#[macro_use]
extern crate approx;
extern crate nalgebra as na;
use na::{Matrix4, Point3, Vector3};
fn main() {
let mut m = Matrix4::new_scaling(2.0);
assert_eq!(m.transform_vector(&Vector3::x()), Vector3::x() * 2.0);
assert_eq!(m.transform_vector(&Vector3::y()), Vector3::y() * 2.0);
assert_eq!(m.transform_vector(&Vector3::z()), Vector3::z() * 2.0);
m.append_nonuniform_scaling_mut(&Vector3::new(1.0, 2.0, 3.0));
assert_eq!(m.transform_vector(&Vector3::x()), Vector3::x() * 2.0);
assert_eq!(m.transform_vector(&Vector3::y()), Vector3::y() * 4.0);
assert_eq!(m.transform_vector(&Vector3::z()), Vector3::z() * 6.0);
let m2 = m.append_translation(&Vector3::new(42.0, 0.0, 0.0));
assert_eq!(
m2.transform_point(&Point3::new(1.0, 1.0, 1.0)),
Point3::new(42.0 + 2.0, 4.0, 6.0)
);
let rot = Matrix4::from_scaled_axis(&Vector3::x() * 3.14);
let rot_then_m = m * rot; let m_then_rot = rot * m;
let pt = Point3::new(1.0, 2.0, 3.0);
assert_relative_eq!(
m.transform_point(&rot.transform_point(&pt)),
rot_then_m.transform_point(&pt)
);
assert_relative_eq!(
rot.transform_point(&m.transform_point(&pt)),
m_then_rot.transform_point(&pt)
);
}