cadmpeg-ir 0.2.0

CAD data model, validation, diffing, and codec API for cadmpeg.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35

// SPDX-License-Identifier: Apache-2.0
//! Rigid transforms.

use schemars::JsonSchema;
use serde::{Deserialize, Serialize};

/// 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()
    }
}