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
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
//a Imports
use geo_nd::{matrix, quat, vector};
use crate::{Mat4, Quat, Vec3};
//a Transformation
//tp Transformation
/// A transformation corresponds to a translation of a rotation of a
/// scaling
///
/// The rotation here is encoded by a [Quat]ernion
#[derive(Clone, Copy, Debug)]
pub struct Transformation {
/// Translation to apply after rotation
translation: Vec3,
/// Rotation to apply after scaling
rotation: Quat,
/// Scaling to apply first
scale: Vec3,
}
impl std::default::Default for Transformation {
fn default() -> Self {
let translation = vector::zero();
let scale = [1.; 3];
let rotation = quat::new();
Self {
translation,
scale,
rotation,
}
}
}
//ip Transformation
impl Transformation {
//fp new
/// Create a new identity transformation
pub fn new() -> Self {
Default::default()
}
//cp with_scale
/// Set the scaling of a transformation
pub fn with_scale(mut self, scale: Vec3) -> Self {
self.scale = scale;
self
}
//cp with_translation
/// Set the translation of a transformation
pub fn with_translation(mut self, translation: Vec3) -> Self {
self.translation = translation;
self
}
//cp with_rotation
/// Set the rotation of a transformation
pub fn with_rotation(mut self, rotation: Quat) -> Self {
self.rotation = rotation;
self
}
//ap scale
/// Get the scale
pub fn scale(&mut self) -> Vec3 {
self.scale
}
//ap translation
/// Set the translation of a transformation
pub fn translation(&mut self) -> Vec3 {
self.translation
}
//ap rotation
/// Set the rotation of a transformation
pub fn rotation(&self) -> Quat {
self.rotation
}
//mp set_scale
/// Set the scaling of a transformation
pub fn set_scale(&mut self, scale: Vec3) {
self.scale = scale;
}
//mp set_translation
/// Set the translation of a transformation
pub fn set_translation(&mut self, translation: Vec3) {
self.translation = translation;
}
//mp set_rotation
/// Set the rotation of a transformation
pub fn set_rotation(&mut self, rotation: Quat) {
self.rotation = rotation;
}
//cp copy_from
/// Copy the transformation from another
pub fn copy_from(&mut self, other: &Self) {
self.translation = other.translation;
self.scale = other.scale;
self.rotation = other.rotation;
}
//mp combine
/// Combine two transformations into this
///
/// To operate correctly the scales must be
pub fn combine(&mut self, base: &Self, other: &Self) {
self.rotation = quat::multiply(&base.rotation, &other.rotation);
self.translation = base.translation;
self.translation = vector::add(self.translation, &other.translation, 1.);
for i in 0..3 {
self.scale[i] = base.scale[i] * other.scale[i];
}
}
//mp translate
/// Pre-apply a translation to the transformation
pub fn translate(&mut self, translation: &Vec3, scale: f32) {
self.translation = vector::add(self.translation, translation, scale);
}
//mp rotate_axis_angle
/// Rotate the transformation by an angle about an axis
pub fn rotate_axis_angle(&mut self, axis: &Vec3, angle: f32) {
let q = quat::of_axis_angle(axis, angle);
self.rotation = quat::multiply(&q, &self.rotation);
// Glm.quat.multiply(self.translation, q, self.translation)
// # self.translation = q * self.translation # type: ignore
}
//mp rotate_by
/// Rotate the transformation by an angle about an axis
pub fn rotate_by(&mut self, quaternion: &Quat) {
self.rotation = quat::multiply(quaternion, &self.rotation);
}
//mp mat4
/// Create a mat4 from the Transformation
pub fn mat4(&self) -> Mat4 {
let mut m = matrix::from_quat4(self.rotation);
for i in 0..3 {
m[4 * i] *= self.scale[i];
m[4 * i + 1] *= self.scale[i];
m[4 * i + 2] *= self.scale[i];
}
m[12] += self.translation[0];
m[13] += self.translation[1];
m[14] += self.translation[2];
m
}
//mp mat4_inverse
/// Create a mat4 from the inverse of this Transformation
pub fn mat4_inverse(&self) -> Mat4 {
let r = quat::conjugate(&self.rotation);
let mut m = matrix::from_quat4(r);
for i in 0..3 {
let sc = 1. / self.scale[i];
m[i] *= sc;
m[i + 4] *= sc;
m[i + 8] *= sc;
}
m[12] -= self.translation[0];
m[13] -= self.translation[1];
m[14] -= self.translation[2];
m
}
//mp from_mat4
/// Set this translation from a Mat4 (assuming it can be done)
pub fn from_mat4(&mut self, m: Mat4) {
self.translation = [m[12], m[13], m[14]];
let mut rotation = [0.; 9];
for i in 0..3 {
let v = [m[4 * i], m[4 * i + 1], m[4 * i + 2]];
let l = vector::length(&v);
self.scale[i] = l;
rotation[3 * i] = v[0] / l;
rotation[3 * i + 1] = v[1] / l;
rotation[3 * i + 2] = v[2] / l;
}
self.rotation = quat::of_rotation(&rotation);
}
//mp mat4_after
/// Calculate a Mat4 of this transformation premultiplied by another Mat4
pub fn mat4_after(&self, pre_mat: &Mat4) -> Mat4 {
let m = self.mat4();
matrix::multiply4(pre_mat, &m)
}
//mp interpolate
/// Set this transformation to be an interpolation between two others
pub fn interpolate(&mut self, t: f32, in0: &Self, in1: &Self) {
let tn = 1.0 - t;
for i in 0..3 {
self.translation[i] = t * in0.translation[i] + tn * in1.translation[i];
self.scale[i] = t * in0.scale[i] + tn * in1.scale[i];
}
self.rotation = quat::nlerp(t, &in0.rotation, &in1.rotation);
}
//mp distance
/// Calculate an approximate 'distance' between two transformations
pub fn distance(&self, other: &Self) -> f32 {
let td = vector::distance(&self.translation, &other.translation);
let sd = vector::distance(&self.scale, &other.scale);
let qd = quat::distance(&self.rotation, &other.rotation);
td + sd + qd
}
//zz All done
}
//ip Display for Transformation
impl std::fmt::Display for Transformation {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> Result<(), std::fmt::Error> {
write!(
f,
"Transform +{:?}:@{:?}:*{:?}",
self.translation, self.rotation, self.scale
)
}
}