revier_glam/f32/
affine3a.rs

1// Generated from affine.rs.tera template. Edit the template, not the generated file.
2
3use crate::{Mat3, Mat3A, Mat4, Quat, Vec3, Vec3A};
4use core::ops::{Deref, DerefMut, Mul, MulAssign};
5
6/// A 3D affine transform, which can represent translation, rotation, scaling and shear.
7///
8/// This type is 16 byte aligned.
9#[derive(Copy, Clone)]
10#[repr(C)]
11pub struct Affine3A {
12    pub matrix3: Mat3A,
13    pub translation: Vec3A,
14}
15
16impl Affine3A {
17    /// The degenerate zero transform.
18    ///
19    /// This transforms any finite vector and point to zero.
20    /// The zero transform is non-invertible.
21    pub const ZERO: Self = Self {
22        matrix3: Mat3A::ZERO,
23        translation: Vec3A::ZERO,
24    };
25
26    /// The identity transform.
27    ///
28    /// Multiplying a vector with this returns the same vector.
29    pub const IDENTITY: Self = Self {
30        matrix3: Mat3A::IDENTITY,
31        translation: Vec3A::ZERO,
32    };
33
34    /// All NAN:s.
35    pub const NAN: Self = Self {
36        matrix3: Mat3A::NAN,
37        translation: Vec3A::NAN,
38    };
39
40    /// Creates an affine transform from three column vectors.
41    #[inline(always)]
42    pub const fn from_cols(x_axis: Vec3A, y_axis: Vec3A, z_axis: Vec3A, w_axis: Vec3A) -> Self {
43        Self {
44            matrix3: Mat3A::from_cols(x_axis, y_axis, z_axis),
45            translation: w_axis,
46        }
47    }
48
49    /// Creates an affine transform from a `[f32; 12]` array stored in column major order.
50    #[inline]
51    pub fn from_cols_array(m: &[f32; 12]) -> Self {
52        Self {
53            matrix3: Mat3A::from_cols_slice(&m[0..9]),
54            translation: Vec3A::from_slice(&m[9..12]),
55        }
56    }
57
58    /// Creates a `[f32; 12]` array storing data in column major order.
59    #[inline]
60    pub fn to_cols_array(&self) -> [f32; 12] {
61        let x = &self.matrix3.x_axis;
62        let y = &self.matrix3.y_axis;
63        let z = &self.matrix3.z_axis;
64        let w = &self.translation;
65        [x.x, x.y, x.z, y.x, y.y, y.z, z.x, z.y, z.z, w.x, w.y, w.z]
66    }
67
68    /// Creates an affine transform from a `[[f32; 3]; 4]`
69    /// 3D array stored in column major order.
70    /// If your data is in row major order you will need to `transpose` the returned
71    /// matrix.
72    #[inline]
73    pub fn from_cols_array_2d(m: &[[f32; 3]; 4]) -> Self {
74        Self {
75            matrix3: Mat3A::from_cols(m[0].into(), m[1].into(), m[2].into()),
76            translation: m[3].into(),
77        }
78    }
79
80    /// Creates a `[[f32; 3]; 4]` 3D array storing data in
81    /// column major order.
82    /// If you require data in row major order `transpose` the matrix first.
83    #[inline]
84    pub fn to_cols_array_2d(&self) -> [[f32; 3]; 4] {
85        [
86            self.matrix3.x_axis.into(),
87            self.matrix3.y_axis.into(),
88            self.matrix3.z_axis.into(),
89            self.translation.into(),
90        ]
91    }
92
93    /// Creates an affine transform from the first 12 values in `slice`.
94    ///
95    /// # Panics
96    ///
97    /// Panics if `slice` is less than 12 elements long.
98    #[inline]
99    pub fn from_cols_slice(slice: &[f32]) -> Self {
100        Self {
101            matrix3: Mat3A::from_cols_slice(&slice[0..9]),
102            translation: Vec3A::from_slice(&slice[9..12]),
103        }
104    }
105
106    /// Writes the columns of `self` to the first 12 elements in `slice`.
107    ///
108    /// # Panics
109    ///
110    /// Panics if `slice` is less than 12 elements long.
111    #[inline]
112    pub fn write_cols_to_slice(self, slice: &mut [f32]) {
113        self.matrix3.write_cols_to_slice(&mut slice[0..9]);
114        self.translation.write_to_slice(&mut slice[9..12]);
115    }
116
117    /// Creates an affine transform that changes scale.
118    /// Note that if any scale is zero the transform will be non-invertible.
119    #[inline]
120    pub fn from_scale(scale: Vec3) -> Self {
121        Self {
122            matrix3: Mat3A::from_diagonal(scale),
123            translation: Vec3A::ZERO,
124        }
125    }
126    /// Creates an affine transform from the given `rotation` quaternion.
127    #[inline]
128    pub fn from_quat(rotation: Quat) -> Self {
129        Self {
130            matrix3: Mat3A::from_quat(rotation),
131            translation: Vec3A::ZERO,
132        }
133    }
134
135    /// Creates an affine transform containing a 3D rotation around a normalized
136    /// rotation `axis` of `angle` (in radians).
137    #[inline]
138    pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self {
139        Self {
140            matrix3: Mat3A::from_axis_angle(axis, angle),
141            translation: Vec3A::ZERO,
142        }
143    }
144
145    /// Creates an affine transform containing a 3D rotation around the x axis of
146    /// `angle` (in radians).
147    #[inline]
148    pub fn from_rotation_x(angle: f32) -> Self {
149        Self {
150            matrix3: Mat3A::from_rotation_x(angle),
151            translation: Vec3A::ZERO,
152        }
153    }
154
155    /// Creates an affine transform containing a 3D rotation around the y axis of
156    /// `angle` (in radians).
157    #[inline]
158    pub fn from_rotation_y(angle: f32) -> Self {
159        Self {
160            matrix3: Mat3A::from_rotation_y(angle),
161            translation: Vec3A::ZERO,
162        }
163    }
164
165    /// Creates an affine transform containing a 3D rotation around the z axis of
166    /// `angle` (in radians).
167    #[inline]
168    pub fn from_rotation_z(angle: f32) -> Self {
169        Self {
170            matrix3: Mat3A::from_rotation_z(angle),
171            translation: Vec3A::ZERO,
172        }
173    }
174
175    /// Creates an affine transformation from the given 3D `translation`.
176    #[inline]
177    pub fn from_translation(translation: Vec3) -> Self {
178        #[allow(clippy::useless_conversion)]
179        Self {
180            matrix3: Mat3A::IDENTITY,
181            translation: translation.into(),
182        }
183    }
184
185    /// Creates an affine transform from a 3x3 matrix (expressing scale, shear and
186    /// rotation)
187    #[inline]
188    pub fn from_mat3(mat3: Mat3) -> Self {
189        #[allow(clippy::useless_conversion)]
190        Self {
191            matrix3: mat3.into(),
192            translation: Vec3A::ZERO,
193        }
194    }
195
196    /// Creates an affine transform from a 3x3 matrix (expressing scale, shear and rotation)
197    /// and a translation vector.
198    ///
199    /// Equivalent to `Affine3A::from_translation(translation) * Affine3A::from_mat3(mat3)`
200    #[inline]
201    pub fn from_mat3_translation(mat3: Mat3, translation: Vec3) -> Self {
202        #[allow(clippy::useless_conversion)]
203        Self {
204            matrix3: mat3.into(),
205            translation: translation.into(),
206        }
207    }
208
209    /// Creates an affine transform from the given 3D `scale`, `rotation` and
210    /// `translation`.
211    ///
212    /// Equivalent to `Affine3A::from_translation(translation) *
213    /// Affine3A::from_quat(rotation) * Affine3A::from_scale(scale)`
214    #[inline]
215    pub fn from_scale_rotation_translation(scale: Vec3, rotation: Quat, translation: Vec3) -> Self {
216        let rotation = Mat3A::from_quat(rotation);
217        #[allow(clippy::useless_conversion)]
218        Self {
219            matrix3: Mat3A::from_cols(
220                rotation.x_axis * scale.x,
221                rotation.y_axis * scale.y,
222                rotation.z_axis * scale.z,
223            ),
224            translation: translation.into(),
225        }
226    }
227
228    /// Creates an affine transform from the given 3D `rotation` and `translation`.
229    ///
230    /// Equivalent to `Affine3A::from_translation(translation) * Affine3A::from_quat(rotation)`
231    #[inline]
232    pub fn from_rotation_translation(rotation: Quat, translation: Vec3) -> Self {
233        #[allow(clippy::useless_conversion)]
234        Self {
235            matrix3: Mat3A::from_quat(rotation),
236            translation: translation.into(),
237        }
238    }
239
240    /// The given `Mat4` must be an affine transform,
241    /// i.e. contain no perspective transform.
242    #[inline]
243    pub fn from_mat4(m: Mat4) -> Self {
244        Self {
245            matrix3: Mat3A::from_cols(
246                Vec3A::from_vec4(m.x_axis),
247                Vec3A::from_vec4(m.y_axis),
248                Vec3A::from_vec4(m.z_axis),
249            ),
250            translation: Vec3A::from_vec4(m.w_axis),
251        }
252    }
253
254    /// Extracts `scale`, `rotation` and `translation` from `self`.
255    ///
256    /// The transform is expected to be non-degenerate and without shearing, or the output
257    /// will be invalid.
258    ///
259    /// # Panics
260    ///
261    /// Will panic if the determinant `self.matrix3` is zero or if the resulting scale
262    /// vector contains any zero elements when `glam_assert` is enabled.
263    #[inline]
264    pub fn to_scale_rotation_translation(&self) -> (Vec3, Quat, Vec3) {
265        use crate::f32::math;
266        let det = self.matrix3.determinant();
267        glam_assert!(det != 0.0);
268
269        let scale = Vec3::new(
270            self.matrix3.x_axis.length() * math::signum(det),
271            self.matrix3.y_axis.length(),
272            self.matrix3.z_axis.length(),
273        );
274
275        glam_assert!(scale.cmpne(Vec3::ZERO).all());
276
277        let inv_scale = scale.recip();
278
279        #[allow(clippy::useless_conversion)]
280        let rotation = Quat::from_mat3(&Mat3::from_cols(
281            (self.matrix3.x_axis * inv_scale.x).into(),
282            (self.matrix3.y_axis * inv_scale.y).into(),
283            (self.matrix3.z_axis * inv_scale.z).into(),
284        ));
285
286        #[allow(clippy::useless_conversion)]
287        (scale, rotation, self.translation.into())
288    }
289
290    /// Creates a left-handed view transform using a camera position, an up direction, and a facing
291    /// direction.
292    ///
293    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
294    #[inline]
295    pub fn look_to_lh(eye: Vec3, dir: Vec3, up: Vec3) -> Self {
296        Self::look_to_rh(eye, -dir, up)
297    }
298
299    /// Creates a right-handed view transform using a camera position, an up direction, and a facing
300    /// direction.
301    ///
302    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
303    #[inline]
304    pub fn look_to_rh(eye: Vec3, dir: Vec3, up: Vec3) -> Self {
305        let f = dir.normalize();
306        let s = f.cross(up).normalize();
307        let u = s.cross(f);
308
309        Self {
310            matrix3: Mat3A::from_cols(
311                Vec3A::new(s.x, u.x, -f.x),
312                Vec3A::new(s.y, u.y, -f.y),
313                Vec3A::new(s.z, u.z, -f.z),
314            ),
315            translation: Vec3A::new(-eye.dot(s), -eye.dot(u), eye.dot(f)),
316        }
317    }
318
319    /// Creates a left-handed view transform using a camera position, an up direction, and a focal
320    /// point.
321    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
322    ///
323    /// # Panics
324    ///
325    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
326    #[inline]
327    pub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Self {
328        glam_assert!(up.is_normalized());
329        Self::look_to_lh(eye, center - eye, up)
330    }
331
332    /// Creates a right-handed view transform using a camera position, an up direction, and a focal
333    /// point.
334    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
335    ///
336    /// # Panics
337    ///
338    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
339    #[inline]
340    pub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Self {
341        glam_assert!(up.is_normalized());
342        Self::look_to_rh(eye, center - eye, up)
343    }
344
345    /// Transforms the given 3D points, applying shear, scale, rotation and translation.
346    #[inline]
347    pub fn transform_point3(&self, rhs: Vec3) -> Vec3 {
348        #[allow(clippy::useless_conversion)]
349        ((self.matrix3.x_axis * rhs.x)
350            + (self.matrix3.y_axis * rhs.y)
351            + (self.matrix3.z_axis * rhs.z)
352            + self.translation)
353            .into()
354    }
355
356    /// Transforms the given 3D vector, applying shear, scale and rotation (but NOT
357    /// translation).
358    ///
359    /// To also apply translation, use [`Self::transform_point3()`] instead.
360    #[inline]
361    pub fn transform_vector3(&self, rhs: Vec3) -> Vec3 {
362        #[allow(clippy::useless_conversion)]
363        ((self.matrix3.x_axis * rhs.x)
364            + (self.matrix3.y_axis * rhs.y)
365            + (self.matrix3.z_axis * rhs.z))
366            .into()
367    }
368
369    /// Transforms the given [`Vec3A`], applying shear, scale, rotation and translation.
370    #[inline]
371    pub fn transform_point3a(&self, rhs: Vec3A) -> Vec3A {
372        self.matrix3 * rhs + self.translation
373    }
374
375    /// Transforms the given [`Vec3A`], applying shear, scale and rotation (but NOT
376    /// translation).
377    ///
378    /// To also apply translation, use [`Self::transform_point3a()`] instead.
379    #[inline]
380    pub fn transform_vector3a(&self, rhs: Vec3A) -> Vec3A {
381        self.matrix3 * rhs
382    }
383
384    /// Returns `true` if, and only if, all elements are finite.
385    ///
386    /// If any element is either `NaN`, positive or negative infinity, this will return
387    /// `false`.
388    #[inline]
389    pub fn is_finite(&self) -> bool {
390        self.matrix3.is_finite() && self.translation.is_finite()
391    }
392
393    /// Returns `true` if any elements are `NaN`.
394    #[inline]
395    pub fn is_nan(&self) -> bool {
396        self.matrix3.is_nan() || self.translation.is_nan()
397    }
398
399    /// Returns true if the absolute difference of all elements between `self` and `rhs`
400    /// is less than or equal to `max_abs_diff`.
401    ///
402    /// This can be used to compare if two 3x4 matrices contain similar elements. It works
403    /// best when comparing with a known value. The `max_abs_diff` that should be used used
404    /// depends on the values being compared against.
405    ///
406    /// For more see
407    /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
408    #[inline]
409    pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f32) -> bool {
410        self.matrix3.abs_diff_eq(rhs.matrix3, max_abs_diff)
411            && self.translation.abs_diff_eq(rhs.translation, max_abs_diff)
412    }
413
414    /// Return the inverse of this transform.
415    ///
416    /// Note that if the transform is not invertible the result will be invalid.
417    #[must_use]
418    #[inline]
419    pub fn inverse(&self) -> Self {
420        let matrix3 = self.matrix3.inverse();
421        // transform negative translation by the matrix inverse:
422        let translation = -(matrix3 * self.translation);
423
424        Self {
425            matrix3,
426            translation,
427        }
428    }
429}
430
431impl Default for Affine3A {
432    #[inline(always)]
433    fn default() -> Self {
434        Self::IDENTITY
435    }
436}
437
438impl Deref for Affine3A {
439    type Target = crate::deref::Cols4<Vec3A>;
440    #[inline(always)]
441    fn deref(&self) -> &Self::Target {
442        unsafe { &*(self as *const Self as *const Self::Target) }
443    }
444}
445
446impl DerefMut for Affine3A {
447    #[inline(always)]
448    fn deref_mut(&mut self) -> &mut Self::Target {
449        unsafe { &mut *(self as *mut Self as *mut Self::Target) }
450    }
451}
452
453impl PartialEq for Affine3A {
454    #[inline]
455    fn eq(&self, rhs: &Self) -> bool {
456        self.matrix3.eq(&rhs.matrix3) && self.translation.eq(&rhs.translation)
457    }
458}
459
460#[cfg(not(target_arch = "spirv"))]
461impl core::fmt::Debug for Affine3A {
462    fn fmt(&self, fmt: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
463        fmt.debug_struct(stringify!(Affine3A))
464            .field("matrix3", &self.matrix3)
465            .field("translation", &self.translation)
466            .finish()
467    }
468}
469
470#[cfg(not(target_arch = "spirv"))]
471impl core::fmt::Display for Affine3A {
472    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
473        write!(
474            f,
475            "[{}, {}, {}, {}]",
476            self.matrix3.x_axis, self.matrix3.y_axis, self.matrix3.z_axis, self.translation
477        )
478    }
479}
480
481impl<'a> core::iter::Product<&'a Self> for Affine3A {
482    fn product<I>(iter: I) -> Self
483    where
484        I: Iterator<Item = &'a Self>,
485    {
486        iter.fold(Self::IDENTITY, |a, &b| a * b)
487    }
488}
489
490impl Mul for Affine3A {
491    type Output = Affine3A;
492
493    #[inline]
494    fn mul(self, rhs: Affine3A) -> Self::Output {
495        Self {
496            matrix3: self.matrix3 * rhs.matrix3,
497            translation: self.matrix3 * rhs.translation + self.translation,
498        }
499    }
500}
501
502impl MulAssign for Affine3A {
503    #[inline]
504    fn mul_assign(&mut self, rhs: Affine3A) {
505        *self = self.mul(rhs);
506    }
507}
508
509impl From<Affine3A> for Mat4 {
510    #[inline]
511    fn from(m: Affine3A) -> Mat4 {
512        Mat4::from_cols(
513            m.matrix3.x_axis.extend(0.0),
514            m.matrix3.y_axis.extend(0.0),
515            m.matrix3.z_axis.extend(0.0),
516            m.translation.extend(1.0),
517        )
518    }
519}
520
521impl Mul<Mat4> for Affine3A {
522    type Output = Mat4;
523
524    #[inline]
525    fn mul(self, rhs: Mat4) -> Self::Output {
526        Mat4::from(self) * rhs
527    }
528}
529
530impl Mul<Affine3A> for Mat4 {
531    type Output = Mat4;
532
533    #[inline]
534    fn mul(self, rhs: Affine3A) -> Self::Output {
535        self * Mat4::from(rhs)
536    }
537}
revier_glam/f32/affine3a.rs

revier_glam/f32/
affine3a.rs
