<!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/geometry/similarity.rs`."><meta name="keywords" content="rust, rustlang, rust-lang"><title>similarity.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="kw">use </span>approx::{AbsDiffEq, RelativeEq, UlpsEq};
<span class="kw">use </span>num::Zero;
<span class="kw">use </span>std::fmt;
<span class="kw">use </span>std::hash;
<span class="attr">#[cfg(feature = <span class="string">"serde-serialize-no-std"</span>)]
</span><span class="kw">use </span>serde::{Deserialize, Serialize};
<span class="kw">use </span>simba::scalar::{RealField, SubsetOf};
<span class="kw">use </span>simba::simd::SimdRealField;
<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::{DimNameAdd, DimNameSum, U1};
<span class="kw">use </span><span class="kw">crate</span>::base::storage::Owned;
<span class="kw">use </span><span class="kw">crate</span>::base::{Const, DefaultAllocator, OMatrix, SVector, Scalar};
<span class="kw">use </span><span class="kw">crate</span>::geometry::{AbstractRotation, Isometry, Point, Translation};
<span class="doccomment">/// A similarity, i.e., an uniform scaling, followed by a rotation, followed by a translation.
</span><span class="attr">#[repr(C)]
#[derive(Debug, Copy, Clone)]
#[cfg_attr(feature = <span class="string">"cuda"</span>, derive(cust_core::DeviceCopy))]
#[cfg_attr(feature = <span class="string">"serde-serialize-no-std"</span>, derive(Serialize, Deserialize))]
#[cfg_attr(
feature = <span class="string">"serde-serialize-no-std"</span>,
serde(bound(serialize = <span class="string">"T: Scalar + Serialize,
R: Serialize,
DefaultAllocator: Allocator<T, Const<D>>,
Owned<T, Const<D>>: Serialize"</span>))
)]
#[cfg_attr(
feature = <span class="string">"serde-serialize-no-std"</span>,
serde(bound(deserialize = <span class="string">"T: Scalar + Deserialize<'de>,
R: Deserialize<'de>,
DefaultAllocator: Allocator<T, Const<D>>,
Owned<T, Const<D>>: Deserialize<'de>"</span>))
)]
#[cfg_attr(feature = <span class="string">"rkyv-serialize"</span>, derive(bytecheck::CheckBytes))]
#[cfg_attr(
feature = <span class="string">"rkyv-serialize-no-std"</span>,
derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize),
archive(
<span class="kw">as </span>= <span class="string">"Similarity<T::Archived, R::Archived, D>"</span>,
bound(archive = <span class="string">"
T: rkyv::Archive,
R: rkyv::Archive,
Isometry<T, R, D>: rkyv::Archive<Archived = Isometry<T::Archived, R::Archived, D>>
"</span>)
)
)]
</span><span class="kw">pub struct </span>Similarity<T, R, <span class="kw">const </span>D: usize> {
<span class="doccomment">/// The part of this similarity that does not include the scaling factor.
</span><span class="kw">pub </span>isometry: Isometry<T, R, D>,
scaling: T,
}
<span class="kw">impl</span><T: Scalar + hash::Hash, R: hash::Hash, <span class="kw">const </span>D: usize> hash::Hash <span class="kw">for </span>Similarity<T, R, D>
<span class="kw">where
</span>Owned<T, Const<D>>: hash::Hash,
{
<span class="kw">fn </span>hash<H: hash::Hasher>(<span class="kw-2">&</span><span class="self">self</span>, state: <span class="kw-2">&mut </span>H) {
<span class="self">self</span>.isometry.hash(state);
<span class="self">self</span>.scaling.hash(state);
}
}
<span class="kw">impl</span><T: Scalar + Zero, R, <span class="kw">const </span>D: usize> Similarity<T, R, D>
<span class="kw">where
</span>R: AbstractRotation<T, D>,
{
<span class="doccomment">/// Creates a new similarity from its rotational and translational parts.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>from_parts(translation: Translation<T, D>, rotation: R, scaling: T) -> <span class="self">Self </span>{
<span class="self">Self</span>::from_isometry(Isometry::from_parts(translation, rotation), scaling)
}
<span class="doccomment">/// Creates a new similarity from its rotational and translational parts.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>from_isometry(isometry: Isometry<T, R, D>, scaling: T) -> <span class="self">Self </span>{
<span class="macro">assert!</span>(!scaling.is_zero(), <span class="string">"The scaling factor must not be zero."</span>);
<span class="self">Self </span>{ isometry, scaling }
}
<span class="doccomment">/// The scaling factor of this similarity transformation.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>set_scaling(<span class="kw-2">&mut </span><span class="self">self</span>, scaling: T) {
<span class="macro">assert!</span>(
!scaling.is_zero(),
<span class="string">"The similarity scaling factor must not be zero."
</span>);
<span class="self">self</span>.scaling = scaling;
}
}
<span class="kw">impl</span><T: Scalar, R, <span class="kw">const </span>D: usize> Similarity<T, R, D> {
<span class="doccomment">/// The scaling factor of this similarity transformation.
</span><span class="attr">#[inline]
#[must_use]
</span><span class="kw">pub fn </span>scaling(<span class="kw-2">&</span><span class="self">self</span>) -> T {
<span class="self">self</span>.scaling.clone()
}
}
<span class="kw">impl</span><T: SimdRealField, R, <span class="kw">const </span>D: usize> Similarity<T, R, D>
<span class="kw">where
</span>T::Element: SimdRealField,
R: AbstractRotation<T, D>,
{
<span class="doccomment">/// Creates a new similarity that applies only a scaling factor.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>from_scaling(scaling: T) -> <span class="self">Self </span>{
<span class="self">Self</span>::from_isometry(Isometry::identity(), scaling)
}
<span class="doccomment">/// Inverts `self`.
</span><span class="attr">#[inline]
#[must_use = <span class="string">"Did you mean to use inverse_mut()?"</span>]
</span><span class="kw">pub fn </span>inverse(<span class="kw-2">&</span><span class="self">self</span>) -> <span class="self">Self </span>{
<span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">self</span>.clone();
res.inverse_mut();
res
}
<span class="doccomment">/// Inverts `self` in-place.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>inverse_mut(<span class="kw-2">&mut </span><span class="self">self</span>) {
<span class="self">self</span>.scaling = T::one() / <span class="self">self</span>.scaling.clone();
<span class="self">self</span>.isometry.inverse_mut();
<span class="self">self</span>.isometry.translation.vector <span class="kw-2">*</span>= <span class="self">self</span>.scaling.clone();
}
<span class="doccomment">/// The similarity transformation that applies a scaling factor `scaling` before `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) -> <span class="self">Self </span>{
<span class="macro">assert!</span>(
!scaling.is_zero(),
<span class="string">"The similarity scaling factor must not be zero."
</span>);
<span class="self">Self</span>::from_isometry(<span class="self">self</span>.isometry.clone(), <span class="self">self</span>.scaling.clone() * scaling)
}
<span class="doccomment">/// The similarity transformation that applies a scaling factor `scaling` after `self`.
</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) -> <span class="self">Self </span>{
<span class="macro">assert!</span>(
!scaling.is_zero(),
<span class="string">"The similarity scaling factor must not be zero."
</span>);
<span class="self">Self</span>::from_parts(
Translation::from(<span class="kw-2">&</span><span class="self">self</span>.isometry.translation.vector * scaling.clone()),
<span class="self">self</span>.isometry.rotation.clone(),
<span class="self">self</span>.scaling.clone() * scaling,
)
}
<span class="doccomment">/// Sets `self` to the similarity transformation that applies a scaling factor `scaling` before `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="macro">assert!</span>(
!scaling.is_zero(),
<span class="string">"The similarity scaling factor must not be zero."
</span>);
<span class="self">self</span>.scaling <span class="kw-2">*</span>= scaling
}
<span class="doccomment">/// Sets `self` to the similarity transformation that applies a scaling factor `scaling` after `self`.
</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="macro">assert!</span>(
!scaling.is_zero(),
<span class="string">"The similarity scaling factor must not be zero."
</span>);
<span class="self">self</span>.isometry.translation.vector <span class="kw-2">*</span>= scaling.clone();
<span class="self">self</span>.scaling <span class="kw-2">*</span>= scaling;
}
<span class="doccomment">/// Appends to `self` the given translation in-place.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>append_translation_mut(<span class="kw-2">&mut </span><span class="self">self</span>, t: <span class="kw-2">&</span>Translation<T, D>) {
<span class="self">self</span>.isometry.append_translation_mut(t)
}
<span class="doccomment">/// Appends to `self` the given rotation in-place.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>append_rotation_mut(<span class="kw-2">&mut </span><span class="self">self</span>, r: <span class="kw-2">&</span>R) {
<span class="self">self</span>.isometry.append_rotation_mut(r)
}
<span class="doccomment">/// Appends in-place to `self` a rotation centered at the point `p`, i.e., the rotation that
/// lets `p` invariant.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>append_rotation_wrt_point_mut(<span class="kw-2">&mut </span><span class="self">self</span>, r: <span class="kw-2">&</span>R, p: <span class="kw-2">&</span>Point<T, D>) {
<span class="self">self</span>.isometry.append_rotation_wrt_point_mut(r, p)
}
<span class="doccomment">/// Appends in-place to `self` a rotation centered at the point with coordinates
/// `self.translation`.
</span><span class="attr">#[inline]
</span><span class="kw">pub fn </span>append_rotation_wrt_center_mut(<span class="kw-2">&mut </span><span class="self">self</span>, r: <span class="kw-2">&</span>R) {
<span class="self">self</span>.isometry.append_rotation_wrt_center_mut(r)
}
<span class="doccomment">/// Transform the given point by this similarity.
///
/// This is the same as the multiplication `self * pt`.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
/// # use std::f32;
/// # use nalgebra::{Point3, Similarity3, Vector3};
/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
/// let translation = Vector3::new(1.0, 2.0, 3.0);
/// let sim = Similarity3::new(translation, axisangle, 3.0);
/// let transformed_point = sim.transform_point(&Point3::new(4.0, 5.0, 6.0));
/// assert_relative_eq!(transformed_point, Point3::new(19.0, 17.0, -9.0), epsilon = 1.0e-5);
/// ```
</span><span class="attr">#[inline]
#[must_use]
</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, D>) -> Point<T, D> {
<span class="self">self </span>* pt
}
<span class="doccomment">/// Transform the given vector by this similarity, ignoring the translational
/// component.
///
/// This is the same as the multiplication `self * t`.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
/// # use std::f32;
/// # use nalgebra::{Similarity3, Vector3};
/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
/// let translation = Vector3::new(1.0, 2.0, 3.0);
/// let sim = Similarity3::new(translation, axisangle, 3.0);
/// let transformed_vector = sim.transform_vector(&Vector3::new(4.0, 5.0, 6.0));
/// assert_relative_eq!(transformed_vector, Vector3::new(18.0, 15.0, -12.0), epsilon = 1.0e-5);
/// ```
</span><span class="attr">#[inline]
#[must_use]
</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>SVector<T, D>) -> SVector<T, D> {
<span class="self">self </span>* v
}
<span class="doccomment">/// Transform the given point by the inverse of this similarity. This may
/// be cheaper than inverting the similarity and then transforming the
/// given point.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
/// # use std::f32;
/// # use nalgebra::{Point3, Similarity3, Vector3};
/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
/// let translation = Vector3::new(1.0, 2.0, 3.0);
/// let sim = Similarity3::new(translation, axisangle, 2.0);
/// let transformed_point = sim.inverse_transform_point(&Point3::new(4.0, 5.0, 6.0));
/// assert_relative_eq!(transformed_point, Point3::new(-1.5, 1.5, 1.5), epsilon = 1.0e-5);
/// ```
</span><span class="attr">#[inline]
#[must_use]
</span><span class="kw">pub fn </span>inverse_transform_point(<span class="kw-2">&</span><span class="self">self</span>, pt: <span class="kw-2">&</span>Point<T, D>) -> Point<T, D> {
<span class="self">self</span>.isometry.inverse_transform_point(pt) / <span class="self">self</span>.scaling()
}
<span class="doccomment">/// Transform the given vector by the inverse of this similarity,
/// ignoring the translational component. This may be cheaper than
/// inverting the similarity and then transforming the given vector.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
/// # use std::f32;
/// # use nalgebra::{Similarity3, Vector3};
/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
/// let translation = Vector3::new(1.0, 2.0, 3.0);
/// let sim = Similarity3::new(translation, axisangle, 2.0);
/// let transformed_vector = sim.inverse_transform_vector(&Vector3::new(4.0, 5.0, 6.0));
/// assert_relative_eq!(transformed_vector, Vector3::new(-3.0, 2.5, 2.0), epsilon = 1.0e-5);
/// ```
</span><span class="attr">#[inline]
#[must_use]
</span><span class="kw">pub fn </span>inverse_transform_vector(<span class="kw-2">&</span><span class="self">self</span>, v: <span class="kw-2">&</span>SVector<T, D>) -> SVector<T, D> {
<span class="self">self</span>.isometry.inverse_transform_vector(v) / <span class="self">self</span>.scaling()
}
}
<span class="comment">// NOTE: we don't require `R: Rotation<...>` here because this is not useful for the implementation
// and makes it harder to use it, e.g., for Transform × Isometry implementation.
// This is OK since all constructors of the isometry enforce the Rotation bound already (and
// explicit struct construction is prevented by the private scaling factor).
</span><span class="kw">impl</span><T: SimdRealField, R, <span class="kw">const </span>D: usize> Similarity<T, R, D> {
<span class="doccomment">/// Converts this similarity into its equivalent homogeneous transformation matrix.
</span><span class="attr">#[inline]
#[must_use]
</span><span class="kw">pub fn </span>to_homogeneous(<span class="kw-2">&</span><span class="self">self</span>) -> OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
<span class="kw">where
</span>Const<D>: DimNameAdd<U1>,
R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>>,
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
{
<span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">self</span>.isometry.to_homogeneous();
<span class="kw">for </span>e <span class="kw">in </span>res.fixed_view_mut::<D, D>(<span class="number">0</span>, <span class="number">0</span>).iter_mut() {
<span class="kw-2">*</span>e <span class="kw-2">*</span>= <span class="self">self</span>.scaling.clone()
}
res
}
}
<span class="kw">impl</span><T: SimdRealField, R, <span class="kw">const </span>D: usize> Eq <span class="kw">for </span>Similarity<T, R, D> <span class="kw">where
</span>R: AbstractRotation<T, D> + Eq
{
}
<span class="kw">impl</span><T: SimdRealField, R, <span class="kw">const </span>D: usize> PartialEq <span class="kw">for </span>Similarity<T, R, D>
<span class="kw">where
</span>R: AbstractRotation<T, D> + PartialEq,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>eq(<span class="kw-2">&</span><span class="self">self</span>, right: <span class="kw-2">&</span><span class="self">Self</span>) -> bool {
<span class="self">self</span>.isometry == right.isometry && <span class="self">self</span>.scaling == right.scaling
}
}
<span class="kw">impl</span><T: RealField, R, <span class="kw">const </span>D: usize> AbsDiffEq <span class="kw">for </span>Similarity<T, R, D>
<span class="kw">where
</span>R: AbstractRotation<T, D> + AbsDiffEq<Epsilon = T::Epsilon>,
T::Epsilon: Clone,
{
<span class="kw">type </span>Epsilon = T::Epsilon;
<span class="attr">#[inline]
</span><span class="kw">fn </span>default_epsilon() -> <span class="self">Self</span>::Epsilon {
T::default_epsilon()
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>abs_diff_eq(<span class="kw-2">&</span><span class="self">self</span>, other: <span class="kw-2">&</span><span class="self">Self</span>, epsilon: <span class="self">Self</span>::Epsilon) -> bool {
<span class="self">self</span>.isometry.abs_diff_eq(<span class="kw-2">&</span>other.isometry, epsilon.clone())
&& <span class="self">self</span>.scaling.abs_diff_eq(<span class="kw-2">&</span>other.scaling, epsilon)
}
}
<span class="kw">impl</span><T: RealField, R, <span class="kw">const </span>D: usize> RelativeEq <span class="kw">for </span>Similarity<T, R, D>
<span class="kw">where
</span>R: AbstractRotation<T, D> + RelativeEq<Epsilon = T::Epsilon>,
T::Epsilon: Clone,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>default_max_relative() -> <span class="self">Self</span>::Epsilon {
T::default_max_relative()
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>relative_eq(
<span class="kw-2">&</span><span class="self">self</span>,
other: <span class="kw-2">&</span><span class="self">Self</span>,
epsilon: <span class="self">Self</span>::Epsilon,
max_relative: <span class="self">Self</span>::Epsilon,
) -> bool {
<span class="self">self</span>.isometry
.relative_eq(<span class="kw-2">&</span>other.isometry, epsilon.clone(), max_relative.clone())
&& <span class="self">self
</span>.scaling
.relative_eq(<span class="kw-2">&</span>other.scaling, epsilon, max_relative)
}
}
<span class="kw">impl</span><T: RealField, R, <span class="kw">const </span>D: usize> UlpsEq <span class="kw">for </span>Similarity<T, R, D>
<span class="kw">where
</span>R: AbstractRotation<T, D> + UlpsEq<Epsilon = T::Epsilon>,
T::Epsilon: Clone,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>default_max_ulps() -> u32 {
T::default_max_ulps()
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>ulps_eq(<span class="kw-2">&</span><span class="self">self</span>, other: <span class="kw-2">&</span><span class="self">Self</span>, epsilon: <span class="self">Self</span>::Epsilon, max_ulps: u32) -> bool {
<span class="self">self</span>.isometry
.ulps_eq(<span class="kw-2">&</span>other.isometry, epsilon.clone(), max_ulps)
&& <span class="self">self</span>.scaling.ulps_eq(<span class="kw-2">&</span>other.scaling, epsilon, max_ulps)
}
}
<span class="comment">/*
*
* Display
*
*/
</span><span class="kw">impl</span><T, R, <span class="kw">const </span>D: usize> fmt::Display <span class="kw">for </span>Similarity<T, R, D>
<span class="kw">where
</span>T: RealField + fmt::Display,
R: AbstractRotation<T, D> + fmt::Display,
{
<span class="kw">fn </span>fmt(<span class="kw-2">&</span><span class="self">self</span>, f: <span class="kw-2">&mut </span>fmt::Formatter<<span class="lifetime">'_</span>>) -> fmt::Result {
<span class="kw">let </span>precision = f.precision().unwrap_or(<span class="number">3</span>);
<span class="macro">writeln!</span>(f, <span class="string">"Similarity {{"</span>)<span class="question-mark">?</span>;
<span class="macro">write!</span>(f, <span class="string">"{:.*}"</span>, precision, <span class="self">self</span>.isometry)<span class="question-mark">?</span>;
<span class="macro">write!</span>(f, <span class="string">"Scaling: {:.*}"</span>, precision, <span class="self">self</span>.scaling)<span class="question-mark">?</span>;
<span class="macro">writeln!</span>(f, <span class="string">"}}"</span>)
}
}
</code></pre></div>
</section></div></main><div id="rustdoc-vars" data-root-path="../../../" data-static-root-path="../../../static.files/" data-current-crate="nalgebra" data-themes="" data-resource-suffix="" data-rustdoc-version="1.67.1 (d5a82bbd2 2023-02-07)" data-search-js="search-444266647c4dba98.js" data-settings-js="settings-bebeae96e00e4617.js" data-settings-css="settings-af96d9e2fc13e081.css" ></div></body></html>