| // Copyright 2013 The Servo Project Developers. See the COPYRIGHT |
| // file at the top-level directory of this distribution. |
| // |
| // Licensed under the Apache License, Version 2.0 <LICENSE-APACHE or |
| // http://www.apache.org/licenses/LICENSE-2.0> or the MIT license |
| // <LICENSE-MIT or http://opensource.org/licenses/MIT>, at your |
| // option. This file may not be copied, modified, or distributed |
| // except according to those terms. |
| |
| #![cfg_attr(feature = "cargo-clippy", allow(just_underscores_and_digits))] |
| |
| use super::{UnknownUnit, Angle}; |
| use crate::approxeq::ApproxEq; |
| use crate::homogen::HomogeneousVector; |
| #[cfg(feature = "mint")] |
| use mint; |
| use crate::trig::Trig; |
| use crate::point::{Point2D, point2, Point3D, point3}; |
| use crate::vector::{Vector2D, Vector3D, vec2, vec3}; |
| use crate::rect::Rect; |
| use crate::box2d::Box2D; |
| use crate::box3d::Box3D; |
| use crate::transform2d::Transform2D; |
| use crate::scale::Scale; |
| use crate::num::{One, Zero}; |
| use core::ops::{Add, Mul, Sub, Div, Neg}; |
| use core::marker::PhantomData; |
| use core::fmt; |
| use core::cmp::{Eq, PartialEq}; |
| use core::hash::{Hash}; |
| use num_traits::NumCast; |
| #[cfg(feature = "serde")] |
| use serde::{Deserialize, Serialize}; |
| |
| /// A 3d transform stored as a column-major 4 by 4 matrix. |
| /// |
| /// Transforms can be parametrized over the source and destination units, to describe a |
| /// transformation from a space to another. |
| /// For example, `Transform3D<f32, WorldSpace, ScreenSpace>::transform_point3d` |
| /// takes a `Point3D<f32, WorldSpace>` and returns a `Point3D<f32, ScreenSpace>`. |
| /// |
| /// Transforms expose a set of convenience methods for pre- and post-transformations. |
| /// Pre-transformations (`pre_*` methods) correspond to adding an operation that is |
| /// applied before the rest of the transformation, while post-transformations (`then_*` |
| /// methods) add an operation that is applied after. |
| /// |
| /// When translating Transform3D into general matrix representations, consider that the |
| /// representation follows the column major notation with column vectors. |
| /// |
| /// ```text |
| /// |x'| | m11 m12 m13 m14 | |x| |
| /// |y'| | m21 m22 m23 m24 | |y| |
| /// |z'| = | m31 m32 m33 m34 | x |y| |
| /// |w | | m41 m42 m43 m44 | |1| |
| /// ``` |
| /// |
| /// The translation terms are m41, m42 and m43. |
| #[repr(C)] |
| #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))] |
| #[cfg_attr( |
| feature = "serde", |
| serde(bound(serialize = "T: Serialize", deserialize = "T: Deserialize<'de>")) |
| )] |
| pub struct Transform3D<T, Src, Dst> { |
| pub m11: T, pub m12: T, pub m13: T, pub m14: T, |
| pub m21: T, pub m22: T, pub m23: T, pub m24: T, |
| pub m31: T, pub m32: T, pub m33: T, pub m34: T, |
| pub m41: T, pub m42: T, pub m43: T, pub m44: T, |
| #[doc(hidden)] |
| pub _unit: PhantomData<(Src, Dst)>, |
| } |
| |
| impl<T: Copy, Src, Dst> Copy for Transform3D<T, Src, Dst> {} |
| |
| impl<T: Clone, Src, Dst> Clone for Transform3D<T, Src, Dst> { |
| fn clone(&self) -> Self { |
| Transform3D { |
| m11: self.m11.clone(), |
| m12: self.m12.clone(), |
| m13: self.m13.clone(), |
| m14: self.m14.clone(), |
| m21: self.m21.clone(), |
| m22: self.m22.clone(), |
| m23: self.m23.clone(), |
| m24: self.m24.clone(), |
| m31: self.m31.clone(), |
| m32: self.m32.clone(), |
| m33: self.m33.clone(), |
| m34: self.m34.clone(), |
| m41: self.m41.clone(), |
| m42: self.m42.clone(), |
| m43: self.m43.clone(), |
| m44: self.m44.clone(), |
| _unit: PhantomData, |
| } |
| } |
| } |
| |
| impl<T, Src, Dst> Eq for Transform3D<T, Src, Dst> where T: Eq {} |
| |
| impl<T, Src, Dst> PartialEq for Transform3D<T, Src, Dst> |
| where T: PartialEq |
| { |
| fn eq(&self, other: &Self) -> bool { |
| self.m11 == other.m11 && |
| self.m12 == other.m12 && |
| self.m13 == other.m13 && |
| self.m14 == other.m14 && |
| self.m21 == other.m21 && |
| self.m22 == other.m22 && |
| self.m23 == other.m23 && |
| self.m24 == other.m24 && |
| self.m31 == other.m31 && |
| self.m32 == other.m32 && |
| self.m33 == other.m33 && |
| self.m34 == other.m34 && |
| self.m41 == other.m41 && |
| self.m42 == other.m42 && |
| self.m43 == other.m43 && |
| self.m44 == other.m44 |
| } |
| } |
| |
| impl<T, Src, Dst> Hash for Transform3D<T, Src, Dst> |
| where T: Hash |
| { |
| fn hash<H: core::hash::Hasher>(&self, h: &mut H) { |
| self.m11.hash(h); |
| self.m12.hash(h); |
| self.m13.hash(h); |
| self.m14.hash(h); |
| self.m21.hash(h); |
| self.m22.hash(h); |
| self.m23.hash(h); |
| self.m24.hash(h); |
| self.m31.hash(h); |
| self.m32.hash(h); |
| self.m33.hash(h); |
| self.m34.hash(h); |
| self.m41.hash(h); |
| self.m42.hash(h); |
| self.m43.hash(h); |
| self.m44.hash(h); |
| } |
| } |
| |
| |
| impl<T, Src, Dst> Transform3D<T, Src, Dst> { |
| /// Create a transform specifying all of it's component as a 4 by 4 matrix. |
| /// |
| /// Components are specified following column-major-column-vector matrix notation. |
| /// For example, the translation terms m41, m42, m43 are the 13rd, 14th and 15th parameters. |
| /// |
| /// ``` |
| /// use euclid::default::Transform3D; |
| /// let tx = 1.0; |
| /// let ty = 2.0; |
| /// let tz = 3.0; |
| /// let translation = Transform3D::new( |
| /// 1.0, 0.0, 0.0, 0.0, |
| /// 0.0, 1.0, 0.0, 0.0, |
| /// 0.0, 0.0, 1.0, 0.0, |
| /// tx, ty, tz, 1.0, |
| /// ); |
| /// ``` |
| #[inline] |
| #[cfg_attr(feature = "cargo-clippy", allow(too_many_arguments))] |
| pub const fn new( |
| m11: T, m12: T, m13: T, m14: T, |
| m21: T, m22: T, m23: T, m24: T, |
| m31: T, m32: T, m33: T, m34: T, |
| m41: T, m42: T, m43: T, m44: T, |
| ) -> Self { |
| Transform3D { |
| m11, m12, m13, m14, |
| m21, m22, m23, m24, |
| m31, m32, m33, m34, |
| m41, m42, m43, m44, |
| _unit: PhantomData, |
| } |
| } |
| |
| /// Create a transform representing a 2d transformation from the components |
| /// of a 2 by 3 matrix transformation. |
| /// |
| /// Components follow the column-major-column-vector notation (m41 and m42 |
| /// representating the translation terms). |
| /// |
| /// ```text |
| /// m11 m12 0 0 |
| /// m21 m22 0 0 |
| /// 0 0 1 0 |
| /// m41 m42 0 1 |
| /// ``` |
| #[inline] |
| pub fn new_2d(m11: T, m12: T, m21: T, m22: T, m41: T, m42: T) -> Self |
| where |
| T: Zero + One, |
| { |
| let _0 = || T::zero(); |
| let _1 = || T::one(); |
| |
| Self::new( |
| m11, m12, _0(), _0(), |
| m21, m22, _0(), _0(), |
| _0(), _0(), _1(), _0(), |
| m41, m42, _0(), _1() |
| ) |
| } |
| |
| |
| /// Returns `true` if this transform can be represented with a `Transform2D`. |
| /// |
| /// See <https://drafts.csswg.org/css-transforms/#2d-transform> |
| #[inline] |
| pub fn is_2d(&self) -> bool |
| where |
| T: Zero + One + PartialEq, |
| { |
| let (_0, _1): (T, T) = (Zero::zero(), One::one()); |
| self.m31 == _0 && self.m32 == _0 && |
| self.m13 == _0 && self.m23 == _0 && |
| self.m43 == _0 && self.m14 == _0 && |
| self.m24 == _0 && self.m34 == _0 && |
| self.m33 == _1 && self.m44 == _1 |
| } |
| } |
| |
| impl<T: Copy, Src, Dst> Transform3D<T, Src, Dst> { |
| /// Returns an array containing this transform's terms. |
| /// |
| /// The terms are laid out in the same order as they are |
| /// specified in `Transform3D::new`, that is following the |
| /// column-major-column-vector matrix notation. |
| /// |
| /// For example the translation terms are found on the |
| /// 13th, 14th and 15th slots of the array. |
| #[inline] |
| pub fn to_array(&self) -> [T; 16] { |
| [ |
| self.m11, self.m12, self.m13, self.m14, |
| self.m21, self.m22, self.m23, self.m24, |
| self.m31, self.m32, self.m33, self.m34, |
| self.m41, self.m42, self.m43, self.m44 |
| ] |
| } |
| |
| /// Returns an array containing this transform's terms transposed. |
| /// |
| /// The terms are laid out in transposed order from the same order of |
| /// `Transform3D::new` and `Transform3D::to_array`, that is following |
| /// the row-major-column-vector matrix notation. |
| /// |
| /// For example the translation terms are found at indices 3, 7 and 11 |
| /// of the array. |
| #[inline] |
| pub fn to_array_transposed(&self) -> [T; 16] { |
| [ |
| self.m11, self.m21, self.m31, self.m41, |
| self.m12, self.m22, self.m32, self.m42, |
| self.m13, self.m23, self.m33, self.m43, |
| self.m14, self.m24, self.m34, self.m44 |
| ] |
| } |
| |
| /// Equivalent to `to_array` with elements packed four at a time |
| /// in an array of arrays. |
| #[inline] |
| pub fn to_arrays(&self) -> [[T; 4]; 4] { |
| [ |
| [self.m11, self.m12, self.m13, self.m14], |
| [self.m21, self.m22, self.m23, self.m24], |
| [self.m31, self.m32, self.m33, self.m34], |
| [self.m41, self.m42, self.m43, self.m44] |
| ] |
| } |
| |
| /// Equivalent to `to_array_transposed` with elements packed |
| /// four at a time in an array of arrays. |
| #[inline] |
| pub fn to_arrays_transposed(&self) -> [[T; 4]; 4] { |
| [ |
| [self.m11, self.m21, self.m31, self.m41], |
| [self.m12, self.m22, self.m32, self.m42], |
| [self.m13, self.m23, self.m33, self.m43], |
| [self.m14, self.m24, self.m34, self.m44] |
| ] |
| } |
| |
| /// Create a transform providing its components via an array |
| /// of 16 elements instead of as individual parameters. |
| /// |
| /// The order of the components corresponds to the |
| /// column-major-column-vector matrix notation (the same order |
| /// as `Transform3D::new`). |
| #[inline] |
| pub fn from_array(array: [T; 16]) -> Self { |
| Self::new( |
| array[0], array[1], array[2], array[3], |
| array[4], array[5], array[6], array[7], |
| array[8], array[9], array[10], array[11], |
| array[12], array[13], array[14], array[15], |
| ) |
| } |
| |
| /// Equivalent to `from_array` with elements packed four at a time |
| /// in an array of arrays. |
| /// |
| /// The order of the components corresponds to the |
| /// column-major-column-vector matrix notation (the same order |
| /// as `Transform3D::new`). |
| #[inline] |
| pub fn from_arrays(array: [[T; 4]; 4]) -> Self { |
| Self::new( |
| array[0][0], array[0][1], array[0][2], array[0][3], |
| array[1][0], array[1][1], array[1][2], array[1][3], |
| array[2][0], array[2][1], array[2][2], array[2][3], |
| array[3][0], array[3][1], array[3][2], array[3][3], |
| ) |
| } |
| |
| /// Tag a unitless value with units. |
| #[inline] |
| pub fn from_untyped(m: &Transform3D<T, UnknownUnit, UnknownUnit>) -> Self { |
| Transform3D::new( |
| m.m11, m.m12, m.m13, m.m14, |
| m.m21, m.m22, m.m23, m.m24, |
| m.m31, m.m32, m.m33, m.m34, |
| m.m41, m.m42, m.m43, m.m44, |
| ) |
| } |
| |
| /// Drop the units, preserving only the numeric value. |
| #[inline] |
| pub fn to_untyped(&self) -> Transform3D<T, UnknownUnit, UnknownUnit> { |
| Transform3D::new( |
| self.m11, self.m12, self.m13, self.m14, |
| self.m21, self.m22, self.m23, self.m24, |
| self.m31, self.m32, self.m33, self.m34, |
| self.m41, self.m42, self.m43, self.m44, |
| ) |
| } |
| |
| /// Returns the same transform with a different source unit. |
| #[inline] |
| pub fn with_source<NewSrc>(&self) -> Transform3D<T, NewSrc, Dst> { |
| Transform3D::new( |
| self.m11, self.m12, self.m13, self.m14, |
| self.m21, self.m22, self.m23, self.m24, |
| self.m31, self.m32, self.m33, self.m34, |
| self.m41, self.m42, self.m43, self.m44, |
| ) |
| } |
| |
| /// Returns the same transform with a different destination unit. |
| #[inline] |
| pub fn with_destination<NewDst>(&self) -> Transform3D<T, Src, NewDst> { |
| Transform3D::new( |
| self.m11, self.m12, self.m13, self.m14, |
| self.m21, self.m22, self.m23, self.m24, |
| self.m31, self.m32, self.m33, self.m34, |
| self.m41, self.m42, self.m43, self.m44, |
| ) |
| } |
| |
| /// Create a 2D transform picking the relevant terms from this transform. |
| /// |
| /// This method assumes that self represents a 2d transformation, callers |
| /// should check that [`self.is_2d()`] returns `true` beforehand. |
| /// |
| /// [`self.is_2d()`]: #method.is_2d |
| pub fn to_2d(&self) -> Transform2D<T, Src, Dst> { |
| Transform2D::new( |
| self.m11, self.m12, |
| self.m21, self.m22, |
| self.m41, self.m42 |
| ) |
| } |
| } |
| |
| impl <T, Src, Dst> Transform3D<T, Src, Dst> |
| where |
| T: Zero + One, |
| { |
| /// Creates an identity matrix: |
| /// |
| /// ```text |
| /// 1 0 0 0 |
| /// 0 1 0 0 |
| /// 0 0 1 0 |
| /// 0 0 0 1 |
| /// ``` |
| #[inline] |
| pub fn identity() -> Self { |
| Self::translation(T::zero(), T::zero(), T::zero()) |
| } |
| |
| /// Intentional not public, because it checks for exact equivalence |
| /// while most consumers will probably want some sort of approximate |
| /// equivalence to deal with floating-point errors. |
| #[inline] |
| fn is_identity(&self) -> bool |
| where |
| T: PartialEq, |
| { |
| *self == Self::identity() |
| } |
| |
| /// Create a 2d skew transform. |
| /// |
| /// See <https://drafts.csswg.org/css-transforms/#funcdef-skew> |
| pub fn skew(alpha: Angle<T>, beta: Angle<T>) -> Self |
| where |
| T: Trig, |
| { |
| let _0 = || T::zero(); |
| let _1 = || T::one(); |
| let (sx, sy) = (beta.radians.tan(), alpha.radians.tan()); |
| |
| Self::new( |
| _1(), sx, _0(), _0(), |
| sy, _1(), _0(), _0(), |
| _0(), _0(), _1(), _0(), |
| _0(), _0(), _0(), _1(), |
| ) |
| } |
| |
| /// Create a simple perspective transform, projecting to the plane `z = -d`. |
| /// |
| /// ```text |
| /// 1 0 0 0 |
| /// 0 1 0 0 |
| /// 0 0 1 -1/d |
| /// 0 0 0 1 |
| /// ``` |
| /// |
| /// See <https://drafts.csswg.org/css-transforms-2/#PerspectiveDefined>. |
| pub fn perspective(d: T) -> Self |
| where |
| T: Neg<Output = T> + Div<Output = T>, |
| { |
| let _0 = || T::zero(); |
| let _1 = || T::one(); |
| |
| Self::new( |
| _1(), _0(), _0(), _0(), |
| _0(), _1(), _0(), _0(), |
| _0(), _0(), _1(), -_1() / d, |
| _0(), _0(), _0(), _1(), |
| ) |
| } |
| } |
| |
| |
| /// Methods for combining generic transformations |
| impl <T, Src, Dst> Transform3D<T, Src, Dst> |
| where |
| T: Copy + Add<Output = T> + Mul<Output = T>, |
| { |
| /// Returns the multiplication of the two matrices such that mat's transformation |
| /// applies after self's transformation. |
| /// |
| /// Assuming row vectors, this is equivalent to self * mat |
| #[must_use] |
| pub fn then<NewDst>(&self, other: &Transform3D<T, Dst, NewDst>) -> Transform3D<T, Src, NewDst> { |
| Transform3D::new( |
| self.m11 * other.m11 + self.m12 * other.m21 + self.m13 * other.m31 + self.m14 * other.m41, |
| self.m11 * other.m12 + self.m12 * other.m22 + self.m13 * other.m32 + self.m14 * other.m42, |
| self.m11 * other.m13 + self.m12 * other.m23 + self.m13 * other.m33 + self.m14 * other.m43, |
| self.m11 * other.m14 + self.m12 * other.m24 + self.m13 * other.m34 + self.m14 * other.m44, |
| |
| self.m21 * other.m11 + self.m22 * other.m21 + self.m23 * other.m31 + self.m24 * other.m41, |
| self.m21 * other.m12 + self.m22 * other.m22 + self.m23 * other.m32 + self.m24 * other.m42, |
| self.m21 * other.m13 + self.m22 * other.m23 + self.m23 * other.m33 + self.m24 * other.m43, |
| self.m21 * other.m14 + self.m22 * other.m24 + self.m23 * other.m34 + self.m24 * other.m44, |
| |
| self.m31 * other.m11 + self.m32 * other.m21 + self.m33 * other.m31 + self.m34 * other.m41, |
| self.m31 * other.m12 + self.m32 * other.m22 + self.m33 * other.m32 + self.m34 * other.m42, |
| self.m31 * other.m13 + self.m32 * other.m23 + self.m33 * other.m33 + self.m34 * other.m43, |
| self.m31 * other.m14 + self.m32 * other.m24 + self.m33 * other.m34 + self.m34 * other.m44, |
| |
| self.m41 * other.m11 + self.m42 * other.m21 + self.m43 * other.m31 + self.m44 * other.m41, |
| self.m41 * other.m12 + self.m42 * other.m22 + self.m43 * other.m32 + self.m44 * other.m42, |
| self.m41 * other.m13 + self.m42 * other.m23 + self.m43 * other.m33 + self.m44 * other.m43, |
| self.m41 * other.m14 + self.m42 * other.m24 + self.m43 * other.m34 + self.m44 * other.m44, |
| ) |
| } |
| } |
| |
| /// Methods for creating and combining translation transformations |
| impl <T, Src, Dst> Transform3D<T, Src, Dst> |
| where |
| T: Zero + One, |
| { |
| /// Create a 3d translation transform: |
| /// |
| /// ```text |
| /// 1 0 0 0 |
| /// 0 1 0 0 |
| /// 0 0 1 0 |
| /// x y z 1 |
| /// ``` |
| #[inline] |
| pub fn translation(x: T, y: T, z: T) -> Self { |
| let _0 = || T::zero(); |
| let _1 = || T::one(); |
| |
| Self::new( |
| _1(), _0(), _0(), _0(), |
| _0(), _1(), _0(), _0(), |
| _0(), _0(), _1(), _0(), |
| x, y, z, _1(), |
| ) |
| } |
| |
| /// Returns a transform with a translation applied before self's transformation. |
| #[must_use] |
| pub fn pre_translate(&self, v: Vector3D<T, Src>) -> Self |
| where |
| T: Copy + Add<Output = T> + Mul<Output = T>, |
| { |
| Transform3D::translation(v.x, v.y, v.z).then(self) |
| } |
| |
| /// Returns a transform with a translation applied after self's transformation. |
| #[must_use] |
| pub fn then_translate(&self, v: Vector3D<T, Dst>) -> Self |
| where |
| T: Copy + Add<Output = T> + Mul<Output = T>, |
| { |
| self.then(&Transform3D::translation(v.x, v.y, v.z)) |
| } |
| } |
| |
| /// Methods for creating and combining rotation transformations |
| impl<T, Src, Dst> Transform3D<T, Src, Dst> |
| where |
| T: Copy + Add<Output = T> + Sub<Output = T> + Mul<Output = T> + Div<Output = T> + Zero + One + Trig, |
| { |
| /// Create a 3d rotation transform from an angle / axis. |
| /// The supplied axis must be normalized. |
| pub fn rotation(x: T, y: T, z: T, theta: Angle<T>) -> Self { |
| let (_0, _1): (T, T) = (Zero::zero(), One::one()); |
| let _2 = _1 + _1; |
| |
| let xx = x * x; |
| let yy = y * y; |
| let zz = z * z; |
| |
| let half_theta = theta.get() / _2; |
| let sc = half_theta.sin() * half_theta.cos(); |
| let sq = half_theta.sin() * half_theta.sin(); |
| |
| Transform3D::new( |
| _1 - _2 * (yy + zz) * sq, |
| _2 * (x * y * sq + z * sc), |
| _2 * (x * z * sq - y * sc), |
| _0, |
| |
| |
| _2 * (x * y * sq - z * sc), |
| _1 - _2 * (xx + zz) * sq, |
| _2 * (y * z * sq + x * sc), |
| _0, |
| |
| _2 * (x * z * sq + y * sc), |
| _2 * (y * z * sq - x * sc), |
| _1 - _2 * (xx + yy) * sq, |
| _0, |
| |
| _0, |
| _0, |
| _0, |
| _1 |
| ) |
| } |
| |
| /// Returns a transform with a rotation applied after self's transformation. |
| #[must_use] |
| pub fn then_rotate(&self, x: T, y: T, z: T, theta: Angle<T>) -> Self { |
| self.then(&Transform3D::rotation(x, y, z, theta)) |
| } |
| |
| /// Returns a transform with a rotation applied before self's transformation. |
| #[must_use] |
| pub fn pre_rotate(&self, x: T, y: T, z: T, theta: Angle<T>) -> Self { |
| Transform3D::rotation(x, y, z, theta).then(self) |
| } |
| } |
| |
| /// Methods for creating and combining scale transformations |
| impl<T, Src, Dst> Transform3D<T, Src, Dst> |
| where |
| T: Zero + One, |
| { |
| /// Create a 3d scale transform: |
| /// |
| /// ```text |
| /// x 0 0 0 |
| /// 0 y 0 0 |
| /// 0 0 z 0 |
| /// 0 0 0 1 |
| /// ``` |
| #[inline] |
| pub fn scale(x: T, y: T, z: T) -> Self { |
| let _0 = || T::zero(); |
| let _1 = || T::one(); |
| |
| Self::new( |
| x, _0(), _0(), _0(), |
| _0(), y, _0(), _0(), |
| _0(), _0(), z, _0(), |
| _0(), _0(), _0(), _1(), |
| ) |
| } |
| |
| /// Returns a transform with a scale applied before self's transformation. |
| #[must_use] |
| pub fn pre_scale(&self, x: T, y: T, z: T) -> Self |
| where |
| T: Copy + Add<Output = T> + Mul<Output = T>, |
| { |
| Transform3D::new( |
| self.m11 * x, self.m12 * x, self.m13 * x, self.m14 * x, |
| self.m21 * y, self.m22 * y, self.m23 * y, self.m24 * y, |
| self.m31 * z, self.m32 * z, self.m33 * z, self.m34 * z, |
| self.m41 , self.m42, self.m43, self.m44 |
| ) |
| } |
| |
| /// Returns a transform with a scale applied after self's transformation. |
| #[must_use] |
| pub fn then_scale(&self, x: T, y: T, z: T) -> Self |
| where |
| T: Copy + Add<Output = T> + Mul<Output = T>, |
| { |
| self.then(&Transform3D::scale(x, y, z)) |
| } |
| } |
| |
| /// Methods for apply transformations to objects |
| impl<T, Src, Dst> Transform3D<T, Src, Dst> |
| where |
| T: Copy + Add<Output = T> + Mul<Output = T>, |
| { |
| /// Returns the homogeneous vector corresponding to the transformed 2d point. |
| /// |
| /// The input point must be use the unit Src, and the returned point has the unit Dst. |
| #[inline] |
| pub fn transform_point2d_homogeneous( |
| &self, p: Point2D<T, Src> |
| ) -> HomogeneousVector<T, Dst> { |
| let x = p.x * self.m11 + p.y * self.m21 + self.m41; |
| let y = p.x * self.m12 + p.y * self.m22 + self.m42; |
| let z = p.x * self.m13 + p.y * self.m23 + self.m43; |
| let w = p.x * self.m14 + p.y * self.m24 + self.m44; |
| |
| HomogeneousVector::new(x, y, z, w) |
| } |
| |
| /// Returns the given 2d point transformed by this transform, if the transform makes sense, |
| /// or `None` otherwise. |
| /// |
| /// The input point must be use the unit Src, and the returned point has the unit Dst. |
| #[inline] |
| pub fn transform_point2d(&self, p: Point2D<T, Src>) -> Option<Point2D<T, Dst>> |
| where |
| T: Div<Output = T> + Zero + PartialOrd, |
| { |
| //Note: could use `transform_point2d_homogeneous()` but it would waste the calculus of `z` |
| let w = p.x * self.m14 + p.y * self.m24 + self.m44; |
| if w > T::zero() { |
| let x = p.x * self.m11 + p.y * self.m21 + self.m41; |
| let y = p.x * self.m12 + p.y * self.m22 + self.m42; |
| |
| Some(Point2D::new(x / w, y / w)) |
| } else { |
| None |
| } |
| } |
| |
| /// Returns the given 2d vector transformed by this matrix. |
| /// |
| /// The input point must be use the unit Src, and the returned point has the unit Dst. |
| #[inline] |
| pub fn transform_vector2d(&self, v: Vector2D<T, Src>) -> Vector2D<T, Dst> { |
| vec2( |
| v.x * self.m11 + v.y * self.m21, |
| v.x * self.m12 + v.y * self.m22, |
| ) |
| } |
| |
| /// Returns the homogeneous vector corresponding to the transformed 3d point. |
| /// |
| /// The input point must be use the unit Src, and the returned point has the unit Dst. |
| #[inline] |
| pub fn transform_point3d_homogeneous( |
| &self, p: Point3D<T, Src> |
| ) -> HomogeneousVector<T, Dst> { |
| let x = p.x * self.m11 + p.y * self.m21 + p.z * self.m31 + self.m41; |
| let y = p.x * self.m12 + p.y * self.m22 + p.z * self.m32 + self.m42; |
| let z = p.x * self.m13 + p.y * self.m23 + p.z * self.m33 + self.m43; |
| let w = p.x * self.m14 + p.y * self.m24 + p.z * self.m34 + self.m44; |
| |
| HomogeneousVector::new(x, y, z, w) |
| } |
| |
| /// Returns the given 3d point transformed by this transform, if the transform makes sense, |
| /// or `None` otherwise. |
| /// |
| /// The input point must be use the unit Src, and the returned point has the unit Dst. |
| #[inline] |
| pub fn transform_point3d(&self, p: Point3D<T, Src>) -> Option<Point3D<T, Dst>> |
| where |
| T: Div<Output = T> + Zero + PartialOrd, |
| { |
| self.transform_point3d_homogeneous(p).to_point3d() |
| } |
| |
| /// Returns the given 3d vector transformed by this matrix. |
| /// |
| /// The input point must be use the unit Src, and the returned point has the unit Dst. |
| #[inline] |
| pub fn transform_vector3d(&self, v: Vector3D<T, Src>) -> Vector3D<T, Dst> { |
| vec3( |
| v.x * self.m11 + v.y * self.m21 + v.z * self.m31, |
| v.x * self.m12 + v.y * self.m22 + v.z * self.m32, |
| v.x * self.m13 + v.y * self.m23 + v.z * self.m33, |
| ) |
| } |
| |
| /// Returns a rectangle that encompasses the result of transforming the given rectangle by this |
| /// transform, if the transform makes sense for it, or `None` otherwise. |
| pub fn outer_transformed_rect(&self, rect: &Rect<T, Src>) -> Option<Rect<T, Dst>> |
| where |
| T: Sub<Output = T> + Div<Output = T> + Zero + PartialOrd, |
| { |
| let min = rect.min(); |
| let max = rect.max(); |
| Some(Rect::from_points(&[ |
| self.transform_point2d(min)?, |
| self.transform_point2d(max)?, |
| self.transform_point2d(point2(max.x, min.y))?, |
| self.transform_point2d(point2(min.x, max.y))?, |
| ])) |
| } |
| |
| /// Returns a 2d box that encompasses the result of transforming the given box by this |
| /// transform, if the transform makes sense for it, or `None` otherwise. |
| pub fn outer_transformed_box2d(&self, b: &Box2D<T, Src>) -> Option<Box2D<T, Dst>> |
| where |
| T: Sub<Output = T> + Div<Output = T> + Zero + PartialOrd, |
| { |
| Some(Box2D::from_points(&[ |
| self.transform_point2d(b.min)?, |
| self.transform_point2d(b.max)?, |
| self.transform_point2d(point2(b.max.x, b.min.y))?, |
| self.transform_point2d(point2(b.min.x, b.max.y))?, |
| ])) |
| } |
| |
| /// Returns a 3d box that encompasses the result of transforming the given box by this |
| /// transform, if the transform makes sense for it, or `None` otherwise. |
| pub fn outer_transformed_box3d(&self, b: &Box3D<T, Src>) -> Option<Box3D<T, Dst>> |
| where |
| T: Sub<Output = T> + Div<Output = T> + Zero + PartialOrd, |
| { |
| Some(Box3D::from_points(&[ |
| self.transform_point3d(point3(b.min.x, b.min.y, b.min.z))?, |
| self.transform_point3d(point3(b.min.x, b.min.y, b.max.z))?, |
| self.transform_point3d(point3(b.min.x, b.max.y, b.min.z))?, |
| self.transform_point3d(point3(b.min.x, b.max.y, b.max.z))?, |
| self.transform_point3d(point3(b.max.x, b.min.y, b.min.z))?, |
| self.transform_point3d(point3(b.max.x, b.min.y, b.max.z))?, |
| self.transform_point3d(point3(b.max.x, b.max.y, b.min.z))?, |
| self.transform_point3d(point3(b.max.x, b.max.y, b.max.z))?, |
| ])) |
| } |
| } |
| |
| |
| impl <T, Src, Dst> Transform3D<T, Src, Dst> |
| where T: Copy + |
| Add<T, Output=T> + |
| Sub<T, Output=T> + |
| Mul<T, Output=T> + |
| Div<T, Output=T> + |
| Neg<Output=T> + |
| PartialOrd + |
| One + Zero { |
| |
| /// Create an orthogonal projection transform. |
| pub fn ortho(left: T, right: T, |
| bottom: T, top: T, |
| near: T, far: T) -> Self { |
| let tx = -((right + left) / (right - left)); |
| let ty = -((top + bottom) / (top - bottom)); |
| let tz = -((far + near) / (far - near)); |
| |
| let (_0, _1): (T, T) = (Zero::zero(), One::one()); |
| let _2 = _1 + _1; |
| Transform3D::new( |
| _2 / (right - left), _0 , _0 , _0, |
| _0 , _2 / (top - bottom), _0 , _0, |
| _0 , _0 , -_2 / (far - near), _0, |
| tx , ty , tz , _1 |
| ) |
| } |
| |
| /// Check whether shapes on the XY plane with Z pointing towards the |
| /// screen transformed by this matrix would be facing back. |
| pub fn is_backface_visible(&self) -> bool { |
| // inverse().m33 < 0; |
| let det = self.determinant(); |
| let m33 = self.m12 * self.m24 * self.m41 - self.m14 * self.m22 * self.m41 + |
| self.m14 * self.m21 * self.m42 - self.m11 * self.m24 * self.m42 - |
| self.m12 * self.m21 * self.m44 + self.m11 * self.m22 * self.m44; |
| let _0: T = Zero::zero(); |
| (m33 * det) < _0 |
| } |
| |
| /// Returns whether it is possible to compute the inverse transform. |
| #[inline] |
| pub fn is_invertible(&self) -> bool { |
| self.determinant() != Zero::zero() |
| } |
| |
| /// Returns the inverse transform if possible. |
| pub fn inverse(&self) -> Option<Transform3D<T, Dst, Src>> { |
| let det = self.determinant(); |
| |
| if det == Zero::zero() { |
| return None; |
| } |
| |
| // todo(gw): this could be made faster by special casing |
| // for simpler transform types. |
| let m = Transform3D::new( |
| self.m23*self.m34*self.m42 - self.m24*self.m33*self.m42 + |
| self.m24*self.m32*self.m43 - self.m22*self.m34*self.m43 - |
| self.m23*self.m32*self.m44 + self.m22*self.m33*self.m44, |
| |
| self.m14*self.m33*self.m42 - self.m13*self.m34*self.m42 - |
| self.m14*self.m32*self.m43 + self.m12*self.m34*self.m43 + |
| self.m13*self.m32*self.m44 - self.m12*self.m33*self.m44, |
| |
| self.m13*self.m24*self.m42 - self.m14*self.m23*self.m42 + |
| self.m14*self.m22*self.m43 - self.m12*self.m24*self.m43 - |
| self.m13*self.m22*self.m44 + self.m12*self.m23*self.m44, |
| |
| self.m14*self.m23*self.m32 - self.m13*self.m24*self.m32 - |
| self.m14*self.m22*self.m33 + self.m12*self.m24*self.m33 + |
| self.m13*self.m22*self.m34 - self.m12*self.m23*self.m34, |
| |
| self.m24*self.m33*self.m41 - self.m23*self.m34*self.m41 - |
| self.m24*self.m31*self.m43 + self.m21*self.m34*self.m43 + |
| self.m23*self.m31*self.m44 - self.m21*self.m33*self.m44, |
| |
| self.m13*self.m34*self.m41 - self.m14*self.m33*self.m41 + |
| self.m14*self.m31*self.m43 - self.m11*self.m34*self.m43 - |
| self.m13*self.m31*self.m44 + self.m11*self.m33*self.m44, |
| |
| self.m14*self.m23*self.m41 - self.m13*self.m24*self.m41 - |
| self.m14*self.m21*self.m43 + self.m11*self.m24*self.m43 + |
| self.m13*self.m21*self.m44 - self.m11*self.m23*self.m44, |
| |
| self.m13*self.m24*self.m31 - self.m14*self.m23*self.m31 + |
| self.m14*self.m21*self.m33 - self.m11*self.m24*self.m33 - |
| self.m13*self.m21*self.m34 + self.m11*self.m23*self.m34, |
| |
| self.m22*self.m34*self.m41 - self.m24*self.m32*self.m41 + |
| self.m24*self.m31*self.m42 - self.m21*self.m34*self.m42 - |
| self.m22*self.m31*self.m44 + self.m21*self.m32*self.m44, |
| |
| self.m14*self.m32*self.m41 - self.m12*self.m34*self.m41 - |
| self.m14*self.m31*self.m42 + self.m11*self.m34*self.m42 + |
| self.m12*self.m31*self.m44 - self.m11*self.m32*self.m44, |
| |
| self.m12*self.m24*self.m41 - self.m14*self.m22*self.m41 + |
| self.m14*self.m21*self.m42 - self.m11*self.m24*self.m42 - |
| self.m12*self.m21*self.m44 + self.m11*self.m22*self.m44, |
| |
| self.m14*self.m22*self.m31 - self.m12*self.m24*self.m31 - |
| self.m14*self.m21*self.m32 + self.m11*self.m24*self.m32 + |
| self.m12*self.m21*self.m34 - self.m11*self.m22*self.m34, |
| |
| self.m23*self.m32*self.m41 - self.m22*self.m33*self.m41 - |
| self.m23*self.m31*self.m42 + self.m21*self.m33*self.m42 + |
| self.m22*self.m31*self.m43 - self.m21*self.m32*self.m43, |
| |
| self.m12*self.m33*self.m41 - self.m13*self.m32*self.m41 + |
| self.m13*self.m31*self.m42 - self.m11*self.m33*self.m42 - |
| self.m12*self.m31*self.m43 + self.m11*self.m32*self.m43, |
| |
| self.m13*self.m22*self.m41 - self.m12*self.m23*self.m41 - |
| self.m13*self.m21*self.m42 + self.m11*self.m23*self.m42 + |
| self.m12*self.m21*self.m43 - self.m11*self.m22*self.m43, |
| |
| self.m12*self.m23*self.m31 - self.m13*self.m22*self.m31 + |
| self.m13*self.m21*self.m32 - self.m11*self.m23*self.m32 - |
| self.m12*self.m21*self.m33 + self.m11*self.m22*self.m33 |
| ); |
| |
| let _1: T = One::one(); |
| Some(m.mul_s(_1 / det)) |
| } |
| |
| /// Compute the determinant of the transform. |
| pub fn determinant(&self) -> T { |
| self.m14 * self.m23 * self.m32 * self.m41 - |
| self.m13 * self.m24 * self.m32 * self.m41 - |
| self.m14 * self.m22 * self.m33 * self.m41 + |
| self.m12 * self.m24 * self.m33 * self.m41 + |
| self.m13 * self.m22 * self.m34 * self.m41 - |
| self.m12 * self.m23 * self.m34 * self.m41 - |
| self.m14 * self.m23 * self.m31 * self.m42 + |
| self.m13 * self.m24 * self.m31 * self.m42 + |
| self.m14 * self.m21 * self.m33 * self.m42 - |
| self.m11 * self.m24 * self.m33 * self.m42 - |
| self.m13 * self.m21 * self.m34 * self.m42 + |
| self.m11 * self.m23 * self.m34 * self.m42 + |
| self.m14 * self.m22 * self.m31 * self.m43 - |
| self.m12 * self.m24 * self.m31 * self.m43 - |
| self.m14 * self.m21 * self.m32 * self.m43 + |
| self.m11 * self.m24 * self.m32 * self.m43 + |
| self.m12 * self.m21 * self.m34 * self.m43 - |
| self.m11 * self.m22 * self.m34 * self.m43 - |
| self.m13 * self.m22 * self.m31 * self.m44 + |
| self.m12 * self.m23 * self.m31 * self.m44 + |
| self.m13 * self.m21 * self.m32 * self.m44 - |
| self.m11 * self.m23 * self.m32 * self.m44 - |
| self.m12 * self.m21 * self.m33 * self.m44 + |
| self.m11 * self.m22 * self.m33 * self.m44 |
| } |
| |
| /// Multiplies all of the transform's component by a scalar and returns the result. |
| #[must_use] |
| pub fn mul_s(&self, x: T) -> Self { |
| Transform3D::new( |
| self.m11 * x, self.m12 * x, self.m13 * x, self.m14 * x, |
| self.m21 * x, self.m22 * x, self.m23 * x, self.m24 * x, |
| self.m31 * x, self.m32 * x, self.m33 * x, self.m34 * x, |
| self.m41 * x, self.m42 * x, self.m43 * x, self.m44 * x |
| ) |
| } |
| |
| /// Convenience function to create a scale transform from a `Scale`. |
| pub fn from_scale(scale: Scale<T, Src, Dst>) -> Self { |
| Transform3D::scale(scale.get(), scale.get(), scale.get()) |
| } |
| } |
| |
| impl <T, Src, Dst> Transform3D<T, Src, Dst> |
| where |
| T: Copy + Mul<Output = T> + Div<Output = T> + Zero + One + PartialEq, |
| { |
| /// Returns a projection of this transform in 2d space. |
| pub fn project_to_2d(&self) -> Self { |
| let (_0, _1): (T, T) = (Zero::zero(), One::one()); |
| |
| let mut result = self.clone(); |
| |
| result.m31 = _0; |
| result.m32 = _0; |
| result.m13 = _0; |
| result.m23 = _0; |
| result.m33 = _1; |
| result.m43 = _0; |
| result.m34 = _0; |
| |
| // Try to normalize perspective when possible to convert to a 2d matrix. |
| // Some matrices, such as those derived from perspective transforms, can |
| // modify m44 from 1, while leaving the rest of the fourth column |
| // (m14, m24) at 0. In this case, after resetting the third row and |
| // third column above, the value of m44 functions only to scale the |
| // coordinate transform divide by W. The matrix can be converted to |
| // a true 2D matrix by normalizing out the scaling effect of m44 on |
| // the remaining components ahead of time. |
| if self.m14 == _0 && self.m24 == _0 && self.m44 != _0 && self.m44 != _1 { |
| let scale = _1 / self.m44; |
| result.m11 = result.m11 * scale; |
| result.m12 = result.m12 * scale; |
| result.m21 = result.m21 * scale; |
| result.m22 = result.m22 * scale; |
| result.m41 = result.m41 * scale; |
| result.m42 = result.m42 * scale; |
| result.m44 = _1; |
| } |
| |
| result |
| } |
| } |
| |
| impl<T: NumCast + Copy, Src, Dst> Transform3D<T, Src, Dst> { |
| /// Cast from one numeric representation to another, preserving the units. |
| #[inline] |
| pub fn cast<NewT: NumCast>(&self) -> Transform3D<NewT, Src, Dst> { |
| self.try_cast().unwrap() |
| } |
| |
| /// Fallible cast from one numeric representation to another, preserving the units. |
| pub fn try_cast<NewT: NumCast>(&self) -> Option<Transform3D<NewT, Src, Dst>> { |
| match (NumCast::from(self.m11), NumCast::from(self.m12), |
| NumCast::from(self.m13), NumCast::from(self.m14), |
| NumCast::from(self.m21), NumCast::from(self.m22), |
| NumCast::from(self.m23), NumCast::from(self.m24), |
| NumCast::from(self.m31), NumCast::from(self.m32), |
| NumCast::from(self.m33), NumCast::from(self.m34), |
| NumCast::from(self.m41), NumCast::from(self.m42), |
| NumCast::from(self.m43), NumCast::from(self.m44)) { |
| (Some(m11), Some(m12), Some(m13), Some(m14), |
| Some(m21), Some(m22), Some(m23), Some(m24), |
| Some(m31), Some(m32), Some(m33), Some(m34), |
| Some(m41), Some(m42), Some(m43), Some(m44)) => { |
| Some(Transform3D::new(m11, m12, m13, m14, |
| m21, m22, m23, m24, |
| m31, m32, m33, m34, |
| m41, m42, m43, m44)) |
| }, |
| _ => None |
| } |
| } |
| } |
| |
| impl<T: ApproxEq<T>, Src, Dst> Transform3D<T, Src, Dst> { |
| /// Returns true is this transform is approximately equal to the other one, using |
| /// T's default epsilon value. |
| /// |
| /// The same as [`ApproxEq::approx_eq()`] but available without importing trait. |
| /// |
| /// [`ApproxEq::approx_eq()`]: ./approxeq/trait.ApproxEq.html#method.approx_eq |
| #[inline] |
| pub fn approx_eq(&self, other: &Self) -> bool { |
| <Self as ApproxEq<T>>::approx_eq(&self, &other) |
| } |
| |
| /// Returns true is this transform is approximately equal to the other one, using |
| /// a provided epsilon value. |
| /// |
| /// The same as [`ApproxEq::approx_eq_eps()`] but available without importing trait. |
| /// |
| /// [`ApproxEq::approx_eq_eps()`]: ./approxeq/trait.ApproxEq.html#method.approx_eq_eps |
| #[inline] |
| pub fn approx_eq_eps(&self, other: &Self, eps: &T) -> bool { |
| <Self as ApproxEq<T>>::approx_eq_eps(&self, &other, &eps) |
| } |
| } |
| |
| |
| impl<T: ApproxEq<T>, Src, Dst> ApproxEq<T> for Transform3D<T, Src, Dst> { |
| #[inline] |
| fn approx_epsilon() -> T { T::approx_epsilon() } |
| |
| fn approx_eq_eps(&self, other: &Self, eps: &T) -> bool { |
| self.m11.approx_eq_eps(&other.m11, eps) && self.m12.approx_eq_eps(&other.m12, eps) && |
| self.m13.approx_eq_eps(&other.m13, eps) && self.m14.approx_eq_eps(&other.m14, eps) && |
| self.m21.approx_eq_eps(&other.m21, eps) && self.m22.approx_eq_eps(&other.m22, eps) && |
| self.m23.approx_eq_eps(&other.m23, eps) && self.m24.approx_eq_eps(&other.m24, eps) && |
| self.m31.approx_eq_eps(&other.m31, eps) && self.m32.approx_eq_eps(&other.m32, eps) && |
| self.m33.approx_eq_eps(&other.m33, eps) && self.m34.approx_eq_eps(&other.m34, eps) && |
| self.m41.approx_eq_eps(&other.m41, eps) && self.m42.approx_eq_eps(&other.m42, eps) && |
| self.m43.approx_eq_eps(&other.m43, eps) && self.m44.approx_eq_eps(&other.m44, eps) |
| } |
| } |
| |
| impl <T, Src, Dst> Default for Transform3D<T, Src, Dst> |
| where T: Zero + One |
| { |
| /// Returns the [identity transform](#method.identity). |
| fn default() -> Self { |
| Self::identity() |
| } |
| } |
| |
| impl<T, Src, Dst> fmt::Debug for Transform3D<T, Src, Dst> |
| where T: Copy + fmt::Debug + |
| PartialEq + |
| One + Zero { |
| fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { |
| if self.is_identity() { |
| write!(f, "[I]") |
| } else { |
| self.to_array().fmt(f) |
| } |
| } |
| } |
| |
| #[cfg(feature = "mint")] |
| impl<T, Src, Dst> From<mint::RowMatrix4<T>> for Transform3D<T, Src, Dst> { |
| fn from(m: mint::RowMatrix4<T>) -> Self { |
| Transform3D { |
| m11: m.x.x, m12: m.x.y, m13: m.x.z, m14: m.x.w, |
| m21: m.y.x, m22: m.y.y, m23: m.y.z, m24: m.y.w, |
| m31: m.z.x, m32: m.z.y, m33: m.z.z, m34: m.z.w, |
| m41: m.w.x, m42: m.w.y, m43: m.w.z, m44: m.w.w, |
| _unit: PhantomData, |
| } |
| } |
| } |
| #[cfg(feature = "mint")] |
| impl<T, Src, Dst> Into<mint::RowMatrix4<T>> for Transform3D<T, Src, Dst> { |
| fn into(self) -> mint::RowMatrix4<T> { |
| mint::RowMatrix4 { |
| x: mint::Vector4 { x: self.m11, y: self.m12, z: self.m13, w: self.m14 }, |
| y: mint::Vector4 { x: self.m21, y: self.m22, z: self.m23, w: self.m24 }, |
| z: mint::Vector4 { x: self.m31, y: self.m32, z: self.m33, w: self.m34 }, |
| w: mint::Vector4 { x: self.m41, y: self.m42, z: self.m43, w: self.m44 }, |
| } |
| } |
| } |
| |
| |
| #[cfg(test)] |
| mod tests { |
| use crate::approxeq::ApproxEq; |
| use super::*; |
| use crate::{point2, point3}; |
| use crate::default; |
| |
| use core::f32::consts::{FRAC_PI_2, PI}; |
| |
| type Mf32 = default::Transform3D<f32>; |
| |
| // For convenience. |
| fn rad(v: f32) -> Angle<f32> { Angle::radians(v) } |
| |
| #[test] |
| pub fn test_translation() { |
| let t1 = Mf32::translation(1.0, 2.0, 3.0); |
| let t2 = Mf32::identity().pre_translate(vec3(1.0, 2.0, 3.0)); |
| let t3 = Mf32::identity().then_translate(vec3(1.0, 2.0, 3.0)); |
| assert_eq!(t1, t2); |
| assert_eq!(t1, t3); |
| |
| assert_eq!(t1.transform_point3d(point3(1.0, 1.0, 1.0)), Some(point3(2.0, 3.0, 4.0))); |
| assert_eq!(t1.transform_point2d(point2(1.0, 1.0)), Some(point2(2.0, 3.0))); |
| |
| assert_eq!(t1.then(&t1), Mf32::translation(2.0, 4.0, 6.0)); |
| |
| assert!(!t1.is_2d()); |
| assert_eq!(Mf32::translation(1.0, 2.0, 3.0).to_2d(), Transform2D::translation(1.0, 2.0)); |
| } |
| |
| #[test] |
| pub fn test_rotation() { |
| let r1 = Mf32::rotation(0.0, 0.0, 1.0, rad(FRAC_PI_2)); |
| let r2 = Mf32::identity().pre_rotate(0.0, 0.0, 1.0, rad(FRAC_PI_2)); |
| let r3 = Mf32::identity().then_rotate(0.0, 0.0, 1.0, rad(FRAC_PI_2)); |
| assert_eq!(r1, r2); |
| assert_eq!(r1, r3); |
| |
| assert!(r1.transform_point3d(point3(1.0, 2.0, 3.0)).unwrap().approx_eq(&point3(-2.0, 1.0, 3.0))); |
| assert!(r1.transform_point2d(point2(1.0, 2.0)).unwrap().approx_eq(&point2(-2.0, 1.0))); |
| |
| assert!(r1.then(&r1).approx_eq(&Mf32::rotation(0.0, 0.0, 1.0, rad(FRAC_PI_2*2.0)))); |
| |
| assert!(r1.is_2d()); |
| assert!(r1.to_2d().approx_eq(&Transform2D::rotation(rad(FRAC_PI_2)))); |
| } |
| |
| #[test] |
| pub fn test_scale() { |
| let s1 = Mf32::scale(2.0, 3.0, 4.0); |
| let s2 = Mf32::identity().pre_scale(2.0, 3.0, 4.0); |
| let s3 = Mf32::identity().then_scale(2.0, 3.0, 4.0); |
| assert_eq!(s1, s2); |
| assert_eq!(s1, s3); |
| |
| assert!(s1.transform_point3d(point3(2.0, 2.0, 2.0)).unwrap().approx_eq(&point3(4.0, 6.0, 8.0))); |
| assert!(s1.transform_point2d(point2(2.0, 2.0)).unwrap().approx_eq(&point2(4.0, 6.0))); |
| |
| assert_eq!(s1.then(&s1), Mf32::scale(4.0, 9.0, 16.0)); |
| |
| assert!(!s1.is_2d()); |
| assert_eq!(Mf32::scale(2.0, 3.0, 0.0).to_2d(), Transform2D::scale(2.0, 3.0)); |
| } |
| |
| |
| #[test] |
| pub fn test_pre_then_scale() { |
| let m = Mf32::rotation(0.0, 0.0, 1.0, rad(FRAC_PI_2)).then_translate(vec3(6.0, 7.0, 8.0)); |
| let s = Mf32::scale(2.0, 3.0, 4.0); |
| assert_eq!(m.then(&s), m.then_scale(2.0, 3.0, 4.0)); |
| } |
| |
| |
| #[test] |
| pub fn test_ortho() { |
| let (left, right, bottom, top) = (0.0f32, 1.0f32, 0.1f32, 1.0f32); |
| let (near, far) = (-1.0f32, 1.0f32); |
| let result = Mf32::ortho(left, right, bottom, top, near, far); |
| let expected = Mf32::new( |
| 2.0, 0.0, 0.0, 0.0, |
| 0.0, 2.22222222, 0.0, 0.0, |
| 0.0, 0.0, -1.0, 0.0, |
| -1.0, -1.22222222, -0.0, 1.0 |
| ); |
| assert!(result.approx_eq(&expected)); |
| } |
| |
| #[test] |
| pub fn test_is_2d() { |
| assert!(Mf32::identity().is_2d()); |
| assert!(Mf32::rotation(0.0, 0.0, 1.0, rad(0.7854)).is_2d()); |
| assert!(!Mf32::rotation(0.0, 1.0, 0.0, rad(0.7854)).is_2d()); |
| } |
| |
| #[test] |
| pub fn test_new_2d() { |
| let m1 = Mf32::new_2d(1.0, 2.0, 3.0, 4.0, 5.0, 6.0); |
| let m2 = Mf32::new( |
| 1.0, 2.0, 0.0, 0.0, |
| 3.0, 4.0, 0.0, 0.0, |
| 0.0, 0.0, 1.0, 0.0, |
| 5.0, 6.0, 0.0, 1.0 |
| ); |
| assert_eq!(m1, m2); |
| } |
| |
| #[test] |
| pub fn test_inverse_simple() { |
| let m1 = Mf32::identity(); |
| let m2 = m1.inverse().unwrap(); |
| assert!(m1.approx_eq(&m2)); |
| } |
| |
| #[test] |
| pub fn test_inverse_scale() { |
| let m1 = Mf32::scale(1.5, 0.3, 2.1); |
| let m2 = m1.inverse().unwrap(); |
| assert!(m1.then(&m2).approx_eq(&Mf32::identity())); |
| assert!(m2.then(&m1).approx_eq(&Mf32::identity())); |
| } |
| |
| #[test] |
| pub fn test_inverse_translate() { |
| let m1 = Mf32::translation(-132.0, 0.3, 493.0); |
| let m2 = m1.inverse().unwrap(); |
| assert!(m1.then(&m2).approx_eq(&Mf32::identity())); |
| assert!(m2.then(&m1).approx_eq(&Mf32::identity())); |
| } |
| |
| #[test] |
| pub fn test_inverse_rotate() { |
| let m1 = Mf32::rotation(0.0, 1.0, 0.0, rad(1.57)); |
| let m2 = m1.inverse().unwrap(); |
| assert!(m1.then(&m2).approx_eq(&Mf32::identity())); |
| assert!(m2.then(&m1).approx_eq(&Mf32::identity())); |
| } |
| |
| #[test] |
| pub fn test_inverse_transform_point_2d() { |
| let m1 = Mf32::translation(100.0, 200.0, 0.0); |
| let m2 = m1.inverse().unwrap(); |
| assert!(m1.then(&m2).approx_eq(&Mf32::identity())); |
| assert!(m2.then(&m1).approx_eq(&Mf32::identity())); |
| |
| let p1 = point2(1000.0, 2000.0); |
| let p2 = m1.transform_point2d(p1); |
| assert_eq!(p2, Some(point2(1100.0, 2200.0))); |
| |
| let p3 = m2.transform_point2d(p2.unwrap()); |
| assert_eq!(p3, Some(p1)); |
| } |
| |
| #[test] |
| fn test_inverse_none() { |
| assert!(Mf32::scale(2.0, 0.0, 2.0).inverse().is_none()); |
| assert!(Mf32::scale(2.0, 2.0, 2.0).inverse().is_some()); |
| } |
| |
| #[test] |
| pub fn test_pre_post() { |
| let m1 = default::Transform3D::identity().then_scale(1.0, 2.0, 3.0).then_translate(vec3(1.0, 2.0, 3.0)); |
| let m2 = default::Transform3D::identity().pre_translate(vec3(1.0, 2.0, 3.0)).pre_scale(1.0, 2.0, 3.0); |
| assert!(m1.approx_eq(&m2)); |
| |
| let r = Mf32::rotation(0.0, 0.0, 1.0, rad(FRAC_PI_2)); |
| let t = Mf32::translation(2.0, 3.0, 0.0); |
| |
| let a = point3(1.0, 1.0, 1.0); |
| |
| assert!(r.then(&t).transform_point3d(a).unwrap().approx_eq(&point3(1.0, 4.0, 1.0))); |
| assert!(t.then(&r).transform_point3d(a).unwrap().approx_eq(&point3(-4.0, 3.0, 1.0))); |
| assert!(t.then(&r).transform_point3d(a).unwrap().approx_eq(&r.transform_point3d(t.transform_point3d(a).unwrap()).unwrap())); |
| } |
| |
| #[test] |
| fn test_size_of() { |
| use core::mem::size_of; |
| assert_eq!(size_of::<default::Transform3D<f32>>(), 16*size_of::<f32>()); |
| assert_eq!(size_of::<default::Transform3D<f64>>(), 16*size_of::<f64>()); |
| } |
| |
| #[test] |
| pub fn test_transform_associativity() { |
| let m1 = Mf32::new(3.0, 2.0, 1.5, 1.0, |
| 0.0, 4.5, -1.0, -4.0, |
| 0.0, 3.5, 2.5, 40.0, |
| 0.0, 3.0, 0.0, 1.0); |
| let m2 = Mf32::new(1.0, -1.0, 3.0, 0.0, |
| -1.0, 0.5, 0.0, 2.0, |
| 1.5, -2.0, 6.0, 0.0, |
| -2.5, 6.0, 1.0, 1.0); |
| |
| let p = point3(1.0, 3.0, 5.0); |
| let p1 = m1.then(&m2).transform_point3d(p).unwrap(); |
| let p2 = m2.transform_point3d(m1.transform_point3d(p).unwrap()).unwrap(); |
| assert!(p1.approx_eq(&p2)); |
| } |
| |
| #[test] |
| pub fn test_is_identity() { |
| let m1 = default::Transform3D::identity(); |
| assert!(m1.is_identity()); |
| let m2 = m1.then_translate(vec3(0.1, 0.0, 0.0)); |
| assert!(!m2.is_identity()); |
| } |
| |
| #[test] |
| pub fn test_transform_vector() { |
| // Translation does not apply to vectors. |
| let m = Mf32::translation(1.0, 2.0, 3.0); |
| let v1 = vec3(10.0, -10.0, 3.0); |
| assert_eq!(v1, m.transform_vector3d(v1)); |
| // While it does apply to points. |
| assert_ne!(Some(v1.to_point()), m.transform_point3d(v1.to_point())); |
| |
| // same thing with 2d vectors/points |
| let v2 = vec2(10.0, -5.0); |
| assert_eq!(v2, m.transform_vector2d(v2)); |
| assert_ne!(Some(v2.to_point()), m.transform_point2d(v2.to_point())); |
| } |
| |
| #[test] |
| pub fn test_is_backface_visible() { |
| // backface is not visible for rotate-x 0 degree. |
| let r1 = Mf32::rotation(1.0, 0.0, 0.0, rad(0.0)); |
| assert!(!r1.is_backface_visible()); |
| // backface is not visible for rotate-x 45 degree. |
| let r1 = Mf32::rotation(1.0, 0.0, 0.0, rad(PI * 0.25)); |
| assert!(!r1.is_backface_visible()); |
| // backface is visible for rotate-x 180 degree. |
| let r1 = Mf32::rotation(1.0, 0.0, 0.0, rad(PI)); |
| assert!(r1.is_backface_visible()); |
| // backface is visible for rotate-x 225 degree. |
| let r1 = Mf32::rotation(1.0, 0.0, 0.0, rad(PI * 1.25)); |
| assert!(r1.is_backface_visible()); |
| // backface is not visible for non-inverseable matrix |
| let r1 = Mf32::scale(2.0, 0.0, 2.0); |
| assert!(!r1.is_backface_visible()); |
| } |
| |
| #[test] |
| pub fn test_homogeneous() { |
| let m = Mf32::new( |
| 1.0, 2.0, 0.5, 5.0, |
| 3.0, 4.0, 0.25, 6.0, |
| 0.5, -1.0, 1.0, -1.0, |
| -1.0, 1.0, -1.0, 2.0, |
| ); |
| assert_eq!( |
| m.transform_point2d_homogeneous(point2(1.0, 2.0)), |
| HomogeneousVector::new(6.0, 11.0, 0.0, 19.0), |
| ); |
| assert_eq!( |
| m.transform_point3d_homogeneous(point3(1.0, 2.0, 4.0)), |
| HomogeneousVector::new(8.0, 7.0, 4.0, 15.0), |
| ); |
| } |
| |
| #[test] |
| pub fn test_perspective_division() { |
| let p = point2(1.0, 2.0); |
| let mut m = Mf32::identity(); |
| assert!(m.transform_point2d(p).is_some()); |
| m.m44 = 0.0; |
| assert_eq!(None, m.transform_point2d(p)); |
| m.m44 = 1.0; |
| m.m24 = -1.0; |
| assert_eq!(None, m.transform_point2d(p)); |
| } |
| |
| #[cfg(feature = "mint")] |
| #[test] |
| pub fn test_mint() { |
| let m1 = Mf32::rotation(0.0, 0.0, 1.0, rad(FRAC_PI_2)); |
| let mm: mint::RowMatrix4<_> = m1.into(); |
| let m2 = Mf32::from(mm); |
| |
| assert_eq!(m1, m2); |
| } |
| } |
