forked from M-Labs/nalgebra
124 lines
3.9 KiB
Rust
124 lines
3.9 KiB
Rust
#[cfg(feature = "arbitrary")]
|
|
use crate::base::storage::Owned;
|
|
#[cfg(feature = "arbitrary")]
|
|
use quickcheck::{Arbitrary, Gen};
|
|
|
|
use num::{One, Zero};
|
|
#[cfg(feature = "rand-no-std")]
|
|
use rand::{
|
|
distributions::{Distribution, Standard},
|
|
Rng,
|
|
};
|
|
|
|
use simba::scalar::{ClosedAdd, SupersetOf};
|
|
|
|
use crate::base::{SVector, Scalar};
|
|
use crate::geometry::Translation;
|
|
|
|
impl<T: Scalar, const D: usize> Translation<T, D> {
|
|
/// Creates a new identity translation.
|
|
///
|
|
/// # Example
|
|
/// ```
|
|
/// # use nalgebra::{Point2, Point3, Translation2, Translation3};
|
|
/// let t = Translation2::identity();
|
|
/// let p = Point2::new(1.0, 2.0);
|
|
/// assert_eq!(t * p, p);
|
|
///
|
|
/// // Works in all dimensions.
|
|
/// let t = Translation3::identity();
|
|
/// let p = Point3::new(1.0, 2.0, 3.0);
|
|
/// assert_eq!(t * p, p);
|
|
/// ```
|
|
#[inline]
|
|
pub fn identity() -> Translation<T, D>
|
|
where
|
|
T: Zero,
|
|
{
|
|
Self::from(SVector::<T, D>::from_element(T::zero()))
|
|
}
|
|
|
|
/// Cast the components of `self` to another type.
|
|
///
|
|
/// # Example
|
|
/// ```
|
|
/// # use nalgebra::Translation2;
|
|
/// let tra = Translation2::new(1.0f64, 2.0);
|
|
/// let tra2 = tra.cast::<f32>();
|
|
/// assert_eq!(tra2, Translation2::new(1.0f32, 2.0));
|
|
/// ```
|
|
pub fn cast<To: Scalar>(self) -> Translation<To, D>
|
|
where
|
|
Translation<To, D>: SupersetOf<Self>,
|
|
{
|
|
crate::convert(self)
|
|
}
|
|
}
|
|
|
|
impl<T: Scalar + Zero + ClosedAdd, const D: usize> One for Translation<T, D> {
|
|
#[inline]
|
|
fn one() -> Self {
|
|
Self::identity()
|
|
}
|
|
}
|
|
|
|
#[cfg(feature = "rand-no-std")]
|
|
impl<T: Scalar, const D: usize> Distribution<Translation<T, D>> for Standard
|
|
where
|
|
Standard: Distribution<T>,
|
|
{
|
|
/// Generate an arbitrary random variate for testing purposes.
|
|
#[inline]
|
|
fn sample<G: Rng + ?Sized>(&self, rng: &mut G) -> Translation<T, D> {
|
|
Translation::from(rng.gen::<SVector<T, D>>())
|
|
}
|
|
}
|
|
|
|
#[cfg(feature = "arbitrary")]
|
|
impl<T: Scalar + Arbitrary + Send, const D: usize> Arbitrary for Translation<T, D>
|
|
where
|
|
Owned<T, crate::Const<D>>: Send,
|
|
{
|
|
#[inline]
|
|
fn arbitrary(rng: &mut Gen) -> Self {
|
|
let v: SVector<T, D> = Arbitrary::arbitrary(rng);
|
|
Self::from(v)
|
|
}
|
|
}
|
|
|
|
/*
|
|
*
|
|
* Small translation construction from components.
|
|
*
|
|
*/
|
|
macro_rules! componentwise_constructors_impl(
|
|
($($doc: expr; $D: expr, $($args: ident:$irow: expr),*);* $(;)*) => {$(
|
|
impl<T> Translation<T, $D>
|
|
{
|
|
#[doc = "Initializes this translation from its components."]
|
|
#[doc = "# Example\n```"]
|
|
#[doc = $doc]
|
|
#[doc = "```"]
|
|
#[inline]
|
|
pub const fn new($($args: T),*) -> Self {
|
|
Self { vector: SVector::<T, $D>::new($($args),*) }
|
|
}
|
|
}
|
|
)*}
|
|
);
|
|
|
|
componentwise_constructors_impl!(
|
|
"# use nalgebra::Translation1;\nlet t = Translation1::new(1.0);\nassert!(t.vector.x == 1.0);";
|
|
1, x:0;
|
|
"# use nalgebra::Translation2;\nlet t = Translation2::new(1.0, 2.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0);";
|
|
2, x:0, y:1;
|
|
"# use nalgebra::Translation3;\nlet t = Translation3::new(1.0, 2.0, 3.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0);";
|
|
3, x:0, y:1, z:2;
|
|
"# use nalgebra::Translation4;\nlet t = Translation4::new(1.0, 2.0, 3.0, 4.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0);";
|
|
4, x:0, y:1, z:2, w:3;
|
|
"# use nalgebra::Translation5;\nlet t = Translation5::new(1.0, 2.0, 3.0, 4.0, 5.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0);";
|
|
5, x:0, y:1, z:2, w:3, a:4;
|
|
"# use nalgebra::Translation6;\nlet t = Translation6::new(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0 && t.vector.b == 6.0);";
|
|
6, x:0, y:1, z:2, w:3, a:4, b:5;
|
|
);
|