1use crate::{Mat2, Mat3, Mat3A, Vec2, Vec3A};
4use core::ops::{Deref, DerefMut, Mul, MulAssign};
5
6#[derive(Copy, Clone)]
8#[cfg_attr(
9 all(feature = "bytemuck", not(feature = "scalar-math")),
10 derive(bytemuck::AnyBitPattern)
11)]
12#[cfg_attr(
13 all(feature = "bytemuck", feature = "scalar-math"),
14 derive(bytemuck::Pod, bytemuck::Zeroable)
15)]
16#[repr(C)]
17pub struct Affine2 {
18 pub matrix2: Mat2,
19 pub translation: Vec2,
20}
21
22impl Affine2 {
23 pub const ZERO: Self = Self {
28 matrix2: Mat2::ZERO,
29 translation: Vec2::ZERO,
30 };
31
32 pub const IDENTITY: Self = Self {
36 matrix2: Mat2::IDENTITY,
37 translation: Vec2::ZERO,
38 };
39
40 pub const NAN: Self = Self {
42 matrix2: Mat2::NAN,
43 translation: Vec2::NAN,
44 };
45
46 #[inline(always)]
48 #[must_use]
49 pub const fn from_cols(x_axis: Vec2, y_axis: Vec2, z_axis: Vec2) -> Self {
50 Self {
51 matrix2: Mat2::from_cols(x_axis, y_axis),
52 translation: z_axis,
53 }
54 }
55
56 #[inline]
58 #[must_use]
59 pub fn from_cols_array(m: &[f32; 6]) -> Self {
60 Self {
61 matrix2: Mat2::from_cols_array(&[m[0], m[1], m[2], m[3]]),
62 translation: Vec2::from_array([m[4], m[5]]),
63 }
64 }
65
66 #[inline]
68 #[must_use]
69 pub fn to_cols_array(&self) -> [f32; 6] {
70 let x = &self.matrix2.x_axis;
71 let y = &self.matrix2.y_axis;
72 let z = &self.translation;
73 [x.x, x.y, y.x, y.y, z.x, z.y]
74 }
75
76 #[inline]
81 #[must_use]
82 pub fn from_cols_array_2d(m: &[[f32; 2]; 3]) -> Self {
83 Self {
84 matrix2: Mat2::from_cols(m[0].into(), m[1].into()),
85 translation: m[2].into(),
86 }
87 }
88
89 #[inline]
93 #[must_use]
94 pub fn to_cols_array_2d(&self) -> [[f32; 2]; 3] {
95 [
96 self.matrix2.x_axis.into(),
97 self.matrix2.y_axis.into(),
98 self.translation.into(),
99 ]
100 }
101
102 #[inline]
108 #[must_use]
109 pub fn from_cols_slice(slice: &[f32]) -> Self {
110 Self {
111 matrix2: Mat2::from_cols_slice(&slice[0..4]),
112 translation: Vec2::from_slice(&slice[4..6]),
113 }
114 }
115
116 #[inline]
122 pub fn write_cols_to_slice(self, slice: &mut [f32]) {
123 self.matrix2.write_cols_to_slice(&mut slice[0..4]);
124 self.translation.write_to_slice(&mut slice[4..6]);
125 }
126
127 #[inline]
130 #[must_use]
131 pub fn from_scale(scale: Vec2) -> Self {
132 Self {
133 matrix2: Mat2::from_diagonal(scale),
134 translation: Vec2::ZERO,
135 }
136 }
137
138 #[inline]
140 #[must_use]
141 pub fn from_angle(angle: f32) -> Self {
142 Self {
143 matrix2: Mat2::from_angle(angle),
144 translation: Vec2::ZERO,
145 }
146 }
147
148 #[inline]
150 #[must_use]
151 pub fn from_translation(translation: Vec2) -> Self {
152 Self {
153 matrix2: Mat2::IDENTITY,
154 translation,
155 }
156 }
157
158 #[inline]
160 #[must_use]
161 pub fn from_mat2(matrix2: Mat2) -> Self {
162 Self {
163 matrix2,
164 translation: Vec2::ZERO,
165 }
166 }
167
168 #[inline]
174 #[must_use]
175 pub fn from_mat2_translation(matrix2: Mat2, translation: Vec2) -> Self {
176 Self {
177 matrix2,
178 translation,
179 }
180 }
181
182 #[inline]
188 #[must_use]
189 pub fn from_scale_angle_translation(scale: Vec2, angle: f32, translation: Vec2) -> Self {
190 let rotation = Mat2::from_angle(angle);
191 Self {
192 matrix2: Mat2::from_cols(rotation.x_axis * scale.x, rotation.y_axis * scale.y),
193 translation,
194 }
195 }
196
197 #[inline]
202 #[must_use]
203 pub fn from_angle_translation(angle: f32, translation: Vec2) -> Self {
204 Self {
205 matrix2: Mat2::from_angle(angle),
206 translation,
207 }
208 }
209
210 #[inline]
212 #[must_use]
213 pub fn from_mat3(m: Mat3) -> Self {
214 use crate::swizzles::Vec3Swizzles;
215 Self {
216 matrix2: Mat2::from_cols(m.x_axis.xy(), m.y_axis.xy()),
217 translation: m.z_axis.xy(),
218 }
219 }
220
221 #[inline]
223 #[must_use]
224 pub fn from_mat3a(m: Mat3A) -> Self {
225 use crate::swizzles::Vec3Swizzles;
226 Self {
227 matrix2: Mat2::from_cols(m.x_axis.xy(), m.y_axis.xy()),
228 translation: m.z_axis.xy(),
229 }
230 }
231
232 #[inline]
242 #[must_use]
243 pub fn to_scale_angle_translation(self) -> (Vec2, f32, Vec2) {
244 use crate::f32::math;
245 let det = self.matrix2.determinant();
246 glam_assert!(det != 0.0);
247
248 let scale = Vec2::new(
249 self.matrix2.x_axis.length() * math::signum(det),
250 self.matrix2.y_axis.length(),
251 );
252
253 glam_assert!(scale.cmpne(Vec2::ZERO).all());
254
255 let angle = math::atan2(-self.matrix2.y_axis.x, self.matrix2.y_axis.y);
256
257 (scale, angle, self.translation)
258 }
259
260 #[inline]
262 #[must_use]
263 pub fn transform_point2(&self, rhs: Vec2) -> Vec2 {
264 self.matrix2 * rhs + self.translation
265 }
266
267 #[inline]
272 pub fn transform_vector2(&self, rhs: Vec2) -> Vec2 {
273 self.matrix2 * rhs
274 }
275
276 #[inline]
281 #[must_use]
282 pub fn is_finite(&self) -> bool {
283 self.matrix2.is_finite() && self.translation.is_finite()
284 }
285
286 #[inline]
288 #[must_use]
289 pub fn is_nan(&self) -> bool {
290 self.matrix2.is_nan() || self.translation.is_nan()
291 }
292
293 #[inline]
303 #[must_use]
304 pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f32) -> bool {
305 self.matrix2.abs_diff_eq(rhs.matrix2, max_abs_diff)
306 && self.translation.abs_diff_eq(rhs.translation, max_abs_diff)
307 }
308
309 #[inline]
313 #[must_use]
314 pub fn inverse(&self) -> Self {
315 let matrix2 = self.matrix2.inverse();
316 let translation = -(matrix2 * self.translation);
318
319 Self {
320 matrix2,
321 translation,
322 }
323 }
324
325 #[inline]
327 #[must_use]
328 pub fn as_daffine2(&self) -> crate::DAffine2 {
329 crate::DAffine2::from_mat2_translation(self.matrix2.as_dmat2(), self.translation.as_dvec2())
330 }
331}
332
333impl Default for Affine2 {
334 #[inline(always)]
335 fn default() -> Self {
336 Self::IDENTITY
337 }
338}
339
340impl Deref for Affine2 {
341 type Target = crate::deref::Cols3<Vec2>;
342 #[inline(always)]
343 fn deref(&self) -> &Self::Target {
344 unsafe { &*(self as *const Self as *const Self::Target) }
345 }
346}
347
348impl DerefMut for Affine2 {
349 #[inline(always)]
350 fn deref_mut(&mut self) -> &mut Self::Target {
351 unsafe { &mut *(self as *mut Self as *mut Self::Target) }
352 }
353}
354
355impl PartialEq for Affine2 {
356 #[inline]
357 fn eq(&self, rhs: &Self) -> bool {
358 self.matrix2.eq(&rhs.matrix2) && self.translation.eq(&rhs.translation)
359 }
360}
361
362impl core::fmt::Debug for Affine2 {
363 fn fmt(&self, fmt: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
364 fmt.debug_struct(stringify!(Affine2))
365 .field("matrix2", &self.matrix2)
366 .field("translation", &self.translation)
367 .finish()
368 }
369}
370
371impl core::fmt::Display for Affine2 {
372 fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
373 if let Some(p) = f.precision() {
374 write!(
375 f,
376 "[{:.*}, {:.*}, {:.*}]",
377 p, self.matrix2.x_axis, p, self.matrix2.y_axis, p, self.translation
378 )
379 } else {
380 write!(
381 f,
382 "[{}, {}, {}]",
383 self.matrix2.x_axis, self.matrix2.y_axis, self.translation
384 )
385 }
386 }
387}
388
389impl<'a> core::iter::Product<&'a Self> for Affine2 {
390 fn product<I>(iter: I) -> Self
391 where
392 I: Iterator<Item = &'a Self>,
393 {
394 iter.fold(Self::IDENTITY, |a, &b| a * b)
395 }
396}
397
398impl Mul for Affine2 {
399 type Output = Self;
400
401 #[inline]
402 fn mul(self, rhs: Self) -> Self {
403 Self {
404 matrix2: self.matrix2 * rhs.matrix2,
405 translation: self.matrix2 * rhs.translation + self.translation,
406 }
407 }
408}
409
410impl Mul<&Self> for Affine2 {
411 type Output = Self;
412 #[inline]
413 fn mul(self, rhs: &Self) -> Self {
414 self.mul(*rhs)
415 }
416}
417
418impl Mul<&Affine2> for &Affine2 {
419 type Output = Affine2;
420 #[inline]
421 fn mul(self, rhs: &Affine2) -> Affine2 {
422 (*self).mul(*rhs)
423 }
424}
425
426impl Mul<Affine2> for &Affine2 {
427 type Output = Affine2;
428 #[inline]
429 fn mul(self, rhs: Affine2) -> Affine2 {
430 (*self).mul(rhs)
431 }
432}
433
434impl MulAssign for Affine2 {
435 #[inline]
436 fn mul_assign(&mut self, rhs: Self) {
437 *self = self.mul(rhs);
438 }
439}
440
441impl MulAssign<&Self> for Affine2 {
442 #[inline]
443 fn mul_assign(&mut self, rhs: &Self) {
444 self.mul_assign(*rhs);
445 }
446}
447
448impl From<Affine2> for Mat3 {
449 #[inline]
450 fn from(m: Affine2) -> Self {
451 Self::from_cols(
452 m.matrix2.x_axis.extend(0.0),
453 m.matrix2.y_axis.extend(0.0),
454 m.translation.extend(1.0),
455 )
456 }
457}
458
459impl Mul<Mat3> for Affine2 {
460 type Output = Mat3;
461
462 #[inline]
463 fn mul(self, rhs: Mat3) -> Self::Output {
464 Mat3::from(self) * rhs
465 }
466}
467
468impl Mul<&Mat3> for Affine2 {
469 type Output = Mat3;
470 #[inline]
471 fn mul(self, rhs: &Mat3) -> Mat3 {
472 self.mul(*rhs)
473 }
474}
475
476impl Mul<&Mat3> for &Affine2 {
477 type Output = Mat3;
478 #[inline]
479 fn mul(self, rhs: &Mat3) -> Mat3 {
480 (*self).mul(*rhs)
481 }
482}
483
484impl Mul<Mat3> for &Affine2 {
485 type Output = Mat3;
486 #[inline]
487 fn mul(self, rhs: Mat3) -> Mat3 {
488 (*self).mul(rhs)
489 }
490}
491
492impl Mul<Affine2> for Mat3 {
493 type Output = Self;
494
495 #[inline]
496 fn mul(self, rhs: Affine2) -> Self {
497 self * Self::from(rhs)
498 }
499}
500
501impl Mul<&Affine2> for Mat3 {
502 type Output = Self;
503 #[inline]
504 fn mul(self, rhs: &Affine2) -> Self {
505 self.mul(*rhs)
506 }
507}
508
509impl Mul<&Affine2> for &Mat3 {
510 type Output = Mat3;
511 #[inline]
512 fn mul(self, rhs: &Affine2) -> Mat3 {
513 (*self).mul(*rhs)
514 }
515}
516
517impl Mul<Affine2> for &Mat3 {
518 type Output = Mat3;
519 #[inline]
520 fn mul(self, rhs: Affine2) -> Mat3 {
521 (*self).mul(rhs)
522 }
523}
524
525impl MulAssign<Affine2> for Mat3 {
526 #[inline]
527 fn mul_assign(&mut self, rhs: Affine2) {
528 *self = self.mul(rhs);
529 }
530}
531
532impl MulAssign<&Affine2> for Mat3 {
533 #[inline]
534 fn mul_assign(&mut self, rhs: &Affine2) {
535 self.mul_assign(*rhs);
536 }
537}
538
539impl Mul<Mat3A> for Affine2 {
540 type Output = Mat3A;
541
542 #[inline]
543 fn mul(self, rhs: Mat3A) -> Self::Output {
544 Mat3A::from(self) * rhs
545 }
546}
547
548impl Mul<&Mat3A> for Affine2 {
549 type Output = Mat3A;
550 #[inline]
551 fn mul(self, rhs: &Mat3A) -> Mat3A {
552 self.mul(*rhs)
553 }
554}
555
556impl Mul<&Mat3A> for &Affine2 {
557 type Output = Mat3A;
558 #[inline]
559 fn mul(self, rhs: &Mat3A) -> Mat3A {
560 (*self).mul(*rhs)
561 }
562}
563
564impl Mul<Mat3A> for &Affine2 {
565 type Output = Mat3A;
566 #[inline]
567 fn mul(self, rhs: Mat3A) -> Mat3A {
568 (*self).mul(rhs)
569 }
570}
571
572impl Mul<Affine2> for Mat3A {
573 type Output = Self;
574
575 #[inline]
576 fn mul(self, rhs: Affine2) -> Self {
577 self * Self::from(rhs)
578 }
579}
580
581impl Mul<&Affine2> for Mat3A {
582 type Output = Self;
583 #[inline]
584 fn mul(self, rhs: &Affine2) -> Self {
585 self.mul(*rhs)
586 }
587}
588
589impl Mul<&Affine2> for &Mat3A {
590 type Output = Mat3A;
591 #[inline]
592 fn mul(self, rhs: &Affine2) -> Mat3A {
593 (*self).mul(*rhs)
594 }
595}
596
597impl Mul<Affine2> for &Mat3A {
598 type Output = Mat3A;
599 #[inline]
600 fn mul(self, rhs: Affine2) -> Mat3A {
601 (*self).mul(rhs)
602 }
603}
604
605impl MulAssign<Affine2> for Mat3A {
606 #[inline]
607 fn mul_assign(&mut self, rhs: Affine2) {
608 *self = self.mul(rhs);
609 }
610}
611
612impl MulAssign<&Affine2> for Mat3A {
613 #[inline]
614 fn mul_assign(&mut self, rhs: &Affine2) {
615 self.mul_assign(*rhs);
616 }
617}
618
619impl From<Affine2> for Mat3A {
620 #[inline]
621 fn from(m: Affine2) -> Self {
622 Self::from_cols(
623 Vec3A::from((m.matrix2.x_axis, 0.0)),
624 Vec3A::from((m.matrix2.y_axis, 0.0)),
625 Vec3A::from((m.translation, 1.0)),
626 )
627 }
628}