forked from M-Labs/nalgebra
399 lines
12 KiB
Rust
399 lines
12 KiB
Rust
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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use std::marker::PhantomData;
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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 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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use crate::base::{DefaultAllocator, MatrixN};
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use crate::geometry::{Point, Translation};
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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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#[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(serialize = "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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#[cfg_attr(
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feature = "serde-serialize",
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serde(bound(deserialize = "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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pub struct Isometry<N: Real, D: DimName, R>
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where DefaultAllocator: Allocator<N, D>
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{
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/// The pure rotational part of this isometry.
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pub rotation: R,
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/// The pure translational part of this isometry.
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pub translation: Translation<N, D>,
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// One dummy private field just to prevent explicit construction.
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#[cfg_attr(
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feature = "serde-serialize",
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serde(skip_serializing, skip_deserializing)
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)]
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_noconstruct: PhantomData<N>,
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}
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#[cfg(feature = "abomonation-serialize")]
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impl<N, D, R> Abomonation for Isometry<N, D, R>
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where
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N: Real,
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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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{
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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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}
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fn extent(&self) -> usize {
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self.rotation.extent() + self.translation.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.rotation
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.exhume(bytes)
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.and_then(|bytes| self.translation.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 for Isometry<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.translation.hash(state);
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self.rotation.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 Isometry<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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}
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impl<N: Real, D: DimName, R: Rotation<Point<N, D>> + Clone> Clone for Isometry<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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Self::from_parts(self.translation.clone(), self.rotation.clone())
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}
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}
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impl<N: Real, D: DimName, R: Rotation<Point<N, D>>> Isometry<N, D, R>
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where DefaultAllocator: Allocator<N, D>
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{
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/// Creates a new isometry from its rotational and translational parts.
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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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#[inline]
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pub fn from_parts(translation: Translation<N, D>, rotation: R) -> Self {
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Self {
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rotation: rotation,
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translation: translation,
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_noconstruct: PhantomData,
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}
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}
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/// Inverts `self`.
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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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#[inline]
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pub fn inverse(&self) -> Self {
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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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///
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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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#[inline]
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pub fn inverse_mut(&mut self) {
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self.rotation.two_sided_inverse_mut();
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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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///
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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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#[inline]
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pub fn append_translation_mut(&mut self, t: &Translation<N, D>) {
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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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///
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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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#[inline]
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pub fn append_rotation_mut(&mut self, r: &R) {
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self.rotation = self.rotation.append_rotation(&r);
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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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///
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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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#[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.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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///
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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);
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///
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/// // The translation part should not have changed.
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/// assert_eq!(iso.translation.vector, Vector2::new(1.0, 2.0));
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/// assert_eq!(iso.rotation, UnitComplex::new(f32::consts::PI));
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/// ```
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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.rotation = self.rotation.append_rotation(r);
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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 hard 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 dummy ZST field).
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impl<N: Real, D: DimName, R> Isometry<N, D, R>
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where DefaultAllocator: Allocator<N, D>
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{
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/// Converts this isometry into its equivalent homogeneous transformation matrix.
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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, Vector2, Matrix3};
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/// let iso = Isometry2::new(Vector2::new(10.0, 20.0), f32::consts::FRAC_PI_6);
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/// let expected = Matrix3::new(0.8660254, -0.5, 10.0,
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/// 0.5, 0.8660254, 20.0,
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/// 0.0, 0.0, 1.0);
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///
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/// assert_relative_eq!(iso.to_homogeneous(), expected, epsilon = 1.0e-6);
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/// ```
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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: MatrixN<N, _> = crate::convert_ref(&self.rotation);
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res.fixed_slice_mut::<D, U1>(0, D::dim())
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.copy_from(&self.translation.vector);
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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 Isometry<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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}
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impl<N: Real, D: DimName, R> PartialEq for Isometry<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: &Self) -> bool {
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self.translation == right.translation && self.rotation == right.rotation
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}
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}
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impl<N: Real, D: DimName, R> AbsDiffEq for Isometry<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.translation.abs_diff_eq(&other.translation, epsilon)
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&& self.rotation.abs_diff_eq(&other.rotation, epsilon)
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}
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}
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impl<N: Real, D: DimName, R> RelativeEq for Isometry<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.translation
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.relative_eq(&other.translation, epsilon, max_relative)
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&& self
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.rotation
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.relative_eq(&other.rotation, epsilon, max_relative)
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}
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}
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impl<N: Real, D: DimName, R> UlpsEq for Isometry<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.translation
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.ulps_eq(&other.translation, epsilon, max_ulps)
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&& self.rotation.ulps_eq(&other.rotation, 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: Real + fmt::Display, D: DimName, R> fmt::Display for Isometry<N, D, R>
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where
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R: 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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writeln!(f, "Isometry {{")?;
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write!(f, "{:.*}", precision, self.translation)?;
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write!(f, "{:.*}", precision, self.rotation)?;
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writeln!(f, "}}")
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}
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}
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