forked from M-Labs/nalgebra
2a2e9d7f8e
This adds `transform_point`, `transform_vector`, `inverse_transform_point` and `inverse_transform_vector` as inherent methods on the applicable geometric transformation structures, such that they can be used without the need to import the `Transformation` and `ProjectiveTransformation` traits from `alga`.
447 lines
14 KiB
Rust
Executable File
447 lines
14 KiB
Rust
Executable File
use approx::{AbsDiffEq, RelativeEq, UlpsEq};
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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, Serialize};
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#[cfg(feature = "abomonation-serialize")]
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use abomonation::Abomonation;
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use alga::general::{Real, SubsetOf};
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use alga::linear::Rotation;
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use base::allocator::Allocator;
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use base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
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use base::storage::Owned;
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use base::{DefaultAllocator, MatrixN, VectorN};
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use geometry::{Isometry, Point, Translation};
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/// A similarity, i.e., an uniform scaling, followed by a rotation, followed by a translation.
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#[repr(C)]
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#[derive(Debug)]
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[cfg_attr(
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feature = "serde-serialize",
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serde(bound(
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serialize = "N: Serialize,
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R: Serialize,
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DefaultAllocator: Allocator<N, D>,
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Owned<N, D>: Serialize"
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))
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)]
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#[cfg_attr(
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feature = "serde-serialize",
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serde(bound(
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deserialize = "N: Deserialize<'de>,
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R: Deserialize<'de>,
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DefaultAllocator: Allocator<N, D>,
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Owned<N, D>: Deserialize<'de>"
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))
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)]
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pub struct Similarity<N: Real, D: DimName, R>
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where DefaultAllocator: Allocator<N, D>
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{
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/// The part of this similarity that does not include the scaling factor.
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pub isometry: Isometry<N, D, R>,
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scaling: N,
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}
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#[cfg(feature = "abomonation-serialize")]
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impl<N: Real, D: DimName, R> Abomonation for Similarity<N, D, R>
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where
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Isometry<N, D, R>: 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.isometry.entomb(writer)
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}
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fn extent(&self) -> usize {
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self.isometry.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.isometry.exhume(bytes)
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}
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}
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impl<N: Real + hash::Hash, D: DimName + hash::Hash, R: hash::Hash> hash::Hash
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for Similarity<N, D, R>
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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.isometry.hash(state);
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self.scaling.hash(state);
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}
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}
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impl<N: Real, D: DimName + Copy, R: Rotation<Point<N, D>> + Copy> Copy for Similarity<N, D, R>
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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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impl<N: Real, D: DimName, R: Rotation<Point<N, D>> + Clone> Clone for Similarity<N, D, R>
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where DefaultAllocator: Allocator<N, D>
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{
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#[inline]
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fn clone(&self) -> Self {
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Similarity::from_isometry(self.isometry.clone(), self.scaling)
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}
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}
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impl<N: Real, D: DimName, R> Similarity<N, D, R>
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where
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R: Rotation<Point<N, D>>,
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DefaultAllocator: Allocator<N, D>,
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{
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/// Creates a new similarity from its rotational and translational parts.
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#[inline]
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pub fn from_parts(
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translation: Translation<N, D>,
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rotation: R,
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scaling: N,
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) -> Similarity<N, D, R>
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{
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Similarity::from_isometry(Isometry::from_parts(translation, rotation), scaling)
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}
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/// Creates a new similarity from its rotational and translational parts.
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#[inline]
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pub fn from_isometry(isometry: Isometry<N, D, R>, scaling: N) -> Similarity<N, D, R> {
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assert!(
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!relative_eq!(scaling, N::zero()),
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"The scaling factor must not be zero."
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);
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Similarity {
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isometry: isometry,
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scaling: scaling,
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}
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}
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/// Creates a new similarity that applies only a scaling factor.
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#[inline]
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pub fn from_scaling(scaling: N) -> Similarity<N, D, R> {
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Self::from_isometry(Isometry::identity(), scaling)
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}
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/// Inverts `self`.
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#[inline]
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pub fn inverse(&self) -> Similarity<N, D, R> {
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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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/// Inverts `self` in-place.
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#[inline]
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pub fn inverse_mut(&mut self) {
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self.scaling = N::one() / self.scaling;
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self.isometry.inverse_mut();
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self.isometry.translation.vector *= self.scaling;
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}
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/// The scaling factor of this similarity transformation.
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#[inline]
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pub fn set_scaling(&mut self, scaling: N) {
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assert!(
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!relative_eq!(scaling, N::zero()),
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"The similarity scaling factor must not be zero."
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);
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self.scaling = scaling;
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}
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/// The scaling factor of this similarity transformation.
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#[inline]
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pub fn scaling(&self) -> N {
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self.scaling
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}
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/// The similarity transformation that applies a scaling factor `scaling` before `self`.
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#[inline]
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pub fn prepend_scaling(&self, scaling: N) -> Self {
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assert!(
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!relative_eq!(scaling, N::zero()),
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"The similarity scaling factor must not be zero."
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);
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Self::from_isometry(self.isometry.clone(), self.scaling * scaling)
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}
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/// The similarity transformation that applies a scaling factor `scaling` after `self`.
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#[inline]
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pub fn append_scaling(&self, scaling: N) -> Self {
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assert!(
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!relative_eq!(scaling, N::zero()),
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"The similarity scaling factor must not be zero."
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);
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Self::from_parts(
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Translation::from(&self.isometry.translation.vector * scaling),
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self.isometry.rotation.clone(),
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self.scaling * scaling,
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)
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}
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/// Sets `self` to the similarity transformation that applies a scaling factor `scaling` before `self`.
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#[inline]
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pub fn prepend_scaling_mut(&mut self, scaling: N) {
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assert!(
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!relative_eq!(scaling, N::zero()),
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"The similarity scaling factor must not be zero."
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);
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self.scaling *= scaling
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}
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/// Sets `self` to the similarity transformation that applies a scaling factor `scaling` after `self`.
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#[inline]
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pub fn append_scaling_mut(&mut self, scaling: N) {
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assert!(
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!relative_eq!(scaling, N::zero()),
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"The similarity scaling factor must not be zero."
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);
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self.isometry.translation.vector *= scaling;
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self.scaling *= scaling;
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}
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/// Appends to `self` the given translation in-place.
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#[inline]
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pub fn append_translation_mut(&mut self, t: &Translation<N, D>) {
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self.isometry.append_translation_mut(t)
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}
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/// Appends to `self` the given rotation in-place.
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#[inline]
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pub fn append_rotation_mut(&mut self, r: &R) {
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self.isometry.append_rotation_mut(r)
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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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#[inline]
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pub fn append_rotation_wrt_point_mut(&mut self, r: &R, p: &Point<N, D>) {
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self.isometry.append_rotation_wrt_point_mut(r, p)
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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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#[inline]
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pub fn append_rotation_wrt_center_mut(&mut self, r: &R) {
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self.isometry.append_rotation_wrt_center_mut(r)
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}
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/// Transform the given point by this similarity.
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///
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/// # Example
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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::{Point3, Similarity3, Vector3};
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/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
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/// let translation = Vector3::new(1.0, 2.0, 3.0);
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/// let sim = Similarity3::new(translation, axisangle, 3.0);
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/// let transformed_point = sim.transform_point(&Point3::new(4.0, 5.0, 6.0));
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/// assert_relative_eq!(transformed_point, Point3::new(19.0, 17.0, -9.0), epsilon = 1.0e-5);
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/// ```
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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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self * pt
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}
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/// Transform the given vector by this similarity, ignoring the translational
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/// component.
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///
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/// # Example
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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::{Similarity3, Vector3};
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/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
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/// let translation = Vector3::new(1.0, 2.0, 3.0);
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/// let sim = Similarity3::new(translation, axisangle, 3.0);
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/// let transformed_vector = sim.transform_vector(&Vector3::new(4.0, 5.0, 6.0));
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/// assert_relative_eq!(transformed_vector, Vector3::new(18.0, 15.0, -12.0), epsilon = 1.0e-5);
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/// ```
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#[inline]
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pub fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
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self * v
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}
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/// Transform the given point by the inverse of this similarity. This may
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/// be cheaper than inverting the similarity and then transforming the
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/// given point.
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///
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/// # Example
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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::{Point3, Similarity3, Vector3};
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/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
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/// let translation = Vector3::new(1.0, 2.0, 3.0);
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/// let sim = Similarity3::new(translation, axisangle, 2.0);
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/// let transformed_point = sim.inverse_transform_point(&Point3::new(4.0, 5.0, 6.0));
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/// assert_relative_eq!(transformed_point, Point3::new(-1.5, 1.5, 1.5), epsilon = 1.0e-5);
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/// ```
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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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self.isometry.inverse_transform_point(pt) / self.scaling()
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}
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/// Transform the given vector by the inverse of this similarity,
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/// ignoring the translational component. This may be cheaper than
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/// inverting the similarity and then transforming the given vector.
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///
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/// # Example
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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::{Similarity3, Vector3};
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/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
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/// let translation = Vector3::new(1.0, 2.0, 3.0);
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/// let sim = Similarity3::new(translation, axisangle, 2.0);
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/// let transformed_vector = sim.inverse_transform_vector(&Vector3::new(4.0, 5.0, 6.0));
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/// assert_relative_eq!(transformed_vector, Vector3::new(-3.0, 2.5, 2.0), epsilon = 1.0e-5);
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/// ```
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#[inline]
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pub fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
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self.isometry.inverse_transform_vector(v) / self.scaling()
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}
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}
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// NOTE: we don't require `R: Rotation<...>` here because this is not useful for the implementation
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// and makes it harder to use it, e.g., for Transform × Isometry implementation.
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// This is OK since all constructors of the isometry enforce the Rotation bound already (and
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// explicit struct construction is prevented by the private scaling factor).
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impl<N: Real, D: DimName, R> Similarity<N, D, R>
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where DefaultAllocator: Allocator<N, D>
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{
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/// Converts this similarity into its equivalent homogeneous transformation matrix.
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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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D: DimNameAdd<U1>,
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R: SubsetOf<MatrixN<N, DimNameSum<D, 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 = self.isometry.to_homogeneous();
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for e in res.fixed_slice_mut::<D, D>(0, 0).iter_mut() {
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*e *= self.scaling
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}
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res
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}
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}
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impl<N: Real, D: DimName, R> Eq for Similarity<N, D, R>
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where
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R: Rotation<Point<N, D>> + Eq,
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DefaultAllocator: Allocator<N, D>,
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{}
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impl<N: Real, D: DimName, R> PartialEq for Similarity<N, D, R>
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where
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R: Rotation<Point<N, D>> + PartialEq,
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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: &Similarity<N, D, R>) -> bool {
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self.isometry == right.isometry && self.scaling == right.scaling
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}
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}
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impl<N: Real, D: DimName, R> AbsDiffEq for Similarity<N, D, R>
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where
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R: Rotation<Point<N, D>> + AbsDiffEq<Epsilon = N::Epsilon>,
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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.isometry.abs_diff_eq(&other.isometry, epsilon)
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&& self.scaling.abs_diff_eq(&other.scaling, epsilon)
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}
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}
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impl<N: Real, D: DimName, R> RelativeEq for Similarity<N, D, R>
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where
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R: Rotation<Point<N, D>> + RelativeEq<Epsilon = N::Epsilon>,
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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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{
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self.isometry
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.relative_eq(&other.isometry, epsilon, max_relative)
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&& self
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.scaling
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.relative_eq(&other.scaling, epsilon, max_relative)
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}
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}
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impl<N: Real, D: DimName, R> UlpsEq for Similarity<N, D, R>
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where
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R: Rotation<Point<N, D>> + UlpsEq<Epsilon = N::Epsilon>,
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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.isometry.ulps_eq(&other.isometry, epsilon, max_ulps)
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&& self.scaling.ulps_eq(&other.scaling, 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, D: DimName, R> fmt::Display for Similarity<N, D, R>
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where
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N: Real + fmt::Display,
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R: Rotation<Point<N, D>> + fmt::Display,
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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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try!(writeln!(f, "Similarity {{"));
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try!(write!(f, "{:.*}", precision, self.isometry));
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try!(write!(f, "Scaling: {:.*}", precision, self.scaling));
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writeln!(f, "}}")
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}
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}
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