2018-05-19 21:41:58 +08:00
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use approx::{AbsDiffEq, RelativeEq, UlpsEq};
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2016-12-05 05:44:42 +08:00
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use std::fmt;
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2017-08-03 01:37:44 +08:00
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use std::hash;
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2018-07-20 21:25:55 +08:00
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#[cfg(feature = "abomonation-serialize")]
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use std::io::{Result as IOResult, Write};
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2016-12-05 05:44:42 +08:00
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use std::marker::PhantomData;
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2017-08-03 01:37:44 +08:00
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#[cfg(feature = "serde-serialize")]
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2018-10-22 13:00:10 +08:00
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use serde::{Deserialize, Serialize};
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2016-12-05 05:44:42 +08:00
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2017-08-14 20:32:02 +08:00
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#[cfg(feature = "abomonation-serialize")]
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use abomonation::Abomonation;
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2020-03-21 19:16:46 +08:00
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use simba::scalar::{RealField, SubsetOf};
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2020-03-22 06:22:55 +08:00
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use simba::simd::SimdRealField;
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2017-02-13 01:17:09 +08:00
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2019-03-23 21:29:07 +08:00
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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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2020-03-24 17:16:31 +08:00
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use crate::base::{DefaultAllocator, MatrixN, Scalar, VectorN};
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2020-03-21 19:16:46 +08:00
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use crate::geometry::{AbstractRotation, Point, Translation};
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2017-02-13 01:17:09 +08:00
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2018-10-06 12:44:32 +08:00
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/// 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.
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2016-12-05 05:44:42 +08:00
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#[repr(C)]
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2017-08-03 01:37:44 +08:00
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#[derive(Debug)]
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2017-02-16 05:04:34 +08:00
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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2018-05-19 21:41:58 +08:00
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#[cfg_attr(
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feature = "serde-serialize",
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2018-11-03 20:35:56 +08:00
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serde(bound(serialize = "R: Serialize,
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2017-08-03 01:37:44 +08:00
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DefaultAllocator: Allocator<N, D>,
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2018-11-03 20:35:56 +08:00
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Owned<N, D>: Serialize"))
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2018-05-19 21:41:58 +08:00
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)]
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#[cfg_attr(
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feature = "serde-serialize",
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2018-11-03 20:35:56 +08:00
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serde(bound(deserialize = "R: Deserialize<'de>,
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2017-08-03 01:37:44 +08:00
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DefaultAllocator: Allocator<N, D>,
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2018-11-03 20:35:56 +08:00
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Owned<N, D>: Deserialize<'de>"))
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2018-05-19 21:41:58 +08:00
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)]
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2020-03-24 17:16:31 +08:00
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pub struct Isometry<N: Scalar, D: DimName, R>
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2018-10-22 13:00:10 +08:00
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where DefaultAllocator: Allocator<N, D>
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2018-02-02 19:26:35 +08:00
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{
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2017-02-13 01:17:09 +08:00
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/// The pure rotational part of this isometry.
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2018-02-02 19:26:35 +08:00
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pub rotation: R,
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2017-02-13 01:17:09 +08:00
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/// The pure translational part of this isometry.
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2017-08-03 01:37:44 +08:00
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pub translation: Translation<N, D>,
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2016-12-05 05:44:42 +08:00
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}
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2017-08-14 20:32:02 +08:00
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#[cfg(feature = "abomonation-serialize")]
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2017-08-16 01:36:38 +08:00
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impl<N, D, R> Abomonation for Isometry<N, D, R>
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2018-02-02 19:26:35 +08:00
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where
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2020-03-22 06:22:55 +08:00
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N: SimdRealField,
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2018-02-02 19:26:35 +08:00
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D: DimName,
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R: Abomonation,
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Translation<N, D>: Abomonation,
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DefaultAllocator: Allocator<N, D>,
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2017-08-14 20:32:02 +08:00
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{
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2018-07-20 21:25:55 +08:00
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unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
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self.rotation.entomb(writer)?;
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self.translation.entomb(writer)
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2017-08-14 20:32:02 +08:00
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}
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2018-07-20 21:25:55 +08:00
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fn extent(&self) -> usize {
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self.rotation.extent() + self.translation.extent()
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2017-08-14 20:32:02 +08:00
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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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2018-02-02 19:26:35 +08:00
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self.rotation
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.exhume(bytes)
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2017-08-14 20:32:02 +08:00
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.and_then(|bytes| self.translation.exhume(bytes))
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}
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}
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2020-03-24 17:16:31 +08:00
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impl<N: Scalar + hash::Hash, D: DimName + hash::Hash, R: hash::Hash> hash::Hash
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2020-03-21 19:16:46 +08:00
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for Isometry<N, D, R>
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2018-02-02 19:26:35 +08:00
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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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2017-08-03 01:37:44 +08:00
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fn hash<H: hash::Hasher>(&self, state: &mut H) {
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self.translation.hash(state);
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self.rotation.hash(state);
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}
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}
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2020-03-24 17:16:31 +08:00
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impl<N: Scalar + Copy, D: DimName + Copy, R: AbstractRotation<N, D> + Copy> Copy
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2020-03-22 06:22:55 +08:00
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for Isometry<N, D, R>
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2018-02-02 19:26:35 +08:00
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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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2018-11-03 20:35:56 +08:00
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{
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}
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2017-08-03 01:37:44 +08:00
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2020-03-24 17:16:31 +08:00
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impl<N: Scalar, D: DimName, R: AbstractRotation<N, D> + Clone> Clone for Isometry<N, D, R>
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where DefaultAllocator: Allocator<N, D>
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2018-02-02 19:26:35 +08:00
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{
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2017-08-03 01:37:44 +08:00
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#[inline]
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fn clone(&self) -> Self {
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2019-02-17 05:29:41 +08:00
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Self::from_parts(self.translation.clone(), self.rotation.clone())
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2017-08-03 01:37:44 +08:00
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}
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}
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2020-03-24 17:16:31 +08:00
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impl<N: Scalar, D: DimName, R: AbstractRotation<N, D>> Isometry<N, D, R>
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where DefaultAllocator: Allocator<N, D>
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2018-02-02 19:26:35 +08:00
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{
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2016-12-05 05:44:42 +08:00
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/// Creates a new isometry from its rotational and translational parts.
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2018-10-22 14:04:35 +08:00
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///
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/// # Example
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///
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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::{Isometry3, Translation3, UnitQuaternion, Vector3, Point3};
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/// let tra = Translation3::new(0.0, 0.0, 3.0);
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/// let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::PI);
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/// let iso = Isometry3::from_parts(tra, rot);
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///
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/// assert_relative_eq!(iso * Point3::new(1.0, 2.0, 3.0), Point3::new(-1.0, 2.0, 0.0), epsilon = 1.0e-6);
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/// ```
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2016-12-05 05:44:42 +08:00
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#[inline]
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2019-02-17 05:29:41 +08:00
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pub fn from_parts(translation: Translation<N, D>, rotation: R) -> Self {
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Self {
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2020-03-22 06:22:55 +08:00
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rotation,
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translation,
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2016-12-05 05:44:42 +08:00
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}
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}
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2020-03-24 17:16:31 +08:00
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}
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2016-12-05 05:44:42 +08:00
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2020-03-24 17:16:31 +08:00
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impl<N: SimdRealField, D: DimName, R: AbstractRotation<N, D>> Isometry<N, D, R>
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where
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N::Element: SimdRealField,
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DefaultAllocator: Allocator<N, D>,
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{
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2016-12-05 05:44:42 +08:00
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/// Inverts `self`.
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2018-10-22 14:04:35 +08:00
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///
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/// # Example
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///
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/// ```
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/// # use std::f32;
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/// # use nalgebra::{Isometry2, Point2, Vector2};
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/// let iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
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/// let inv = iso.inverse();
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/// let pt = Point2::new(1.0, 2.0);
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///
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/// assert_eq!(inv * (iso * pt), pt);
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/// ```
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2016-12-05 05:44:42 +08:00
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#[inline]
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2019-06-06 05:04:04 +08:00
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#[must_use = "Did you mean to use inverse_mut()?"]
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2019-02-17 05:29:41 +08:00
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pub fn inverse(&self) -> Self {
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2016-12-05 05:44:42 +08:00
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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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2018-10-22 14:04:35 +08:00
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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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/// ```
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/// # use std::f32;
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/// # use nalgebra::{Isometry2, Point2, Vector2};
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/// let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
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/// let pt = Point2::new(1.0, 2.0);
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/// let transformed_pt = iso * pt;
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/// iso.inverse_mut();
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///
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/// assert_eq!(iso * transformed_pt, pt);
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/// ```
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2016-12-05 05:44:42 +08:00
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#[inline]
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pub fn inverse_mut(&mut self) {
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2020-03-21 19:16:46 +08:00
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self.rotation.inverse_mut();
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2016-12-05 05:44:42 +08:00
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self.translation.inverse_mut();
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self.translation.vector = self.rotation.transform_vector(&self.translation.vector);
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}
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/// Appends to `self` the given translation in-place.
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2018-10-22 14:04:35 +08:00
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///
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/// # Example
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///
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/// ```
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/// # use std::f32;
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/// # use nalgebra::{Isometry2, Translation2, Vector2};
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/// let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
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/// let tra = Translation2::new(3.0, 4.0);
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/// // Same as `iso = tra * iso`.
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/// iso.append_translation_mut(&tra);
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///
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/// assert_eq!(iso.translation, Translation2::new(4.0, 6.0));
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/// ```
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2016-12-05 05:44:42 +08:00
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#[inline]
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2017-08-03 01:37:44 +08:00
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pub fn append_translation_mut(&mut self, t: &Translation<N, D>) {
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2016-12-05 05:44:42 +08:00
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self.translation.vector += &t.vector
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}
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/// Appends to `self` the given rotation in-place.
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2018-10-22 14:04:35 +08:00
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///
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/// # Example
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///
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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::{Isometry2, Translation2, UnitComplex, Vector2};
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/// let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::PI / 6.0);
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/// let rot = UnitComplex::new(f32::consts::PI / 2.0);
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/// // Same as `iso = rot * iso`.
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/// iso.append_rotation_mut(&rot);
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///
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/// assert_relative_eq!(iso, Isometry2::new(Vector2::new(-2.0, 1.0), f32::consts::PI * 2.0 / 3.0), epsilon = 1.0e-6);
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/// ```
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2016-12-05 05:44:42 +08:00
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#[inline]
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pub fn append_rotation_mut(&mut self, r: &R) {
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2020-03-21 19:16:46 +08:00
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self.rotation = r.clone() * self.rotation.clone();
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2016-12-05 05:44:42 +08:00
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self.translation.vector = r.transform_vector(&self.translation.vector);
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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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2018-10-22 14:04:35 +08:00
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///
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/// # Example
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///
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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::{Isometry2, Translation2, UnitComplex, Vector2, Point2};
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/// let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
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/// let rot = UnitComplex::new(f32::consts::FRAC_PI_2);
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/// let pt = Point2::new(1.0, 0.0);
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/// iso.append_rotation_wrt_point_mut(&rot, &pt);
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///
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/// assert_relative_eq!(iso * pt, Point2::new(-2.0, 0.0), epsilon = 1.0e-6);
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/// ```
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2016-12-05 05:44:42 +08:00
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#[inline]
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2017-08-03 01:37:44 +08:00
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pub fn append_rotation_wrt_point_mut(&mut self, r: &R, p: &Point<N, D>) {
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2016-12-05 05:44:42 +08:00
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self.translation.vector -= &p.coords;
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self.append_rotation_mut(r);
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self.translation.vector += &p.coords;
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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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2018-10-22 14:04:35 +08:00
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///
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/// # Example
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///
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/// ```
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/// # use std::f32;
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/// # use nalgebra::{Isometry2, Translation2, UnitComplex, Vector2, Point2};
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/// let mut iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
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/// let rot = UnitComplex::new(f32::consts::FRAC_PI_2);
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|
/// iso.append_rotation_wrt_center_mut(&rot);
|
|
|
|
|
///
|
|
|
|
|
/// // The translation part should not have changed.
|
|
|
|
|
/// assert_eq!(iso.translation.vector, Vector2::new(1.0, 2.0));
|
|
|
|
|
/// assert_eq!(iso.rotation, UnitComplex::new(f32::consts::PI));
|
|
|
|
|
/// ```
|
2016-12-05 05:44:42 +08:00
|
|
|
|
#[inline]
|
|
|
|
|
pub fn append_rotation_wrt_center_mut(&mut self, r: &R) {
|
2020-03-21 19:16:46 +08:00
|
|
|
|
self.rotation = r.clone() * self.rotation.clone();
|
2016-12-05 05:44:42 +08:00
|
|
|
|
}
|
2019-02-25 00:29:27 +08:00
|
|
|
|
|
|
|
|
|
/// Transform the given point by this isometry.
|
|
|
|
|
///
|
2019-03-15 22:50:47 +08:00
|
|
|
|
/// This is the same as the multiplication `self * pt`.
|
|
|
|
|
///
|
2019-02-25 00:29:27 +08:00
|
|
|
|
/// # Example
|
|
|
|
|
///
|
|
|
|
|
/// ```
|
|
|
|
|
/// # #[macro_use] extern crate approx;
|
|
|
|
|
/// # use std::f32;
|
|
|
|
|
/// # use nalgebra::{Isometry3, Translation3, UnitQuaternion, Vector3, Point3};
|
|
|
|
|
/// let tra = Translation3::new(0.0, 0.0, 3.0);
|
|
|
|
|
/// let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
|
|
|
|
|
/// let iso = Isometry3::from_parts(tra, rot);
|
|
|
|
|
///
|
|
|
|
|
/// let transformed_point = iso.transform_point(&Point3::new(1.0, 2.0, 3.0));
|
|
|
|
|
/// assert_relative_eq!(transformed_point, Point3::new(3.0, 2.0, 2.0), epsilon = 1.0e-6);
|
|
|
|
|
/// ```
|
|
|
|
|
#[inline]
|
|
|
|
|
pub fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
|
|
|
|
self * pt
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/// Transform the given vector by this isometry, ignoring the translation
|
|
|
|
|
/// component of the isometry.
|
|
|
|
|
///
|
2019-03-15 22:50:47 +08:00
|
|
|
|
/// This is the same as the multiplication `self * v`.
|
|
|
|
|
///
|
2019-02-25 00:29:27 +08:00
|
|
|
|
/// # Example
|
|
|
|
|
///
|
|
|
|
|
/// ```
|
|
|
|
|
/// # #[macro_use] extern crate approx;
|
|
|
|
|
/// # use std::f32;
|
|
|
|
|
/// # use nalgebra::{Isometry3, Translation3, UnitQuaternion, Vector3};
|
|
|
|
|
/// let tra = Translation3::new(0.0, 0.0, 3.0);
|
|
|
|
|
/// let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
|
|
|
|
|
/// let iso = Isometry3::from_parts(tra, rot);
|
|
|
|
|
///
|
|
|
|
|
/// let transformed_point = iso.transform_vector(&Vector3::new(1.0, 2.0, 3.0));
|
|
|
|
|
/// assert_relative_eq!(transformed_point, Vector3::new(3.0, 2.0, -1.0), epsilon = 1.0e-6);
|
|
|
|
|
/// ```
|
|
|
|
|
#[inline]
|
|
|
|
|
pub fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
|
|
|
|
self * v
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/// Transform the given point by the inverse of this isometry. This may be
|
|
|
|
|
/// less expensive than computing the entire isometry inverse and then
|
|
|
|
|
/// transforming the point.
|
|
|
|
|
///
|
|
|
|
|
/// # Example
|
|
|
|
|
///
|
|
|
|
|
/// ```
|
|
|
|
|
/// # #[macro_use] extern crate approx;
|
|
|
|
|
/// # use std::f32;
|
|
|
|
|
/// # use nalgebra::{Isometry3, Translation3, UnitQuaternion, Vector3, Point3};
|
|
|
|
|
/// let tra = Translation3::new(0.0, 0.0, 3.0);
|
|
|
|
|
/// let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
|
|
|
|
|
/// let iso = Isometry3::from_parts(tra, rot);
|
|
|
|
|
///
|
|
|
|
|
/// let transformed_point = iso.inverse_transform_point(&Point3::new(1.0, 2.0, 3.0));
|
|
|
|
|
/// assert_relative_eq!(transformed_point, Point3::new(0.0, 2.0, 1.0), epsilon = 1.0e-6);
|
|
|
|
|
/// ```
|
|
|
|
|
#[inline]
|
|
|
|
|
pub fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
|
|
|
|
self.rotation
|
|
|
|
|
.inverse_transform_point(&(pt - &self.translation.vector))
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/// Transform the given vector by the inverse of this isometry, ignoring the
|
|
|
|
|
/// translation component of the isometry. This may be
|
|
|
|
|
/// less expensive than computing the entire isometry inverse and then
|
|
|
|
|
/// transforming the point.
|
|
|
|
|
///
|
|
|
|
|
/// # Example
|
|
|
|
|
///
|
|
|
|
|
/// ```
|
|
|
|
|
/// # #[macro_use] extern crate approx;
|
|
|
|
|
/// # use std::f32;
|
|
|
|
|
/// # use nalgebra::{Isometry3, Translation3, UnitQuaternion, Vector3};
|
|
|
|
|
/// let tra = Translation3::new(0.0, 0.0, 3.0);
|
|
|
|
|
/// let rot = UnitQuaternion::from_scaled_axis(Vector3::y() * f32::consts::FRAC_PI_2);
|
|
|
|
|
/// let iso = Isometry3::from_parts(tra, rot);
|
|
|
|
|
///
|
|
|
|
|
/// let transformed_point = iso.inverse_transform_vector(&Vector3::new(1.0, 2.0, 3.0));
|
|
|
|
|
/// assert_relative_eq!(transformed_point, Vector3::new(-3.0, 2.0, 1.0), epsilon = 1.0e-6);
|
|
|
|
|
/// ```
|
|
|
|
|
#[inline]
|
|
|
|
|
pub fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
|
|
|
|
self.rotation.inverse_transform_vector(v)
|
|
|
|
|
}
|
2016-12-05 05:44:42 +08:00
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// 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).
|
2020-03-22 06:22:55 +08:00
|
|
|
|
impl<N: SimdRealField, D: DimName, R> Isometry<N, D, R>
|
2018-10-22 13:00:10 +08:00
|
|
|
|
where DefaultAllocator: Allocator<N, D>
|
2018-02-02 19:26:35 +08:00
|
|
|
|
{
|
2016-12-05 05:44:42 +08:00
|
|
|
|
/// Converts this isometry into its equivalent homogeneous transformation matrix.
|
2018-10-22 14:04:35 +08:00
|
|
|
|
///
|
|
|
|
|
/// # Example
|
|
|
|
|
///
|
|
|
|
|
/// ```
|
|
|
|
|
/// # #[macro_use] extern crate approx;
|
|
|
|
|
/// # use std::f32;
|
|
|
|
|
/// # use nalgebra::{Isometry2, Vector2, Matrix3};
|
|
|
|
|
/// let iso = Isometry2::new(Vector2::new(10.0, 20.0), f32::consts::FRAC_PI_6);
|
|
|
|
|
/// let expected = Matrix3::new(0.8660254, -0.5, 10.0,
|
|
|
|
|
/// 0.5, 0.8660254, 20.0,
|
|
|
|
|
/// 0.0, 0.0, 1.0);
|
|
|
|
|
///
|
|
|
|
|
/// assert_relative_eq!(iso.to_homogeneous(), expected, epsilon = 1.0e-6);
|
|
|
|
|
/// ```
|
2016-12-05 05:44:42 +08:00
|
|
|
|
#[inline]
|
2017-08-03 01:37:44 +08:00
|
|
|
|
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>>,
|
|
|
|
|
{
|
2019-03-23 21:29:07 +08:00
|
|
|
|
let mut res: MatrixN<N, _> = crate::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);
|
2016-12-05 05:44:42 +08:00
|
|
|
|
|
|
|
|
|
res
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
2020-03-22 06:22:55 +08:00
|
|
|
|
impl<N: SimdRealField, D: DimName, R> Eq for Isometry<N, D, R>
|
2018-02-02 19:26:35 +08:00
|
|
|
|
where
|
2020-03-21 19:16:46 +08:00
|
|
|
|
R: AbstractRotation<N, D> + Eq,
|
2018-02-02 19:26:35 +08:00
|
|
|
|
DefaultAllocator: Allocator<N, D>,
|
2018-11-03 20:35:56 +08:00
|
|
|
|
{
|
|
|
|
|
}
|
2016-12-05 05:44:42 +08:00
|
|
|
|
|
2020-03-22 06:22:55 +08:00
|
|
|
|
impl<N: SimdRealField, D: DimName, R> PartialEq for Isometry<N, D, R>
|
2018-02-02 19:26:35 +08:00
|
|
|
|
where
|
2020-03-21 19:16:46 +08:00
|
|
|
|
R: AbstractRotation<N, D> + PartialEq,
|
2018-02-02 19:26:35 +08:00
|
|
|
|
DefaultAllocator: Allocator<N, D>,
|
|
|
|
|
{
|
2016-12-05 05:44:42 +08:00
|
|
|
|
#[inline]
|
2019-02-17 05:29:41 +08:00
|
|
|
|
fn eq(&self, right: &Self) -> bool {
|
2018-02-02 19:26:35 +08:00
|
|
|
|
self.translation == right.translation && self.rotation == right.rotation
|
2016-12-05 05:44:42 +08:00
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
2019-03-25 18:21:41 +08:00
|
|
|
|
impl<N: RealField, D: DimName, R> AbsDiffEq for Isometry<N, D, R>
|
2018-02-02 19:26:35 +08:00
|
|
|
|
where
|
2020-03-21 19:16:46 +08:00
|
|
|
|
R: AbstractRotation<N, D> + AbsDiffEq<Epsilon = N::Epsilon>,
|
2018-02-02 19:26:35 +08:00
|
|
|
|
DefaultAllocator: Allocator<N, D>,
|
|
|
|
|
N::Epsilon: Copy,
|
|
|
|
|
{
|
2016-12-05 05:44:42 +08:00
|
|
|
|
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)
|
2016-12-05 05:44:42 +08:00
|
|
|
|
}
|
2018-05-19 21:41:58 +08:00
|
|
|
|
}
|
2016-12-05 05:44:42 +08:00
|
|
|
|
|
2019-03-25 18:21:41 +08:00
|
|
|
|
impl<N: RealField, D: DimName, R> RelativeEq for Isometry<N, D, R>
|
2018-05-19 21:41:58 +08:00
|
|
|
|
where
|
2020-03-21 19:16:46 +08:00
|
|
|
|
R: AbstractRotation<N, D> + RelativeEq<Epsilon = N::Epsilon>,
|
2018-05-19 21:41:58 +08:00
|
|
|
|
DefaultAllocator: Allocator<N, D>,
|
|
|
|
|
N::Epsilon: Copy,
|
|
|
|
|
{
|
2016-12-05 05:44:42 +08:00
|
|
|
|
#[inline]
|
2018-05-19 21:41:58 +08:00
|
|
|
|
fn default_max_relative() -> Self::Epsilon {
|
|
|
|
|
N::default_max_relative()
|
2016-12-05 05:44:42 +08:00
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#[inline]
|
2018-02-02 19:26:35 +08:00
|
|
|
|
fn relative_eq(
|
|
|
|
|
&self,
|
|
|
|
|
other: &Self,
|
|
|
|
|
epsilon: Self::Epsilon,
|
|
|
|
|
max_relative: Self::Epsilon,
|
2018-10-22 13:00:10 +08:00
|
|
|
|
) -> bool
|
|
|
|
|
{
|
2018-02-02 19:26:35 +08:00
|
|
|
|
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)
|
2016-12-05 05:44:42 +08:00
|
|
|
|
}
|
2018-05-19 21:41:58 +08:00
|
|
|
|
}
|
|
|
|
|
|
2019-03-25 18:21:41 +08:00
|
|
|
|
impl<N: RealField, D: DimName, R> UlpsEq for Isometry<N, D, R>
|
2018-05-19 21:41:58 +08:00
|
|
|
|
where
|
2020-03-21 19:16:46 +08:00
|
|
|
|
R: AbstractRotation<N, D> + UlpsEq<Epsilon = N::Epsilon>,
|
2018-05-19 21:41:58 +08:00
|
|
|
|
DefaultAllocator: Allocator<N, D>,
|
|
|
|
|
N::Epsilon: Copy,
|
|
|
|
|
{
|
|
|
|
|
#[inline]
|
|
|
|
|
fn default_max_ulps() -> u32 {
|
|
|
|
|
N::default_max_ulps()
|
|
|
|
|
}
|
2016-12-05 05:44:42 +08:00
|
|
|
|
|
|
|
|
|
#[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)
|
2016-12-05 05:44:42 +08:00
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
*
|
|
|
|
|
* Display
|
|
|
|
|
*
|
|
|
|
|
*/
|
2019-03-25 18:21:41 +08:00
|
|
|
|
impl<N: RealField + 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>,
|
|
|
|
|
{
|
2016-12-05 05:44:42 +08:00
|
|
|
|
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
|
|
|
|
|
let precision = f.precision().unwrap_or(3);
|
|
|
|
|
|
2019-03-23 21:29:07 +08:00
|
|
|
|
writeln!(f, "Isometry {{")?;
|
|
|
|
|
write!(f, "{:.*}", precision, self.translation)?;
|
|
|
|
|
write!(f, "{:.*}", precision, self.rotation)?;
|
2016-12-05 05:44:42 +08:00
|
|
|
|
writeln!(f, "}}")
|
|
|
|
|
}
|
|
|
|
|
}
|