nalgebra/src/geometry/isometry.rs

301 lines
8.7 KiB
Rust
Raw Normal View History

2018-05-19 21:41:58 +08:00
use approx::{AbsDiffEq, RelativeEq, UlpsEq};
use std::fmt;
use std::hash;
2018-07-20 21:25:55 +08:00
#[cfg(feature = "abomonation-serialize")]
use std::io::{Result as IOResult, Write};
use std::marker::PhantomData;
#[cfg(feature = "serde-serialize")]
use serde::{Serialize, Deserialize};
#[cfg(feature = "abomonation-serialize")]
use abomonation::Abomonation;
use alga::general::{Real, SubsetOf};
use alga::linear::Rotation;
2017-02-13 01:17:09 +08:00
use base::allocator::Allocator;
use base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
use base::storage::Owned;
use base::{DefaultAllocator, MatrixN};
2018-02-02 19:26:35 +08:00
use geometry::{Point, Translation};
2017-02-13 01:17:09 +08:00
/// A direct isometry, i.e., a rotation followed by a translation, aka. a rigid-body motion, aka. an element of a Special Euclidean (SE) group.
#[repr(C)]
#[derive(Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
2018-05-19 21:41:58 +08:00
#[cfg_attr(
feature = "serde-serialize",
serde(
bound(
serialize = "R: Serialize,
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: Serialize"
2018-05-19 21:41:58 +08:00
)
)
)]
#[cfg_attr(
feature = "serde-serialize",
serde(
bound(
deserialize = "R: Deserialize<'de>,
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: Deserialize<'de>"
2018-05-19 21:41:58 +08:00
)
)
)]
pub struct Isometry<N: Real, D: DimName, R>
2018-02-02 19:26:35 +08:00
where
DefaultAllocator: Allocator<N, D>,
{
2017-02-13 01:17:09 +08:00
/// The pure rotational part of this isometry.
2018-02-02 19:26:35 +08:00
pub rotation: R,
2017-02-13 01:17:09 +08:00
/// The pure translational part of this isometry.
pub translation: Translation<N, D>,
2017-02-13 01:17:09 +08:00
// One dummy private field just to prevent explicit construction.
#[cfg_attr(feature = "serde-serialize", serde(skip_serializing, skip_deserializing))]
2018-02-02 19:26:35 +08:00
_noconstruct: PhantomData<N>,
}
#[cfg(feature = "abomonation-serialize")]
2017-08-16 01:36:38 +08:00
impl<N, D, R> Abomonation for Isometry<N, D, R>
2018-02-02 19:26:35 +08:00
where
N: Real,
D: DimName,
R: Abomonation,
Translation<N, D>: Abomonation,
DefaultAllocator: Allocator<N, D>,
{
2018-07-20 21:25:55 +08:00
unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
self.rotation.entomb(writer)?;
self.translation.entomb(writer)
}
2018-07-20 21:25:55 +08:00
fn extent(&self) -> usize {
self.rotation.extent() + self.translation.extent()
}
unsafe fn exhume<'a, 'b>(&'a mut self, bytes: &'b mut [u8]) -> Option<&'b mut [u8]> {
2018-02-02 19:26:35 +08:00
self.rotation
.exhume(bytes)
.and_then(|bytes| self.translation.exhume(bytes))
}
}
impl<N: Real + hash::Hash, D: DimName + hash::Hash, R: hash::Hash> hash::Hash for Isometry<N, D, R>
2018-02-02 19:26:35 +08:00
where
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: hash::Hash,
{
fn hash<H: hash::Hasher>(&self, state: &mut H) {
self.translation.hash(state);
self.rotation.hash(state);
}
}
impl<N: Real, D: DimName + Copy, R: Rotation<Point<N, D>> + Copy> Copy for Isometry<N, D, R>
2018-02-02 19:26:35 +08:00
where
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: Copy,
{
}
impl<N: Real, D: DimName, R: Rotation<Point<N, D>> + Clone> Clone for Isometry<N, D, R>
2018-02-02 19:26:35 +08:00
where
DefaultAllocator: Allocator<N, D>,
{
#[inline]
fn clone(&self) -> Self {
Isometry::from_parts(self.translation.clone(), self.rotation.clone())
}
}
impl<N: Real, D: DimName, R: Rotation<Point<N, D>>> Isometry<N, D, R>
2018-02-02 19:26:35 +08:00
where
DefaultAllocator: Allocator<N, D>,
{
/// Creates a new isometry from its rotational and translational parts.
#[inline]
pub fn from_parts(translation: Translation<N, D>, rotation: R) -> Isometry<N, D, R> {
Isometry {
2018-02-02 19:26:35 +08:00
rotation: rotation,
translation: translation,
_noconstruct: PhantomData,
}
}
/// Inverts `self`.
#[inline]
pub fn inverse(&self) -> Isometry<N, D, R> {
let mut res = self.clone();
res.inverse_mut();
res
}
/// Inverts `self`.
#[inline]
pub fn inverse_mut(&mut self) {
self.rotation.inverse_mut();
self.translation.inverse_mut();
self.translation.vector = self.rotation.transform_vector(&self.translation.vector);
}
/// Appends to `self` the given translation in-place.
#[inline]
pub fn append_translation_mut(&mut self, t: &Translation<N, D>) {
self.translation.vector += &t.vector
}
/// Appends to `self` the given rotation in-place.
#[inline]
pub fn append_rotation_mut(&mut self, r: &R) {
2018-02-02 19:26:35 +08:00
self.rotation = self.rotation.append_rotation(&r);
self.translation.vector = r.transform_vector(&self.translation.vector);
}
/// Appends in-place to `self` a rotation centered at the point `p`, i.e., the rotation that
/// lets `p` invariant.
#[inline]
pub fn append_rotation_wrt_point_mut(&mut self, r: &R, p: &Point<N, D>) {
self.translation.vector -= &p.coords;
self.append_rotation_mut(r);
self.translation.vector += &p.coords;
}
/// Appends in-place to `self` a rotation centered at the point with coordinates
/// `self.translation`.
#[inline]
pub fn append_rotation_wrt_center_mut(&mut self, r: &R) {
let center = Point::from_coordinates(self.translation.vector.clone());
self.append_rotation_wrt_point_mut(r, &center)
}
}
// NOTE: we don't require `R: Rotation<...>` here because this is not useful for the implementation
// and makes it hard to use it, e.g., for Transform × Isometry implementation.
// This is OK since all constructors of the isometry enforce the Rotation bound already (and
// explicit struct construction is prevented by the dummy ZST field).
impl<N: Real, D: DimName, R> Isometry<N, D, R>
2018-02-02 19:26:35 +08:00
where
DefaultAllocator: Allocator<N, D>,
{
/// Converts this isometry into its equivalent homogeneous transformation matrix.
#[inline]
pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
2018-02-02 19:26:35 +08:00
where
D: DimNameAdd<U1>,
R: SubsetOf<MatrixN<N, DimNameSum<D, U1>>>,
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
{
let mut res: MatrixN<N, _> = ::convert_ref(&self.rotation);
2018-02-02 19:26:35 +08:00
res.fixed_slice_mut::<D, U1>(0, D::dim())
.copy_from(&self.translation.vector);
res
}
}
impl<N: Real, D: DimName, R> Eq for Isometry<N, D, R>
2018-02-02 19:26:35 +08:00
where
R: Rotation<Point<N, D>> + Eq,
DefaultAllocator: Allocator<N, D>,
{
}
impl<N: Real, D: DimName, R> PartialEq for Isometry<N, D, R>
2018-02-02 19:26:35 +08:00
where
R: Rotation<Point<N, D>> + PartialEq,
DefaultAllocator: Allocator<N, D>,
{
#[inline]
fn eq(&self, right: &Isometry<N, D, R>) -> bool {
2018-02-02 19:26:35 +08:00
self.translation == right.translation && self.rotation == right.rotation
}
}
2018-05-19 21:41:58 +08:00
impl<N: Real, D: DimName, R> AbsDiffEq for Isometry<N, D, R>
2018-02-02 19:26:35 +08:00
where
2018-05-19 21:41:58 +08:00
R: Rotation<Point<N, D>> + AbsDiffEq<Epsilon = N::Epsilon>,
2018-02-02 19:26:35 +08:00
DefaultAllocator: Allocator<N, D>,
N::Epsilon: Copy,
{
type Epsilon = N::Epsilon;
#[inline]
fn default_epsilon() -> Self::Epsilon {
N::default_epsilon()
}
#[inline]
2018-05-19 21:41:58 +08:00
fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool {
self.translation.abs_diff_eq(&other.translation, epsilon)
&& self.rotation.abs_diff_eq(&other.rotation, epsilon)
}
2018-05-19 21:41:58 +08:00
}
2018-05-19 21:41:58 +08:00
impl<N: Real, D: DimName, R> RelativeEq for Isometry<N, D, R>
where
R: Rotation<Point<N, D>> + RelativeEq<Epsilon = N::Epsilon>,
DefaultAllocator: Allocator<N, D>,
N::Epsilon: Copy,
{
#[inline]
2018-05-19 21:41:58 +08:00
fn default_max_relative() -> Self::Epsilon {
N::default_max_relative()
}
#[inline]
2018-02-02 19:26:35 +08:00
fn relative_eq(
&self,
other: &Self,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon,
) -> bool {
self.translation
.relative_eq(&other.translation, epsilon, max_relative)
2018-07-20 21:25:55 +08:00
&& self
.rotation
2018-02-02 19:26:35 +08:00
.relative_eq(&other.rotation, epsilon, max_relative)
}
2018-05-19 21:41:58 +08:00
}
impl<N: Real, D: DimName, R> UlpsEq for Isometry<N, D, R>
where
R: Rotation<Point<N, D>> + UlpsEq<Epsilon = N::Epsilon>,
DefaultAllocator: Allocator<N, D>,
N::Epsilon: Copy,
{
#[inline]
fn default_max_ulps() -> u32 {
N::default_max_ulps()
}
#[inline]
fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
2018-02-02 19:26:35 +08:00
self.translation
.ulps_eq(&other.translation, epsilon, max_ulps)
&& self.rotation.ulps_eq(&other.rotation, epsilon, max_ulps)
}
}
/*
*
* Display
*
*/
impl<N: Real + fmt::Display, D: DimName, R> fmt::Display for Isometry<N, D, R>
2018-02-02 19:26:35 +08:00
where
R: fmt::Display,
DefaultAllocator: Allocator<N, D> + Allocator<usize, D>,
{
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
let precision = f.precision().unwrap_or(3);
try!(writeln!(f, "Isometry {{"));
try!(write!(f, "{:.*}", precision, self.translation));
try!(write!(f, "{:.*}", precision, self.rotation));
writeln!(f, "}}")
}
}