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use na::{RealField, UnitComplex}; use crate::aliases::{TMat3, TVec2}; use crate::traits::Number; /// Builds a 2D rotation matrix from an angle and right-multiply it to `m`. /// /// # See also: /// /// * [`rotation2d`](fn.rotation2d.html) /// * [`scale2d`](fn.scale2d.html) /// * [`scaling2d`](fn.scaling2d.html) /// * [`translate2d`](fn.translate2d.html) /// * [`translation2d`](fn.translation2d.html) pub fn rotate2d<N: RealField>(m: &TMat3<N>, angle: N) -> TMat3<N> { m * UnitComplex::new(angle).to_homogeneous() } /// Builds a 2D scaling matrix and right-multiply it to `m`. /// /// # See also: /// /// * [`rotate2d`](fn.rotate2d.html) /// * [`rotation2d`](fn.rotation2d.html) /// * [`scaling2d`](fn.scaling2d.html) /// * [`translate2d`](fn.translate2d.html) /// * [`translation2d`](fn.translation2d.html) pub fn scale2d<N: Number>(m: &TMat3<N>, v: &TVec2<N>) -> TMat3<N> { m.prepend_nonuniform_scaling(v) } /// Builds a translation matrix and right-multiply it to `m`. /// /// # See also: /// /// * [`rotate2d`](fn.rotate2d.html) /// * [`rotation2d`](fn.rotation2d.html) /// * [`scale2d`](fn.scale2d.html) /// * [`scaling2d`](fn.scaling2d.html) /// * [`translation2d`](fn.translation2d.html) pub fn translate2d<N: Number>(m: &TMat3<N>, v: &TVec2<N>) -> TMat3<N> { m.prepend_translation(v) }