 0.0));
assert_eq!(
m2.transform_point(&Point3::new(1.0, 1.0, 1.0)),
Point3::new(42.0 + 2.0, 4.0, 6.0)
);
// Create rotation.
let rot = Matrix4::from_scaled_axis(&Vector3::x() * 3.14);
let rot_then_m = m * rot; // Right-multiplication is equivalent to prepending `rot` to `m`.
let m_then_rot = rot * m; // Left-multiplication is equivalent to appending `rot` to `m`.
let pt = Point3::new(1.0, 2.0, 3.0);
assert_relative_eq!(
m.transform_point(&rot.transform_point(&pt)),
rot_then_m.transform_point(&pt)
);
assert_relative_eq!(
rot.transform_point(&m.transform_point(&pt)),
m_then_rot.transform_point(&pt)
);
}