<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="Source of the Rust file `/Users/erlendbasso/.cargo/registry/src/github.com-1ecc6299db9ec823/nalgebra-0.32.1/src/base/cg.rs`."><meta name="keywords" content="rust, rustlang, rust-lang"><title>cg.rs - source</title><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceSerif4-Regular-1f7d512b176f0f72.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/FiraSans-Regular-018c141bf0843ffd.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/FiraSans-Medium-8f9a781e4970d388.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceCodePro-Regular-562dcc5011b6de7d.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceSerif4-Bold-124a1ca42af929b6.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceCodePro-Semibold-d899c5a5c4aeb14a.ttf.woff2"><link rel="stylesheet" href="../../../static.files/normalize-76eba96aa4d2e634.css"><link rel="stylesheet" href="../../../static.files/rustdoc-6827029ac823cab7.css" id="mainThemeStyle"><link rel="stylesheet" id="themeStyle" href="../../../static.files/light-ebce58d0a40c3431.css"><link rel="stylesheet" disabled href="../../../static.files/dark-f23faae4a2daf9a6.css"><link rel="stylesheet" disabled href="../../../static.files/ayu-8af5e100b21cd173.css"><script id="default-settings" ></script><script src="../../../static.files/storage-d43fa987303ecbbb.js"></script><script defer src="../../../static.files/source-script-5cf2e01a42cc9858.js"></script><script defer src="../../../source-files.js"></script><script defer src="../../../static.files/main-c55e1eb52e1886b4.js"></script><noscript><link rel="stylesheet" href="../../../static.files/noscript-13285aec31fa243e.css"></noscript><link rel="icon" href="https://nalgebra.org/img/favicon.ico"></head><body class="rustdoc source"><!--[if lte IE 11]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="sidebar"></nav><main><div class="width-limiter"><nav class="sub"><a class="sub-logo-container" href="../../../nalgebra/index.html"><img class="rust-logo" src="../../../static.files/rust-logo-151179464ae7ed46.svg" alt="logo"></a><form class="search-form"><span></span><input class="search-input" name="search" aria-label="Run search in the documentation" autocomplete="off" spellcheck="false" placeholder="Click or press ‘S’ to search, ‘?’ for more options…" type="search"><div id="help-button" title="help" tabindex="-1"><a href="../../../help.html">?</a></div><div id="settings-menu" tabindex="-1"><a href="../../../settings.html" title="settings"><img width="22" height="22" alt="Change settings" src="../../../static.files/wheel-5ec35bf9ca753509.svg"></a></div></form></nav><section id="main-content" class="content"><div class="example-wrap"><pre class="src-line-numbers"><a href="#1" id="1">1</a>
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</pre><pre class="rust"><code><span class="comment">/*
*
* Computer-graphics specific implementations.
* Currently, it is mostly implemented for homogeneous matrices in 2- and 3-space.
*
*/
</span><span class="kw">use </span>num::{One, Zero};
<span class="kw">use </span><span class="kw">crate</span>::base::allocator::Allocator;
<span class="kw">use </span><span class="kw">crate</span>::base::dimension::{DimName, DimNameDiff, DimNameSub, U1};
<span class="kw">use </span><span class="kw">crate</span>::base::storage::{Storage, StorageMut};
<span class="kw">use </span><span class="kw">crate</span>::base::{
Const, DefaultAllocator, Matrix3, Matrix4, OMatrix, OVector, Scalar, SquareMatrix, Unit,
Vector, Vector2, Vector3,
};
<span class="kw">use </span><span class="kw">crate</span>::geometry::{
Isometry, IsometryMatrix3, Orthographic3, Perspective3, Point, Point2, Point3, Rotation2,
Rotation3,
};
<span class="kw">use </span>simba::scalar::{ClosedAdd, ClosedMul, RealField};
<span class="doccomment">/// # Translation and scaling in any dimension
</span><span class="kw">impl</span><T, D: DimName> OMatrix<T, D, D>
<span class="kw">where
</span>T: Scalar + Zero + One,
DefaultAllocator: Allocator<T, D, D>,
{
<span class="doccomment">/// Creates a new homogeneous matrix that applies the same scaling factor on each dimension.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>new_scaling(scaling: T) -> <span class="self">Self </span>{
<span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">Self</span>::from_diagonal_element(scaling);
res[(D::dim() - <span class="number">1</span>, D::dim() - <span class="number">1</span>)] = T::one();
res
}
<span class="doccomment">/// Creates a new homogeneous matrix that applies a distinct scaling factor for each dimension.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>new_nonuniform_scaling<SB>(scaling: <span class="kw-2">&</span>Vector<T, DimNameDiff<D, U1>, SB>) -> <span class="self">Self
</span><span class="kw">where
</span>D: DimNameSub<U1>,
SB: Storage<T, DimNameDiff<D, U1>>,
{
<span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">Self</span>::identity();
<span class="kw">for </span>i <span class="kw">in </span><span class="number">0</span>..scaling.len() {
res[(i, i)] = scaling[i].clone();
}
res
}
<span class="doccomment">/// Creates a new homogeneous matrix that applies a pure translation.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>new_translation<SB>(translation: <span class="kw-2">&</span>Vector<T, DimNameDiff<D, U1>, SB>) -> <span class="self">Self
</span><span class="kw">where
</span>D: DimNameSub<U1>,
SB: Storage<T, DimNameDiff<D, U1>>,
{
<span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">Self</span>::identity();
res.generic_view_mut(
(<span class="number">0</span>, D::dim() - <span class="number">1</span>),
(DimNameDiff::<D, U1>::name(), Const::<<span class="number">1</span>>),
)
.copy_from(translation);
res
}
}
<span class="doccomment">/// # 2D transformations as a Matrix3
</span><span class="kw">impl</span><T: RealField> Matrix3<T> {
<span class="doccomment">/// Builds a 2 dimensional homogeneous rotation matrix from an angle in radian.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>new_rotation(angle: T) -> <span class="self">Self </span>{
Rotation2::new(angle).to_homogeneous()
}
<span class="doccomment">/// Creates a new homogeneous matrix that applies a scaling factor for each dimension with respect to point.
///
/// Can be used to implement `zoom_to` functionality.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>new_nonuniform_scaling_wrt_point(scaling: <span class="kw-2">&</span>Vector2<T>, pt: <span class="kw-2">&</span>Point2<T>) -> <span class="self">Self </span>{
<span class="kw">let </span>zero = T::zero();
<span class="kw">let </span>one = T::one();
Matrix3::new(
scaling.x.clone(),
zero.clone(),
pt.x.clone() - pt.x.clone() * scaling.x.clone(),
zero.clone(),
scaling.y.clone(),
pt.y.clone() - pt.y.clone() * scaling.y.clone(),
zero.clone(),
zero,
one,
)
}
}
<span class="doccomment">/// # 3D transformations as a Matrix4
</span><span class="kw">impl</span><T: RealField> Matrix4<T> {
<span class="doccomment">/// Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).
///
/// Returns the identity matrix if the given argument is zero.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>new_rotation(axisangle: Vector3<T>) -> <span class="self">Self </span>{
Rotation3::new(axisangle).to_homogeneous()
}
<span class="doccomment">/// Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).
///
/// Returns the identity matrix if the given argument is zero.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>new_rotation_wrt_point(axisangle: Vector3<T>, pt: Point3<T>) -> <span class="self">Self </span>{
<span class="kw">let </span>rot = Rotation3::from_scaled_axis(axisangle);
Isometry::rotation_wrt_point(rot, pt).to_homogeneous()
}
<span class="doccomment">/// Creates a new homogeneous matrix that applies a scaling factor for each dimension with respect to point.
///
/// Can be used to implement `zoom_to` functionality.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>new_nonuniform_scaling_wrt_point(scaling: <span class="kw-2">&</span>Vector3<T>, pt: <span class="kw-2">&</span>Point3<T>) -> <span class="self">Self </span>{
<span class="kw">let </span>zero = T::zero();
<span class="kw">let </span>one = T::one();
Matrix4::new(
scaling.x.clone(),
zero.clone(),
zero.clone(),
pt.x.clone() - pt.x.clone() * scaling.x.clone(),
zero.clone(),
scaling.y.clone(),
zero.clone(),
pt.y.clone() - pt.y.clone() * scaling.y.clone(),
zero.clone(),
zero.clone(),
scaling.z.clone(),
pt.z.clone() - pt.z.clone() * scaling.z.clone(),
zero.clone(),
zero.clone(),
zero,
one,
)
}
<span class="doccomment">/// Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).
///
/// Returns the identity matrix if the given argument is zero.
/// This is identical to `Self::new_rotation`.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>from_scaled_axis(axisangle: Vector3<T>) -> <span class="self">Self </span>{
Rotation3::from_scaled_axis(axisangle).to_homogeneous()
}
<span class="doccomment">/// Creates a new rotation from Euler angles.
///
/// The primitive rotations are applied in order: 1 roll − 2 pitch − 3 yaw.
</span><span class="kw">pub fn </span>from_euler_angles(roll: T, pitch: T, yaw: T) -> <span class="self">Self </span>{
Rotation3::from_euler_angles(roll, pitch, yaw).to_homogeneous()
}
<span class="doccomment">/// Builds a 3D homogeneous rotation matrix from an axis and a rotation angle.
</span><span class="kw">pub fn </span>from_axis_angle(axis: <span class="kw-2">&</span>Unit<Vector3<T>>, angle: T) -> <span class="self">Self </span>{
Rotation3::from_axis_angle(axis, angle).to_homogeneous()
}
<span class="doccomment">/// Creates a new homogeneous matrix for an orthographic projection.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>new_orthographic(left: T, right: T, bottom: T, top: T, znear: T, zfar: T) -> <span class="self">Self </span>{
Orthographic3::new(left, right, bottom, top, znear, zfar).into_inner()
}
<span class="doccomment">/// Creates a new homogeneous matrix for a perspective projection.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>new_perspective(aspect: T, fovy: T, znear: T, zfar: T) -> <span class="self">Self </span>{
Perspective3::new(aspect, fovy, znear, zfar).into_inner()
}
<span class="doccomment">/// Creates an isometry that corresponds to the local frame of an observer standing at the
/// point `eye` and looking toward `target`.
///
/// It maps the view direction `target - eye` to the positive `z` axis and the origin to the
/// `eye`.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>face_towards(eye: <span class="kw-2">&</span>Point3<T>, target: <span class="kw-2">&</span>Point3<T>, up: <span class="kw-2">&</span>Vector3<T>) -> <span class="self">Self </span>{
IsometryMatrix3::face_towards(eye, target, up).to_homogeneous()
}
<span class="doccomment">/// Deprecated: Use [`Matrix4::face_towards`] instead.
</span><span class="attr">#[deprecated(note = <span class="string">"renamed to `face_towards`"</span>)]
</span><span class="kw">pub fn </span>new_observer_frame(eye: <span class="kw-2">&</span>Point3<T>, target: <span class="kw-2">&</span>Point3<T>, up: <span class="kw-2">&</span>Vector3<T>) -> <span class="self">Self </span>{
Matrix4::face_towards(eye, target, up)
}
<span class="doccomment">/// Builds a right-handed look-at view matrix.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>look_at_rh(eye: <span class="kw-2">&</span>Point3<T>, target: <span class="kw-2">&</span>Point3<T>, up: <span class="kw-2">&</span>Vector3<T>) -> <span class="self">Self </span>{
IsometryMatrix3::look_at_rh(eye, target, up).to_homogeneous()
}
<span class="doccomment">/// Builds a left-handed look-at view matrix.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>look_at_lh(eye: <span class="kw-2">&</span>Point3<T>, target: <span class="kw-2">&</span>Point3<T>, up: <span class="kw-2">&</span>Vector3<T>) -> <span class="self">Self </span>{
IsometryMatrix3::look_at_lh(eye, target, up).to_homogeneous()
}
}
<span class="doccomment">/// # Append/prepend translation and scaling
</span><span class="kw">impl</span><T: Scalar + Zero + One + ClosedMul + ClosedAdd, D: DimName, S: Storage<T, D, D>>
SquareMatrix<T, D, S>
{
<span class="doccomment">/// Computes the transformation equal to `self` followed by an uniform scaling factor.
</span><span class="attr">#[inline]
#[must_use = <span class="string">"Did you mean to use append_scaling_mut()?"</span>]
</span><span class="kw">pub fn </span>append_scaling(<span class="kw-2">&</span><span class="self">self</span>, scaling: T) -> OMatrix<T, D, D>
<span class="kw">where
</span>D: DimNameSub<U1>,
DefaultAllocator: Allocator<T, D, D>,
{
<span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">self</span>.clone_owned();
res.append_scaling_mut(scaling);
res
}
<span class="doccomment">/// Computes the transformation equal to an uniform scaling factor followed by `self`.
</span><span class="attr">#[inline]
#[must_use = <span class="string">"Did you mean to use prepend_scaling_mut()?"</span>]
</span><span class="kw">pub fn </span>prepend_scaling(<span class="kw-2">&</span><span class="self">self</span>, scaling: T) -> OMatrix<T, D, D>
<span class="kw">where
</span>D: DimNameSub<U1>,
DefaultAllocator: Allocator<T, D, D>,
{
<span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">self</span>.clone_owned();
res.prepend_scaling_mut(scaling);
res
}
<span class="doccomment">/// Computes the transformation equal to `self` followed by a non-uniform scaling factor.
</span><span class="attr">#[inline]
#[must_use = <span class="string">"Did you mean to use append_nonuniform_scaling_mut()?"</span>]
</span><span class="kw">pub fn </span>append_nonuniform_scaling<SB>(
<span class="kw-2">&</span><span class="self">self</span>,
scaling: <span class="kw-2">&</span>Vector<T, DimNameDiff<D, U1>, SB>,
) -> OMatrix<T, D, D>
<span class="kw">where
</span>D: DimNameSub<U1>,
SB: Storage<T, DimNameDiff<D, U1>>,
DefaultAllocator: Allocator<T, D, D>,
{
<span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">self</span>.clone_owned();
res.append_nonuniform_scaling_mut(scaling);
res
}
<span class="doccomment">/// Computes the transformation equal to a non-uniform scaling factor followed by `self`.
</span><span class="attr">#[inline]
#[must_use = <span class="string">"Did you mean to use prepend_nonuniform_scaling_mut()?"</span>]
</span><span class="kw">pub fn </span>prepend_nonuniform_scaling<SB>(
<span class="kw-2">&</span><span class="self">self</span>,
scaling: <span class="kw-2">&</span>Vector<T, DimNameDiff<D, U1>, SB>,
) -> OMatrix<T, D, D>
<span class="kw">where
</span>D: DimNameSub<U1>,
SB: Storage<T, DimNameDiff<D, U1>>,
DefaultAllocator: Allocator<T, D, D>,
{
<span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">self</span>.clone_owned();
res.prepend_nonuniform_scaling_mut(scaling);
res
}
<span class="doccomment">/// Computes the transformation equal to `self` followed by a translation.
</span><span class="attr">#[inline]
#[must_use = <span class="string">"Did you mean to use append_translation_mut()?"</span>]
</span><span class="kw">pub fn </span>append_translation<SB>(
<span class="kw-2">&</span><span class="self">self</span>,
shift: <span class="kw-2">&</span>Vector<T, DimNameDiff<D, U1>, SB>,
) -> OMatrix<T, D, D>
<span class="kw">where
</span>D: DimNameSub<U1>,
SB: Storage<T, DimNameDiff<D, U1>>,
DefaultAllocator: Allocator<T, D, D>,
{
<span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">self</span>.clone_owned();
res.append_translation_mut(shift);
res
}
<span class="doccomment">/// Computes the transformation equal to a translation followed by `self`.
</span><span class="attr">#[inline]
#[must_use = <span class="string">"Did you mean to use prepend_translation_mut()?"</span>]
</span><span class="kw">pub fn </span>prepend_translation<SB>(
<span class="kw-2">&</span><span class="self">self</span>,
shift: <span class="kw-2">&</span>Vector<T, DimNameDiff<D, U1>, SB>,
) -> OMatrix<T, D, D>
<span class="kw">where
</span>D: DimNameSub<U1>,
SB: Storage<T, DimNameDiff<D, U1>>,
DefaultAllocator: Allocator<T, D, D> + Allocator<T, DimNameDiff<D, U1>>,
{
<span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">self</span>.clone_owned();
res.prepend_translation_mut(shift);
res
}
<span class="doccomment">/// Computes in-place the transformation equal to `self` followed by an uniform scaling factor.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>append_scaling_mut(<span class="kw-2">&mut </span><span class="self">self</span>, scaling: T)
<span class="kw">where
</span>S: StorageMut<T, D, D>,
D: DimNameSub<U1>,
{
<span class="kw">let </span><span class="kw-2">mut </span>to_scale = <span class="self">self</span>.rows_generic_mut(<span class="number">0</span>, DimNameDiff::<D, U1>::name());
to_scale <span class="kw-2">*</span>= scaling;
}
<span class="doccomment">/// Computes in-place the transformation equal to an uniform scaling factor followed by `self`.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>prepend_scaling_mut(<span class="kw-2">&mut </span><span class="self">self</span>, scaling: T)
<span class="kw">where
</span>S: StorageMut<T, D, D>,
D: DimNameSub<U1>,
{
<span class="kw">let </span><span class="kw-2">mut </span>to_scale = <span class="self">self</span>.columns_generic_mut(<span class="number">0</span>, DimNameDiff::<D, U1>::name());
to_scale <span class="kw-2">*</span>= scaling;
}
<span class="doccomment">/// Computes in-place the transformation equal to `self` followed by a non-uniform scaling factor.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>append_nonuniform_scaling_mut<SB>(<span class="kw-2">&mut </span><span class="self">self</span>, scaling: <span class="kw-2">&</span>Vector<T, DimNameDiff<D, U1>, SB>)
<span class="kw">where
</span>S: StorageMut<T, D, D>,
D: DimNameSub<U1>,
SB: Storage<T, DimNameDiff<D, U1>>,
{
<span class="kw">for </span>i <span class="kw">in </span><span class="number">0</span>..scaling.len() {
<span class="kw">let </span><span class="kw-2">mut </span>to_scale = <span class="self">self</span>.fixed_rows_mut::<<span class="number">1</span>>(i);
to_scale <span class="kw-2">*</span>= scaling[i].clone();
}
}
<span class="doccomment">/// Computes in-place the transformation equal to a non-uniform scaling factor followed by `self`.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>prepend_nonuniform_scaling_mut<SB>(
<span class="kw-2">&mut </span><span class="self">self</span>,
scaling: <span class="kw-2">&</span>Vector<T, DimNameDiff<D, U1>, SB>,
) <span class="kw">where
</span>S: StorageMut<T, D, D>,
D: DimNameSub<U1>,
SB: Storage<T, DimNameDiff<D, U1>>,
{
<span class="kw">for </span>i <span class="kw">in </span><span class="number">0</span>..scaling.len() {
<span class="kw">let </span><span class="kw-2">mut </span>to_scale = <span class="self">self</span>.fixed_columns_mut::<<span class="number">1</span>>(i);
to_scale <span class="kw-2">*</span>= scaling[i].clone();
}
}
<span class="doccomment">/// Computes the transformation equal to `self` followed by a translation.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>append_translation_mut<SB>(<span class="kw-2">&mut </span><span class="self">self</span>, shift: <span class="kw-2">&</span>Vector<T, DimNameDiff<D, U1>, SB>)
<span class="kw">where
</span>S: StorageMut<T, D, D>,
D: DimNameSub<U1>,
SB: Storage<T, DimNameDiff<D, U1>>,
{
<span class="kw">for </span>i <span class="kw">in </span><span class="number">0</span>..D::dim() {
<span class="kw">for </span>j <span class="kw">in </span><span class="number">0</span>..D::dim() - <span class="number">1 </span>{
<span class="kw">let </span>add = shift[j].clone() * <span class="self">self</span>[(D::dim() - <span class="number">1</span>, i)].clone();
<span class="self">self</span>[(j, i)] += add;
}
}
}
<span class="doccomment">/// Computes the transformation equal to a translation followed by `self`.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>prepend_translation_mut<SB>(<span class="kw-2">&mut </span><span class="self">self</span>, shift: <span class="kw-2">&</span>Vector<T, DimNameDiff<D, U1>, SB>)
<span class="kw">where
</span>D: DimNameSub<U1>,
S: StorageMut<T, D, D>,
SB: Storage<T, DimNameDiff<D, U1>>,
DefaultAllocator: Allocator<T, DimNameDiff<D, U1>>,
{
<span class="kw">let </span>scale = <span class="self">self
</span>.generic_view(
(D::dim() - <span class="number">1</span>, <span class="number">0</span>),
(Const::<<span class="number">1</span>>, DimNameDiff::<D, U1>::name()),
)
.tr_dot(shift);
<span class="kw">let </span>post_translation = <span class="self">self</span>.generic_view(
(<span class="number">0</span>, <span class="number">0</span>),
(DimNameDiff::<D, U1>::name(), DimNameDiff::<D, U1>::name()),
) * shift;
<span class="self">self</span>[(D::dim() - <span class="number">1</span>, D::dim() - <span class="number">1</span>)] += scale;
<span class="kw">let </span><span class="kw-2">mut </span>translation = <span class="self">self</span>.generic_view_mut(
(<span class="number">0</span>, D::dim() - <span class="number">1</span>),
(DimNameDiff::<D, U1>::name(), Const::<<span class="number">1</span>>),
);
translation += post_translation;
}
}
<span class="doccomment">/// # Transformation of vectors and points
</span><span class="kw">impl</span><T: RealField, D: DimNameSub<U1>, S: Storage<T, D, D>> SquareMatrix<T, D, S>
<span class="kw">where
</span>DefaultAllocator: Allocator<T, D, D>
+ Allocator<T, DimNameDiff<D, U1>>
+ Allocator<T, DimNameDiff<D, U1>, DimNameDiff<D, U1>>,
{
<span class="doccomment">/// Transforms the given vector, assuming the matrix `self` uses homogeneous coordinates.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>transform_vector(
<span class="kw-2">&</span><span class="self">self</span>,
v: <span class="kw-2">&</span>OVector<T, DimNameDiff<D, U1>>,
) -> OVector<T, DimNameDiff<D, U1>> {
<span class="kw">let </span>transform = <span class="self">self</span>.generic_view(
(<span class="number">0</span>, <span class="number">0</span>),
(DimNameDiff::<D, U1>::name(), DimNameDiff::<D, U1>::name()),
);
<span class="kw">let </span>normalizer = <span class="self">self</span>.generic_view(
(D::dim() - <span class="number">1</span>, <span class="number">0</span>),
(Const::<<span class="number">1</span>>, DimNameDiff::<D, U1>::name()),
);
<span class="kw">let </span>n = normalizer.tr_dot(v);
<span class="kw">if </span>!n.is_zero() {
<span class="kw">return </span>transform * (v / n);
}
transform * v
}
}
<span class="kw">impl</span><T: RealField, S: Storage<T, Const<<span class="number">3</span>>, Const<<span class="number">3</span>>>> SquareMatrix<T, Const<<span class="number">3</span>>, S> {
<span class="doccomment">/// Transforms the given point, assuming the matrix `self` uses homogeneous coordinates.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>transform_point(<span class="kw-2">&</span><span class="self">self</span>, pt: <span class="kw-2">&</span>Point<T, <span class="number">2</span>>) -> Point<T, <span class="number">2</span>> {
<span class="kw">let </span>transform = <span class="self">self</span>.fixed_view::<<span class="number">2</span>, <span class="number">2</span>>(<span class="number">0</span>, <span class="number">0</span>);
<span class="kw">let </span>translation = <span class="self">self</span>.fixed_view::<<span class="number">2</span>, <span class="number">1</span>>(<span class="number">0</span>, <span class="number">2</span>);
<span class="kw">let </span>normalizer = <span class="self">self</span>.fixed_view::<<span class="number">1</span>, <span class="number">2</span>>(<span class="number">2</span>, <span class="number">0</span>);
<span class="kw">let </span>n = normalizer.tr_dot(<span class="kw-2">&</span>pt.coords) + <span class="kw">unsafe </span>{ <span class="self">self</span>.get_unchecked((<span class="number">2</span>, <span class="number">2</span>)).clone() };
<span class="kw">if </span>!n.is_zero() {
(transform * pt + translation) / n
} <span class="kw">else </span>{
transform * pt + translation
}
}
}
<span class="kw">impl</span><T: RealField, S: Storage<T, Const<<span class="number">4</span>>, Const<<span class="number">4</span>>>> SquareMatrix<T, Const<<span class="number">4</span>>, S> {
<span class="doccomment">/// Transforms the given point, assuming the matrix `self` uses homogeneous coordinates.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>transform_point(<span class="kw-2">&</span><span class="self">self</span>, pt: <span class="kw-2">&</span>Point<T, <span class="number">3</span>>) -> Point<T, <span class="number">3</span>> {
<span class="kw">let </span>transform = <span class="self">self</span>.fixed_view::<<span class="number">3</span>, <span class="number">3</span>>(<span class="number">0</span>, <span class="number">0</span>);
<span class="kw">let </span>translation = <span class="self">self</span>.fixed_view::<<span class="number">3</span>, <span class="number">1</span>>(<span class="number">0</span>, <span class="number">3</span>);
<span class="kw">let </span>normalizer = <span class="self">self</span>.fixed_view::<<span class="number">1</span>, <span class="number">3</span>>(<span class="number">3</span>, <span class="number">0</span>);
<span class="kw">let </span>n = normalizer.tr_dot(<span class="kw-2">&</span>pt.coords) + <span class="kw">unsafe </span>{ <span class="self">self</span>.get_unchecked((<span class="number">3</span>, <span class="number">3</span>)).clone() };
<span class="kw">if </span>!n.is_zero() {
(transform * pt + translation) / n
} <span class="kw">else </span>{
transform * pt + translation
}
}
}
</code></pre></div>
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