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// SPDX-License-Identifier: Apache-2.0
//! Placements and rigid transforms.
use crate::math::{Point3, Vector3};
use schemars::JsonSchema;
use serde::{Deserialize, Serialize};
/// A right-handed local frame defined by an origin and two orthonormal axes.
///
/// The third axis is the cross product of `axis` and `ref_direction`.
#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize, JsonSchema)]
pub struct Placement {
/// Local frame origin.
pub origin: Point3,
/// Local +Z axis (e.g. a cylinder axis or plane normal).
pub axis: Vector3,
/// Local +X axis (reference direction); should be orthogonal to `axis`.
pub ref_direction: Vector3,
}
/// A 4×4 row-major affine transform applied to a body's geometry.
///
/// The explicit matrix preserves source coefficients. Validation checks the
/// affine bottom row.
#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize, JsonSchema)]
pub struct Transform {
/// Row-major 4×4 matrix; `rows[3]` is normally `[0, 0, 0, 1]`.
pub rows: [[f64; 4]; 4],
}
impl Transform {
/// The identity transform.
pub fn identity() -> Self {
Transform {
rows: [
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.0],
[0.0, 0.0, 0.0, 1.0],
],
}
}
}
impl Default for Transform {
fn default() -> Self {
Transform::identity()
}
}