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//! Dedicated transformation types as the combination of primitives.
use crate::*;
use std::ops::*;
macro_rules! isometries {
($($ison:ident => ($rt:ident, $vt:ident, $t:ident)),+) => {
$(
/// An Isometry, also known as a "rigid body transformation", i.e. a rotation followed
/// by a translation.
#[derive(Clone, Copy, Debug)]
#[repr(C)]
pub struct $ison {
pub translation: $vt,
pub rotation: $rt,
}
derive_default_identity!($ison);
impl $ison {
#[inline]
pub fn new(translation: $vt, rotation: $rt) -> Self {
Self { translation, rotation }
}
#[inline]
pub fn identity() -> Self {
Self { rotation: $rt::identity(), translation: $vt::zero() }
}
/// Add a rotation *before* this isometry.
///
/// This means the rotation will only affect the rotational
/// part of this isometry, not the translational part.
#[inline]
pub fn prepend_rotation(&mut self, rotor: $rt) {
self.rotation = rotor * self.rotation;
}
/// Add a rotation *after* this isometry.
///
/// This means the rotation will affect both the rotational and
/// translational parts of this isometry, since it is being applied
/// 'after' this isometry's translational part.
pub fn append_rotation(&mut self, rotor: $rt) {
self.rotation = rotor * self.rotation;
self.translation = rotor * self.translation;
}
/// Add a translation *before* this isometry.
///
/// Doing so will mean that the translation being added will get
/// transformed by this isometry's rotational part.
#[inline]
pub fn prepend_translation(&mut self, translation: $vt) {
self.translation += self.rotation * translation;
}
/// Add a translation *after* this isometry.
///
/// Doing so will mean that the translation being added will *not*
/// transformed by this isometry's rotational part.
#[inline]
pub fn append_translation(&mut self, translation: $vt) {
self.translation += translation;
}
/// Prepend transformation by another isometry.
///
/// This means that the transformation being applied will take place
/// *before* this isometry, i.e. both its translation and rotation will be
/// rotated by this isometry's rotational part.
#[inline]
pub fn prepend_isometry(&mut self, other: Self) {
*self = *self * other;
}
/// Append transformation by another isometry.
///
/// This means that the transformation being applied will take place
/// *after* this isometry, i.e. *this isometry's* translation and rotation will be
/// rotated by the *other* isometry's rotational part.
#[inline]
pub fn append_isometry(&mut self, other: Self) {
*self = other * *self;
}
#[inline]
pub fn transform_vec(&self, mut vec: $vt) -> $vt {
vec = self.rotation * vec;
vec += self.translation;
vec
}
}
impl Mul<$ison> for $rt {
type Output = $ison;
#[inline]
fn mul(self, mut iso: $ison) -> $ison {
iso.append_rotation(self);
iso
}
}
impl Mul<$rt> for $ison {
type Output = $ison;
#[inline]
fn mul(mut self, rotor: $rt) -> $ison {
self.prepend_rotation(rotor);
self
}
}
impl Mul<$vt> for $ison {
type Output = $vt;
#[inline]
fn mul(self, vec: $vt) -> $vt {
self.transform_vec(vec)
}
}
impl Mul<$ison> for $ison {
type Output = Self;
#[inline]
fn mul(self, base: $ison) -> $ison {
let trans = self.transform_vec(base.translation);
let rot = self.rotation * base.rotation;
$ison::new(trans, rot)
}
}
)+
}
}
isometries!(
Isometry2 => (Rotor2, Vec2, f32), WIsometry2 => (WRotor2, Wec2, f32x4),
Isometry3 => (Rotor3, Vec3, f32), WIsometry3 => (WRotor3, Wec3, f32x4)
);
macro_rules! similarities {
($($sn:ident => ($rt:ident, $vt:ident, $t:ident)),+) => {
$(
/// A Similarity, also known as a "rigid body transformation", i.e. a uniform scaling
/// followed by a rotation followed by a translation.
#[derive(Clone, Copy, Debug)]
#[repr(C)]
pub struct $sn {
pub translation: $vt,
pub rotation: $rt,
pub scale: $t,
}
derive_default_identity!($sn);
impl $sn {
#[inline]
pub fn new(translation: $vt, rotation: $rt, scale: $t) -> Self {
Self { translation, rotation, scale }
}
#[inline]
pub fn identity() -> Self {
Self { rotation: $rt::identity(), translation: $vt::zero(), scale: $t::from(1.0) }
}
/// Add a scaling *before* this similarity.
///
/// This means the scaling will only affect the scaling part
/// of this similarity, not the translational part.
#[inline]
pub fn prepend_scaling(&mut self, scaling: $t) {
self.scale *= scaling;
}
/// Add a scaling *after* this similarity.
///
/// This means the scaling will affect both the scaling
/// and translational parts of this similairty, since it is being
/// applied *after* this similarity's translational part.
#[inline]
pub fn append_scaling(&mut self, scaling: $t) {
self.scale *= scaling;
self.translation *= scaling;
}
/// Add a rotation *before* this similarity.
///
/// This means the rotation will only affect the rotational
/// part of this similarity, not the translational part.
#[inline]
pub fn prepend_rotation(&mut self, rotor: $rt) {
self.rotation = rotor * self.rotation;
}
/// Add a rotation *after* this similarity.
///
/// This means the rotation will affect both the rotational and
/// translational parts of this similarity, since it is being applied
/// *after* this similarity's translational part.
pub fn append_rotation(&mut self, rotor: $rt) {
self.rotation = rotor * self.rotation;
self.translation = rotor * self.translation;
}
/// Add a translation *before* this similarity.
///
/// Doing so will mean that the translation being added will get
/// transformed by this similarity's rotational and scaling parts.
#[inline]
pub fn prepend_translation(&mut self, translation: $vt) {
self.translation += self.scale * self.rotation * translation;
}
/// Add a translation *after* this similarity.
///
/// Doing so will mean that the translation being added will *not*
/// transformed by this similarity's rotational or scaling parts.
#[inline]
pub fn append_translation(&mut self, translation: $vt) {
self.translation += translation;
}
/// Prepend transformation by another similarity.
///
/// This means that the transformation being applied will take place
/// *before* this similarity, i.e. both its translation and rotation will be
/// rotated by the other similarity's rotational part, and its translation
/// will be scaled by the other similarity's scaling part.
#[inline]
pub fn prepend_similarity(&mut self, other: Self) {
*self = *self * other;
}
/// Append transformation by another similarity.
///
/// This means that the transformation being applied will take place
/// *after* this similarity, i.e. *this similarity's* translation and rotation will be
/// rotated by the *other* similarity's rotational part, and *this similarity's* translation
/// will be scaled by the *other* similarity's scaling pat.
#[inline]
pub fn append_similarity(&mut self, other: Self) {
*self = other * *self;
}
#[inline]
pub fn transform_vec(&self, mut vec: $vt) -> $vt {
vec = self.rotation * vec;
vec = self.scale * vec;
vec += self.translation;
vec
}
}
impl Mul<$sn> for $rt {
type Output = $sn;
#[inline]
fn mul(self, mut iso: $sn) -> $sn {
iso.append_rotation(self);
iso
}
}
impl Mul<$rt> for $sn {
type Output = $sn;
#[inline]
fn mul(mut self, rotor: $rt) -> $sn {
self.prepend_rotation(rotor);
self
}
}
impl Mul<$vt> for $sn {
type Output = $vt;
#[inline]
fn mul(self, vec: $vt) -> $vt {
self.transform_vec(vec)
}
}
impl Mul<$sn> for $sn {
type Output = Self;
#[inline]
fn mul(self, base: $sn) -> $sn {
let trans = self.transform_vec(base.translation);
let rot = self.rotation * base.rotation;
let scale = self.scale * base.scale;
$sn::new(trans, rot, scale)
}
}
)+
}
}
similarities!(
Similarity2 => (Rotor2, Vec2, f32), WSimilarity2 => (WRotor2, Wec2, f32x4),
Similarity3 => (Rotor3, Vec3, f32), WSimilarity3 => (WRotor3, Wec3, f32x4)
);