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use crate::core::{ storage::{Columns4, XYZW}, traits::{ matrix::{FloatMatrix4x4, Matrix4x4, MatrixConst}, projection::ProjectionMatrix, }, }; use crate::{DMat3, DQuat, DVec3, DVec4, EulerRot, Mat3, Quat, Vec3, Vec3A, Vec4}; #[cfg(all( target_feature = "sse2", not(feature = "scalar-math"), target_arch = "x86" ))] use core::arch::x86::*; #[cfg(all( target_feature = "sse2", not(feature = "scalar-math"), target_arch = "x86_64" ))] use core::arch::x86_64::*; #[cfg(not(target_arch = "spirv"))] use core::fmt; use core::ops::{Add, AddAssign, Deref, DerefMut, Mul, MulAssign, Sub, SubAssign}; #[cfg(feature = "std")] use std::iter::{Product, Sum}; //macro_rules! define_mat4_struct { // ($mat4:ident, $inner:ident) => { // /// A 4x4 column major matrix. // /// // /// This 4x4 matrix type features convenience methods for creating and using affine // /// transforms and perspective projections. // /// // /// Affine transformations including 3D translation, rotation and scale can be created // /// using methods such as [`Self::from_translation()`], [`Self::from_quat()`], // /// [`Self::from_scale()`] and [`Self::from_scale_rotation_translation()`]. // /// // /// Othographic projections can be created using the methods [`Self::orthographic_lh()`] for // /// left-handed coordinate systems and [`Self::orthographic_rh()`] for right-handed // /// systems. The resulting matrix is also an affine transformation. // /// // /// The [`Self::transform_point3()`] and [`Self::transform_vector3()`] convenience methods // /// are provided for performing affine transformations on 3D vectors and points. These // /// multiply 3D inputs as 4D vectors with an implicit `w` value of `1` for points and `0` // /// for vectors respectively. These methods assume that `Self` contains a valid affine // /// transform. // /// // /// Perspective projections can be created using methods such as // /// [`Self::perspective_lh()`], [`Self::perspective_infinite_lh()`] and // /// [`Self::perspective_infinite_reverse_lh()`] for left-handed co-ordinate systems and // /// [`Self::perspective_rh()`], [`Self::perspective_infinite_rh()`] and // /// [`Self::perspective_infinite_reverse_rh()`] for right-handed co-ordinate systems. // /// // /// The resulting perspective project can be use to transform 3D vectors as points with // /// perspective correction using the [`Self::project_point3()`] convenience method. // #[derive(Clone, Copy)] // #[repr(transparent)] // pub struct $mat4(pub(crate) $inner); // }; //} macro_rules! impl_mat4_methods { ($t:ident, $vec4:ident, $vec3:ident, $mat3:ident, $quat:ident, $inner:ident) => { /// A 4x4 matrix with all elements set to `0.0`. pub const ZERO: Self = Self($inner::ZERO); /// A 4x4 identity matrix, where all diagonal elements are `1`, and all off-diagonal elements are `0`. pub const IDENTITY: Self = Self($inner::IDENTITY); /// Creates a 4x4 matrix from four column vectors. #[inline(always)] pub fn from_cols(x_axis: $vec4, y_axis: $vec4, z_axis: $vec4, w_axis: $vec4) -> Self { Self($inner::from_cols(x_axis.0, y_axis.0, z_axis.0, w_axis.0)) } /// Creates a 4x4 matrix from a `[S; 16]` array stored in column major order. /// If your data is stored in row major you will need to `transpose` the returned /// matrix. #[inline(always)] pub fn from_cols_array(m: &[$t; 16]) -> Self { Self($inner::from_cols_array(m)) } /// Creates a `[S; 16]` array storing data in column major order. /// If you require data in row major order `transpose` the matrix first. #[inline(always)] pub fn to_cols_array(&self) -> [$t; 16] { self.0.to_cols_array() } /// Creates a 4x4 matrix from a `[[S; 4]; 4]` 2D array stored in column major order. /// If your data is in row major order you will need to `transpose` the returned /// matrix. #[inline(always)] pub fn from_cols_array_2d(m: &[[$t; 4]; 4]) -> Self { Self($inner::from_cols_array_2d(m)) } /// Creates a `[[S; 4]; 4]` 2D array storing data in column major order. /// If you require data in row major order `transpose` the matrix first. #[inline(always)] pub fn to_cols_array_2d(&self) -> [[$t; 4]; 4] { self.0.to_cols_array_2d() } /// Creates a 4x4 matrix with its diagonal set to `diagonal` and all other entries set to 0. #[cfg_attr(docsrs, doc(alias = "scale"))] #[inline(always)] pub fn from_diagonal(diagonal: $vec4) -> Self { Self($inner::from_diagonal(diagonal.0.into())) } /// Creates an affine transformation matrix from the given 3D `scale`, `rotation` and /// `translation`. /// /// The resulting matrix can be used to transform 3D points and vectors. See /// [`Self::transform_point3()`] and [`Self::transform_vector3()`]. /// /// # Panics /// /// Will panic if `rotation` is not normalized when `glam_assert` is enabled. #[inline(always)] pub fn from_scale_rotation_translation( scale: $vec3, rotation: $quat, translation: $vec3, ) -> Self { Self($inner::from_scale_quaternion_translation( scale.0, rotation.0, translation.0, )) } /// Creates an affine transformation matrix from the given 3D `translation`. /// /// The resulting matrix can be used to transform 3D points and vectors. See /// [`Self::transform_point3()`] and [`Self::transform_vector3()`]. /// /// # Panics /// /// Will panic if `rotation` is not normalized when `glam_assert` is enabled. #[inline(always)] pub fn from_rotation_translation(rotation: $quat, translation: $vec3) -> Self { Self($inner::from_quaternion_translation( rotation.0, translation.0, )) } /// Extracts `scale`, `rotation` and `translation` from `self`. The input matrix is /// expected to be a 3D affine transformation matrix otherwise the output will be invalid. /// /// # Panics /// /// Will panic if the determinant of `self` is zero or if the resulting scale vector /// contains any zero elements when `glam_assert` is enabled. #[inline(always)] pub fn to_scale_rotation_translation(&self) -> ($vec3, $quat, $vec3) { let (scale, rotation, translation) = self.0.to_scale_quaternion_translation(); ($vec3(scale), $quat(rotation), $vec3(translation)) } /// Creates an affine transformation matrix from the given `rotation` quaternion. /// /// The resulting matrix can be used to transform 3D points and vectors. See /// [`Self::transform_point3()`] and [`Self::transform_vector3()`]. /// /// # Panics /// /// Will panic if `rotation` is not normalized when `glam_assert` is enabled. #[inline(always)] pub fn from_quat(rotation: $quat) -> Self { Self($inner::from_quaternion(rotation.0)) } /// Creates an affine transformation matrix from the given 3x3 linear transformation /// matrix. /// /// The resulting matrix can be used to transform 3D points and vectors. See /// [`Self::transform_point3()`] and [`Self::transform_vector3()`]. #[inline(always)] pub fn from_mat3(m: $mat3) -> Self { Self::from_cols( (m.x_axis, 0.0).into(), (m.y_axis, 0.0).into(), (m.z_axis, 0.0).into(), $vec4::W, ) } /// Creates an affine transformation matrix from the given 3D `translation`. /// /// The resulting matrix can be used to transform 3D points and vectors. See /// [`Self::transform_point3()`] and [`Self::transform_vector3()`]. #[inline(always)] pub fn from_translation(translation: $vec3) -> Self { Self($inner::from_translation(translation.0)) } /// Creates an affine transformation matrix containing a 3D rotation around a normalized /// rotation `axis` of `angle` (in radians). /// /// The resulting matrix can be used to transform 3D points and vectors. See /// [`Self::transform_point3()`] and [`Self::transform_vector3()`]. /// /// # Panics /// /// Will panic if `axis` is not normalized when `glam_assert` is enabled. #[inline(always)] pub fn from_axis_angle(axis: $vec3, angle: $t) -> Self { Self($inner::from_axis_angle(axis.0, angle)) } #[inline(always)] /// Creates a affine transformation matrix containing a rotation from the given euler /// rotation sequence and angles (in radians). /// /// The resulting matrix can be used to transform 3D points and vectors. See /// [`Self::transform_point3()`] and [`Self::transform_vector3()`]. pub fn from_euler(order: EulerRot, a: $t, b: $t, c: $t) -> Self { let quat = $quat::from_euler(order, a, b, c); Self::from_quat(quat) } /// Creates an affine transformation matrix containing a 3D rotation around the x axis of /// `angle` (in radians). /// /// The resulting matrix can be used to transform 3D points and vectors. See /// [`Self::transform_point3()`] and [`Self::transform_vector3()`]. #[inline(always)] pub fn from_rotation_x(angle: $t) -> Self { Self($inner::from_rotation_x(angle)) } /// Creates an affine transformation matrix containing a 3D rotation around the y axis of /// `angle` (in radians). /// /// The resulting matrix can be used to transform 3D points and vectors. See /// [`Self::transform_point3()`] and [`Self::transform_vector3()`]. #[inline(always)] pub fn from_rotation_y(angle: $t) -> Self { Self($inner::from_rotation_y(angle)) } /// Creates an affine transformation matrix containing a 3D rotation around the z axis of /// `angle` (in radians). /// /// The resulting matrix can be used to transform 3D points and vectors. See /// [`Self::transform_point3()`] and [`Self::transform_vector3()`]. #[inline(always)] pub fn from_rotation_z(angle: $t) -> Self { Self($inner::from_rotation_z(angle)) } /// Creates an affine transformation matrix containing the given 3D non-uniform `scale`. /// /// The resulting matrix can be used to transform 3D points and vectors. See /// [`Self::transform_point3()`] and [`Self::transform_vector3()`]. /// /// # Panics /// /// Will panic if all elements of `scale` are zero when `glam_assert` is enabled. #[inline(always)] pub fn from_scale(scale: $vec3) -> Self { Self($inner::from_scale(scale.0)) } /// Creates a 4x4 matrix from the first 16 values in `slice`. /// /// # Panics /// /// Panics if `slice` is less than 16 elements long. #[inline(always)] pub fn from_cols_slice(slice: &[$t]) -> Self { Self(Matrix4x4::from_cols_slice(slice)) } /// Writes the columns of `self` to the first 16 elements in `slice`. /// /// # Panics /// /// Panics if `slice` is less than 16 elements long. #[inline(always)] pub fn write_cols_to_slice(self, slice: &mut [$t]) { Matrix4x4::write_cols_to_slice(&self.0, slice) } /// Returns the matrix column for the given `index`. /// /// # Panics /// /// Panics if `index` is greater than 3. #[inline] pub fn col(&self, index: usize) -> $vec4 { match index { 0 => self.x_axis, 1 => self.y_axis, 2 => self.z_axis, 3 => self.w_axis, _ => panic!("index out of bounds"), } } /// Returns a mutable reference to the matrix column for the given `index`. /// /// # Panics /// /// Panics if `index` is greater than 3. #[inline] pub fn col_mut(&mut self, index: usize) -> &mut $vec4 { match index { 0 => &mut self.x_axis, 1 => &mut self.y_axis, 2 => &mut self.z_axis, 3 => &mut self.w_axis, _ => panic!("index out of bounds"), } } /// Returns the matrix row for the given `index`. /// /// # Panics /// /// Panics if `index` is greater than 3. #[inline] pub fn row(&self, index: usize) -> $vec4 { match index { 0 => $vec4::new(self.x_axis.x, self.y_axis.x, self.z_axis.x, self.w_axis.x), 1 => $vec4::new(self.x_axis.y, self.y_axis.y, self.z_axis.y, self.w_axis.y), 2 => $vec4::new(self.x_axis.z, self.y_axis.z, self.z_axis.z, self.w_axis.z), 3 => $vec4::new(self.x_axis.w, self.y_axis.w, self.z_axis.w, self.w_axis.w), _ => panic!("index out of bounds"), } } /// Returns `true` if, and only if, all elements are finite. /// If any element is either `NaN`, positive or negative infinity, this will return `false`. #[inline] pub fn is_finite(&self) -> bool { self.x_axis.is_finite() && self.y_axis.is_finite() && self.z_axis.is_finite() && self.w_axis.is_finite() } /// Returns `true` if any elements are `NaN`. #[inline] pub fn is_nan(&self) -> bool { self.x_axis.is_nan() || self.y_axis.is_nan() || self.z_axis.is_nan() || self.w_axis.is_nan() } /// Returns the transpose of `self`. #[must_use] #[inline(always)] pub fn transpose(&self) -> Self { Self(self.0.transpose()) } /// Returns the determinant of `self`. #[inline(always)] pub fn determinant(&self) -> $t { self.0.determinant() } /// Returns the inverse of `self`. /// /// If the matrix is not invertible the returned matrix will be invalid. /// /// # Panics /// /// Will panic if the determinant of `self` is zero when `glam_assert` is enabled. #[must_use] #[inline(always)] pub fn inverse(&self) -> Self { Self(self.0.inverse()) } /// Creates a left-handed view matrix using a camera position, an up direction, and a focal /// point. /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`. /// /// # Panics /// /// Will panic if `up` is not normalized when `glam_assert` is enabled. #[inline(always)] pub fn look_at_lh(eye: $vec3, center: $vec3, up: $vec3) -> Self { Self($inner::look_at_lh(eye.0, center.0, up.0)) } /// Creates a right-handed view matrix using a camera position, an up direction, and a focal /// point. /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`. /// /// # Panics /// /// Will panic if `up` is not normalized when `glam_assert` is enabled. #[inline(always)] pub fn look_at_rh(eye: $vec3, center: $vec3, up: $vec3) -> Self { Self($inner::look_at_rh(eye.0, center.0, up.0)) } /// Creates a right-handed perspective projection matrix with [-1,1] depth range. /// This is the same as the OpenGL `gluPerspective` function. /// See <https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/gluPerspective.xml> #[inline(always)] pub fn perspective_rh_gl( fov_y_radians: $t, aspect_ratio: $t, z_near: $t, z_far: $t, ) -> Self { Self($inner::perspective_rh_gl( fov_y_radians, aspect_ratio, z_near, z_far, )) } /// Creates a left-handed perspective projection matrix with `[0,1]` depth range. /// /// # Panics /// /// Will panic if `z_near` or `z_far` are less than or equal to zero when `glam_assert` is /// enabled. #[inline(always)] pub fn perspective_lh(fov_y_radians: $t, aspect_ratio: $t, z_near: $t, z_far: $t) -> Self { Self($inner::perspective_lh( fov_y_radians, aspect_ratio, z_near, z_far, )) } /// Creates a right-handed perspective projection matrix with `[0,1]` depth range. /// /// # Panics /// /// Will panic if `z_near` or `z_far` are less than or equal to zero when `glam_assert` is /// enabled. #[inline(always)] pub fn perspective_rh(fov_y_radians: $t, aspect_ratio: $t, z_near: $t, z_far: $t) -> Self { Self($inner::perspective_rh( fov_y_radians, aspect_ratio, z_near, z_far, )) } /// Creates an infinite left-handed perspective projection matrix with `[0,1]` depth range. /// /// # Panics /// /// Will panic if `z_near` is less than or equal to zero when `glam_assert` is enabled. #[inline(always)] pub fn perspective_infinite_lh(fov_y_radians: $t, aspect_ratio: $t, z_near: $t) -> Self { Self($inner::perspective_infinite_lh( fov_y_radians, aspect_ratio, z_near, )) } /// Creates an infinite left-handed perspective projection matrix with `[0,1]` depth range. /// /// # Panics /// /// Will panic if `z_near` is less than or equal to zero when `glam_assert` is enabled. #[inline(always)] pub fn perspective_infinite_reverse_lh( fov_y_radians: $t, aspect_ratio: $t, z_near: $t, ) -> Self { Self($inner::perspective_infinite_reverse_lh( fov_y_radians, aspect_ratio, z_near, )) } /// Creates an infinite right-handed perspective projection matrix with /// `[0,1]` depth range. #[inline(always)] pub fn perspective_infinite_rh(fov_y_radians: $t, aspect_ratio: $t, z_near: $t) -> Self { Self($inner::perspective_infinite_rh( fov_y_radians, aspect_ratio, z_near, )) } /// Creates an infinite reverse right-handed perspective projection matrix /// with `[0,1]` depth range. #[inline(always)] pub fn perspective_infinite_reverse_rh( fov_y_radians: $t, aspect_ratio: $t, z_near: $t, ) -> Self { Self($inner::perspective_infinite_reverse_rh( fov_y_radians, aspect_ratio, z_near, )) } /// Creates a right-handed orthographic projection matrix with `[-1,1]` depth /// range. This is the same as the OpenGL `glOrtho` function in OpenGL. /// See /// <https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glOrtho.xml> #[inline(always)] pub fn orthographic_rh_gl( left: $t, right: $t, bottom: $t, top: $t, near: $t, far: $t, ) -> Self { Self($inner::orthographic_rh_gl( left, right, bottom, top, near, far, )) } /// Creates a left-handed orthographic projection matrix with `[0,1]` depth range. #[inline(always)] pub fn orthographic_lh( left: $t, right: $t, bottom: $t, top: $t, near: $t, far: $t, ) -> Self { Self($inner::orthographic_lh(left, right, bottom, top, near, far)) } /// Creates a right-handed orthographic projection matrix with `[0,1]` depth range. #[inline(always)] pub fn orthographic_rh( left: $t, right: $t, bottom: $t, top: $t, near: $t, far: $t, ) -> Self { Self($inner::orthographic_rh(left, right, bottom, top, near, far)) } /// Transforms a 4D vector. #[inline(always)] pub fn mul_vec4(&self, other: $vec4) -> $vec4 { $vec4(self.0.mul_vector(other.0)) } /// Multiplies two 4x4 matrices. #[inline(always)] pub fn mul_mat4(&self, other: &Self) -> Self { Self(self.0.mul_matrix(&other.0)) } /// Adds two 4x4 matrices. #[inline(always)] pub fn add_mat4(&self, other: &Self) -> Self { Self(self.0.add_matrix(&other.0)) } /// Subtracts two 4x4 matrices. #[inline(always)] pub fn sub_mat4(&self, other: &Self) -> Self { Self(self.0.sub_matrix(&other.0)) } /// Multiplies this matrix by a scalar value. #[inline(always)] pub fn mul_scalar(&self, other: $t) -> Self { Self(self.0.mul_scalar(other)) } /// Transforms the given 3D vector as a point, applying perspective correction. /// /// This is the equivalent of multiplying the 3D vector as a 4D vector where `w` is `1.0`. /// The perspective divide is performed meaning the resulting 3D vector is divided by `w`. /// /// This method assumes that `self` contains a projective transform. #[inline] pub fn project_point3(&self, other: $vec3) -> $vec3 { $vec3(self.0.project_point3(other.0)) } /// Transforms the given 3D vector as a point. /// /// This is the equivalent of multiplying the 3D vector as a 4D vector where `w` is /// `1.0`. /// /// This method assumes that `self` contains a valid affine transform. It does not perform /// a persective divide, if `self` contains a perspective transform, or if you are unsure, /// the [`Self::project_point3()`] method should be used instead. /// /// # Panics /// /// Will panic if the 3rd row of `self` is not `(0, 0, 0, 1)` when `glam_assert` is enabled. #[inline] pub fn transform_point3(&self, other: $vec3) -> $vec3 { glam_assert!(self.row(3) == $vec4::W); $vec3(self.0.transform_point3(other.0)) } /// Transforms the give 3D vector as a direction. /// /// This is the equivalent of multiplying the 3D vector as a 4D vector where `w` is /// `0.0`. /// /// This method assumes that `self` contains a valid affine transform. /// /// # Panics /// /// Will panic if the 3rd row of `self` is not `(0, 0, 0, 1)` when `glam_assert` is enabled. #[inline] pub fn transform_vector3(&self, other: $vec3) -> $vec3 { glam_assert!(self.row(3) == $vec4::W); $vec3(self.0.transform_vector3(other.0)) } /// Returns true if the absolute difference of all elements between `self` and `other` /// is less than or equal to `max_abs_diff`. /// /// This can be used to compare if two 4x4 matrices contain similar elements. It works /// best when comparing with a known value. The `max_abs_diff` that should be used used /// depends on the values being compared against. /// /// For more see /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/). #[inline(always)] pub fn abs_diff_eq(&self, other: Self, max_abs_diff: $t) -> bool { self.0.abs_diff_eq(&other.0, max_abs_diff) } }; } macro_rules! impl_mat4_traits { ($t:ty, $new:ident, $mat4:ident, $vec4:ident) => { /// Creates a 4x4 matrix from four column vectors. #[inline(always)] pub fn $new(x_axis: $vec4, y_axis: $vec4, z_axis: $vec4, w_axis: $vec4) -> $mat4 { $mat4::from_cols(x_axis, y_axis, z_axis, w_axis) } impl_matn_common_traits!($t, $mat4, $vec4); impl Deref for $mat4 { type Target = Columns4<$vec4>; #[inline(always)] fn deref(&self) -> &Self::Target { unsafe { &*(self as *const Self as *const Self::Target) } } } impl DerefMut for $mat4 { #[inline(always)] fn deref_mut(&mut self) -> &mut Self::Target { unsafe { &mut *(self as *mut Self as *mut Self::Target) } } } impl PartialEq for $mat4 { #[inline] fn eq(&self, other: &Self) -> bool { self.x_axis.eq(&other.x_axis) && self.y_axis.eq(&other.y_axis) && self.z_axis.eq(&other.z_axis) && self.w_axis.eq(&other.w_axis) } } #[cfg(not(target_arch = "spriv"))] impl AsRef<[$t; 16]> for $mat4 { #[inline] fn as_ref(&self) -> &[$t; 16] { unsafe { &*(self as *const Self as *const [$t; 16]) } } } #[cfg(not(target_arch = "spriv"))] impl AsMut<[$t; 16]> for $mat4 { #[inline] fn as_mut(&mut self) -> &mut [$t; 16] { unsafe { &mut *(self as *mut Self as *mut [$t; 16]) } } } #[cfg(not(target_arch = "spirv"))] impl fmt::Debug for $mat4 { fn fmt(&self, fmt: &mut fmt::Formatter) -> fmt::Result { fmt.debug_struct(stringify!($mat4)) .field("x_axis", &self.x_axis) .field("y_axis", &self.y_axis) .field("z_axis", &self.z_axis) .field("w_axis", &self.w_axis) .finish() } } #[cfg(not(target_arch = "spirv"))] impl fmt::Display for $mat4 { fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { write!( f, "[{}, {}, {}, {}]", self.x_axis, self.y_axis, self.z_axis, self.w_axis ) } } }; } #[cfg(all(target_feature = "sse2", not(feature = "scalar-math")))] type InnerF32 = Columns4<__m128>; #[cfg(any(not(target_feature = "sse2"), feature = "scalar-math"))] type InnerF32 = Columns4<XYZW<f32>>; /// A 4x4 column major matrix. /// /// This 4x4 matrix type features convenience methods for creating and using affine transforms and /// perspective projections. If you are primarily dealing with 3D affine transformations /// condidering using [`Affine3A`][crate::Affine3A] which is faster tha a 4x4 matrix for some /// affine operations. /// /// Affine transformations including 3D translation, rotation and scale can be created /// using methods such as [`Self::from_translation()`], [`Self::from_quat()`], /// [`Self::from_scale()`] and [`Self::from_scale_rotation_translation()`]. /// /// Othographic projections can be created using the methods [`Self::orthographic_lh()`] for /// left-handed coordinate systems and [`Self::orthographic_rh()`] for right-handed /// systems. The resulting matrix is also an affine transformation. /// /// The [`Self::transform_point3()`] and [`Self::transform_vector3()`] convenience methods /// are provided for performing affine transformations on 3D vectors and points. These /// multiply 3D inputs as 4D vectors with an implicit `w` value of `1` for points and `0` /// for vectors respectively. These methods assume that `Self` contains a valid affine /// transform. /// /// Perspective projections can be created using methods such as /// [`Self::perspective_lh()`], [`Self::perspective_infinite_lh()`] and /// [`Self::perspective_infinite_reverse_lh()`] for left-handed co-ordinate systems and /// [`Self::perspective_rh()`], [`Self::perspective_infinite_rh()`] and /// [`Self::perspective_infinite_reverse_rh()`] for right-handed co-ordinate systems. /// /// The resulting perspective project can be use to transform 3D vectors as points with /// perspective correction using the [`Self::project_point3()`] convenience method. #[derive(Clone, Copy)] #[cfg_attr( not(any(feature = "scalar-math", target_arch = "spriv")), repr(align(16)) )] #[cfg_attr(any(feature = "scalar-math", target_arch = "spriv"), repr(transparent))] pub struct Mat4(pub(crate) InnerF32); // define_mat4_struct!(Mat4, InnerF32); impl Mat4 { impl_mat4_methods!(f32, Vec4, Vec3, Mat3, Quat, InnerF32); /// Transforms the given `Vec3A` as 3D point. /// /// This is the equivalent of multiplying the `Vec3A` as a 4D vector where `w` is `1.0`. #[inline(always)] pub fn transform_point3a(&self, other: Vec3A) -> Vec3A { #[allow(clippy::useless_conversion)] Vec3A(self.0.transform_float4_as_point3(other.0.into()).into()) } /// Transforms the give `Vec3A` as 3D vector. /// /// This is the equivalent of multiplying the `Vec3A` as a 4D vector where `w` is `0.0`. #[inline(always)] pub fn transform_vector3a(&self, other: Vec3A) -> Vec3A { #[allow(clippy::useless_conversion)] Vec3A(self.0.transform_float4_as_vector3(other.0.into()).into()) } #[inline(always)] pub fn as_f64(&self) -> DMat4 { DMat4::from_cols( self.x_axis.as_f64(), self.y_axis.as_f64(), self.z_axis.as_f64(), self.w_axis.as_f64(), ) } } impl_mat4_traits!(f32, mat4, Mat4, Vec4); type InnerF64 = Columns4<XYZW<f64>>; /// A 4x4 column major matrix. /// /// This 4x4 matrix type features convenience methods for creating and using affine transforms and /// perspective projections. If you are primarily dealing with 3D affine transformations /// condidering using [`DAffine3`][crate::DAffine3] which is faster tha a 4x4 matrix for some /// affine operations. /// /// Affine transformations including 3D translation, rotation and scale can be created /// using methods such as [`Self::from_translation()`], [`Self::from_quat()`], /// [`Self::from_scale()`] and [`Self::from_scale_rotation_translation()`]. /// /// Othographic projections can be created using the methods [`Self::orthographic_lh()`] for /// left-handed coordinate systems and [`Self::orthographic_rh()`] for right-handed /// systems. The resulting matrix is also an affine transformation. /// /// The [`Self::transform_point3()`] and [`Self::transform_vector3()`] convenience methods /// are provided for performing affine transformations on 3D vectors and points. These /// multiply 3D inputs as 4D vectors with an implicit `w` value of `1` for points and `0` /// for vectors respectively. These methods assume that `Self` contains a valid affine /// transform. /// /// Perspective projections can be created using methods such as /// [`Self::perspective_lh()`], [`Self::perspective_infinite_lh()`] and /// [`Self::perspective_infinite_reverse_lh()`] for left-handed co-ordinate systems and /// [`Self::perspective_rh()`], [`Self::perspective_infinite_rh()`] and /// [`Self::perspective_infinite_reverse_rh()`] for right-handed co-ordinate systems. /// /// The resulting perspective project can be use to transform 3D vectors as points with /// perspective correction using the [`Self::project_point3()`] convenience method. #[derive(Clone, Copy)] #[repr(transparent)] pub struct DMat4(pub(crate) InnerF64); // define_mat4_struct!(DMat4, InnerF64); impl DMat4 { impl_mat4_methods!(f64, DVec4, DVec3, DMat3, DQuat, InnerF64); #[inline(always)] pub fn as_f32(&self) -> Mat4 { Mat4::from_cols( self.x_axis.as_f32(), self.y_axis.as_f32(), self.z_axis.as_f32(), self.w_axis.as_f32(), ) } } impl_mat4_traits!(f64, dmat4, DMat4, DVec4); #[cfg(any(feature = "scalar-math", target_arch = "spriv"))] mod const_test_mat4 { const_assert_eq!( core::mem::align_of::<f32>(), core::mem::align_of::<super::Mat4>() ); const_assert_eq!(64, core::mem::size_of::<super::Mat4>()); } #[cfg(not(any(feature = "scalar-math", target_arch = "spriv")))] mod const_test_mat4 { const_assert_eq!(16, core::mem::align_of::<super::Mat4>()); const_assert_eq!(64, core::mem::size_of::<super::Mat4>()); } mod const_test_dmat4 { const_assert_eq!( core::mem::align_of::<f64>(), core::mem::align_of::<super::DMat4>() ); const_assert_eq!(128, core::mem::size_of::<super::DMat4>()); }