glam/f64/
dmat3.rs

1// Generated from mat.rs.tera template. Edit the template, not the generated file.
2
3use crate::{
4    euler::{FromEuler, ToEuler},
5    f64::math,
6    swizzles::*,
7    DMat2, DMat4, DQuat, DVec2, DVec3, EulerRot, Mat3,
8};
9use core::fmt;
10use core::iter::{Product, Sum};
11use core::ops::{Add, AddAssign, Div, DivAssign, Mul, MulAssign, Neg, Sub, SubAssign};
12
13#[cfg(feature = "zerocopy")]
14use zerocopy_derive::*;
15
16/// Creates a 3x3 matrix from three column vectors.
17#[inline(always)]
18#[must_use]
19pub const fn dmat3(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3) -> DMat3 {
20    DMat3::from_cols(x_axis, y_axis, z_axis)
21}
22
23/// A 3x3 column major matrix.
24///
25/// This 3x3 matrix type features convenience methods for creating and using linear and
26/// affine transformations. If you are primarily dealing with 2D affine transformations the
27/// [`DAffine2`](crate::DAffine2) type is much faster and more space efficient than
28/// using a 3x3 matrix.
29///
30/// Linear transformations including 3D rotation and scale can be created using methods
31/// such as [`Self::from_diagonal()`], [`Self::from_quat()`], [`Self::from_axis_angle()`],
32/// [`Self::from_rotation_x()`], [`Self::from_rotation_y()`], or
33/// [`Self::from_rotation_z()`].
34///
35/// The resulting matrices can be use to transform 3D vectors using regular vector
36/// multiplication.
37///
38/// Affine transformations including 2D translation, rotation and scale can be created
39/// using methods such as [`Self::from_translation()`], [`Self::from_angle()`],
40/// [`Self::from_scale()`] and [`Self::from_scale_angle_translation()`].
41///
42/// The [`Self::transform_point2()`] and [`Self::transform_vector2()`] convenience methods
43/// are provided for performing affine transforms on 2D vectors and points. These multiply
44/// 2D inputs as 3D vectors with an implicit `z` value of `1` for points and `0` for
45/// vectors respectively. These methods assume that `Self` contains a valid affine
46/// transform.
47#[derive(Clone, Copy)]
48#[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
49#[cfg_attr(
50    feature = "zerocopy",
51    derive(FromBytes, Immutable, IntoBytes, KnownLayout)
52)]
53#[repr(C)]
54pub struct DMat3 {
55    pub x_axis: DVec3,
56    pub y_axis: DVec3,
57    pub z_axis: DVec3,
58}
59
60impl DMat3 {
61    /// A 3x3 matrix with all elements set to `0.0`.
62    pub const ZERO: Self = Self::from_cols(DVec3::ZERO, DVec3::ZERO, DVec3::ZERO);
63
64    /// A 3x3 identity matrix, where all diagonal elements are `1`, and all off-diagonal elements are `0`.
65    pub const IDENTITY: Self = Self::from_cols(DVec3::X, DVec3::Y, DVec3::Z);
66
67    /// All NAN:s.
68    pub const NAN: Self = Self::from_cols(DVec3::NAN, DVec3::NAN, DVec3::NAN);
69
70    #[allow(clippy::too_many_arguments)]
71    #[inline(always)]
72    #[must_use]
73    const fn new(
74        m00: f64,
75        m01: f64,
76        m02: f64,
77        m10: f64,
78        m11: f64,
79        m12: f64,
80        m20: f64,
81        m21: f64,
82        m22: f64,
83    ) -> Self {
84        Self {
85            x_axis: DVec3::new(m00, m01, m02),
86            y_axis: DVec3::new(m10, m11, m12),
87            z_axis: DVec3::new(m20, m21, m22),
88        }
89    }
90
91    /// Creates a 3x3 matrix from three column vectors.
92    #[inline(always)]
93    #[must_use]
94    pub const fn from_cols(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3) -> Self {
95        Self {
96            x_axis,
97            y_axis,
98            z_axis,
99        }
100    }
101
102    /// Creates a 3x3 matrix from a `[f64; 9]` array stored in column major order.
103    /// If your data is stored in row major you will need to `transpose` the returned
104    /// matrix.
105    #[inline]
106    #[must_use]
107    pub const fn from_cols_array(m: &[f64; 9]) -> Self {
108        Self::new(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8])
109    }
110
111    /// Creates a `[f64; 9]` array storing data in column major order.
112    /// If you require data in row major order `transpose` the matrix first.
113    #[inline]
114    #[must_use]
115    pub const fn to_cols_array(&self) -> [f64; 9] {
116        [
117            self.x_axis.x,
118            self.x_axis.y,
119            self.x_axis.z,
120            self.y_axis.x,
121            self.y_axis.y,
122            self.y_axis.z,
123            self.z_axis.x,
124            self.z_axis.y,
125            self.z_axis.z,
126        ]
127    }
128
129    /// Creates a 3x3 matrix from a `[[f64; 3]; 3]` 3D array stored in column major order.
130    /// If your data is in row major order you will need to `transpose` the returned
131    /// matrix.
132    #[inline]
133    #[must_use]
134    pub const fn from_cols_array_2d(m: &[[f64; 3]; 3]) -> Self {
135        Self::from_cols(
136            DVec3::from_array(m[0]),
137            DVec3::from_array(m[1]),
138            DVec3::from_array(m[2]),
139        )
140    }
141
142    /// Creates a `[[f64; 3]; 3]` 3D array storing data in column major order.
143    /// If you require data in row major order `transpose` the matrix first.
144    #[inline]
145    #[must_use]
146    pub const fn to_cols_array_2d(&self) -> [[f64; 3]; 3] {
147        [
148            self.x_axis.to_array(),
149            self.y_axis.to_array(),
150            self.z_axis.to_array(),
151        ]
152    }
153
154    /// Creates a 3x3 matrix with its diagonal set to `diagonal` and all other entries set to 0.
155    #[doc(alias = "scale")]
156    #[inline]
157    #[must_use]
158    pub const fn from_diagonal(diagonal: DVec3) -> Self {
159        Self::new(
160            diagonal.x, 0.0, 0.0, 0.0, diagonal.y, 0.0, 0.0, 0.0, diagonal.z,
161        )
162    }
163
164    /// Creates a 3x3 matrix from a 4x4 matrix, discarding the 4th row and column.
165    #[inline]
166    #[must_use]
167    pub fn from_mat4(m: DMat4) -> Self {
168        Self::from_cols(
169            DVec3::from_vec4(m.x_axis),
170            DVec3::from_vec4(m.y_axis),
171            DVec3::from_vec4(m.z_axis),
172        )
173    }
174
175    /// Creates a 3x3 matrix from the minor of the given 4x4 matrix, discarding the `i`th column
176    /// and `j`th row.
177    ///
178    /// # Panics
179    ///
180    /// Panics if `i` or `j` is greater than 3.
181    #[inline]
182    #[must_use]
183    pub fn from_mat4_minor(m: DMat4, i: usize, j: usize) -> Self {
184        match (i, j) {
185            (0, 0) => Self::from_cols(m.y_axis.yzw(), m.z_axis.yzw(), m.w_axis.yzw()),
186            (0, 1) => Self::from_cols(m.y_axis.xzw(), m.z_axis.xzw(), m.w_axis.xzw()),
187            (0, 2) => Self::from_cols(m.y_axis.xyw(), m.z_axis.xyw(), m.w_axis.xyw()),
188            (0, 3) => Self::from_cols(m.y_axis.xyz(), m.z_axis.xyz(), m.w_axis.xyz()),
189            (1, 0) => Self::from_cols(m.x_axis.yzw(), m.z_axis.yzw(), m.w_axis.yzw()),
190            (1, 1) => Self::from_cols(m.x_axis.xzw(), m.z_axis.xzw(), m.w_axis.xzw()),
191            (1, 2) => Self::from_cols(m.x_axis.xyw(), m.z_axis.xyw(), m.w_axis.xyw()),
192            (1, 3) => Self::from_cols(m.x_axis.xyz(), m.z_axis.xyz(), m.w_axis.xyz()),
193            (2, 0) => Self::from_cols(m.x_axis.yzw(), m.y_axis.yzw(), m.w_axis.yzw()),
194            (2, 1) => Self::from_cols(m.x_axis.xzw(), m.y_axis.xzw(), m.w_axis.xzw()),
195            (2, 2) => Self::from_cols(m.x_axis.xyw(), m.y_axis.xyw(), m.w_axis.xyw()),
196            (2, 3) => Self::from_cols(m.x_axis.xyz(), m.y_axis.xyz(), m.w_axis.xyz()),
197            (3, 0) => Self::from_cols(m.x_axis.yzw(), m.y_axis.yzw(), m.z_axis.yzw()),
198            (3, 1) => Self::from_cols(m.x_axis.xzw(), m.y_axis.xzw(), m.z_axis.xzw()),
199            (3, 2) => Self::from_cols(m.x_axis.xyw(), m.y_axis.xyw(), m.z_axis.xyw()),
200            (3, 3) => Self::from_cols(m.x_axis.xyz(), m.y_axis.xyz(), m.z_axis.xyz()),
201            _ => panic!("index out of bounds"),
202        }
203    }
204
205    /// Creates a 3D rotation matrix from the given quaternion.
206    ///
207    /// # Panics
208    ///
209    /// Will panic if `rotation` is not normalized when `glam_assert` is enabled.
210    #[inline]
211    #[must_use]
212    pub fn from_quat(rotation: DQuat) -> Self {
213        glam_assert!(rotation.is_normalized());
214
215        let x2 = rotation.x + rotation.x;
216        let y2 = rotation.y + rotation.y;
217        let z2 = rotation.z + rotation.z;
218        let xx = rotation.x * x2;
219        let xy = rotation.x * y2;
220        let xz = rotation.x * z2;
221        let yy = rotation.y * y2;
222        let yz = rotation.y * z2;
223        let zz = rotation.z * z2;
224        let wx = rotation.w * x2;
225        let wy = rotation.w * y2;
226        let wz = rotation.w * z2;
227
228        Self::from_cols(
229            DVec3::new(1.0 - (yy + zz), xy + wz, xz - wy),
230            DVec3::new(xy - wz, 1.0 - (xx + zz), yz + wx),
231            DVec3::new(xz + wy, yz - wx, 1.0 - (xx + yy)),
232        )
233    }
234
235    /// Creates a 3D rotation matrix from a normalized rotation `axis` and `angle` (in
236    /// radians).
237    ///
238    /// # Panics
239    ///
240    /// Will panic if `axis` is not normalized when `glam_assert` is enabled.
241    #[inline]
242    #[must_use]
243    pub fn from_axis_angle(axis: DVec3, angle: f64) -> Self {
244        glam_assert!(axis.is_normalized());
245
246        let (sin, cos) = math::sin_cos(angle);
247        let (xsin, ysin, zsin) = axis.mul(sin).into();
248        let (x, y, z) = axis.into();
249        let (x2, y2, z2) = axis.mul(axis).into();
250        let omc = 1.0 - cos;
251        let xyomc = x * y * omc;
252        let xzomc = x * z * omc;
253        let yzomc = y * z * omc;
254        Self::from_cols(
255            DVec3::new(x2 * omc + cos, xyomc + zsin, xzomc - ysin),
256            DVec3::new(xyomc - zsin, y2 * omc + cos, yzomc + xsin),
257            DVec3::new(xzomc + ysin, yzomc - xsin, z2 * omc + cos),
258        )
259    }
260
261    /// Creates a 3D rotation matrix from the given euler rotation sequence and the angles (in
262    /// radians).
263    #[inline]
264    #[must_use]
265    pub fn from_euler(order: EulerRot, a: f64, b: f64, c: f64) -> Self {
266        Self::from_euler_angles(order, a, b, c)
267    }
268
269    /// Extract Euler angles with the given Euler rotation order.
270    ///
271    /// Note if the input matrix contains scales, shears, or other non-rotation transformations then
272    /// the resulting Euler angles will be ill-defined.
273    ///
274    /// # Panics
275    ///
276    /// Will panic if any input matrix column is not normalized when `glam_assert` is enabled.
277    #[inline]
278    #[must_use]
279    pub fn to_euler(&self, order: EulerRot) -> (f64, f64, f64) {
280        glam_assert!(
281            self.x_axis.is_normalized()
282                && self.y_axis.is_normalized()
283                && self.z_axis.is_normalized()
284        );
285        self.to_euler_angles(order)
286    }
287
288    /// Creates a 3D rotation matrix from `angle` (in radians) around the x axis.
289    #[inline]
290    #[must_use]
291    pub fn from_rotation_x(angle: f64) -> Self {
292        let (sina, cosa) = math::sin_cos(angle);
293        Self::from_cols(
294            DVec3::X,
295            DVec3::new(0.0, cosa, sina),
296            DVec3::new(0.0, -sina, cosa),
297        )
298    }
299
300    /// Creates a 3D rotation matrix from `angle` (in radians) around the y axis.
301    #[inline]
302    #[must_use]
303    pub fn from_rotation_y(angle: f64) -> Self {
304        let (sina, cosa) = math::sin_cos(angle);
305        Self::from_cols(
306            DVec3::new(cosa, 0.0, -sina),
307            DVec3::Y,
308            DVec3::new(sina, 0.0, cosa),
309        )
310    }
311
312    /// Creates a 3D rotation matrix from `angle` (in radians) around the z axis.
313    #[inline]
314    #[must_use]
315    pub fn from_rotation_z(angle: f64) -> Self {
316        let (sina, cosa) = math::sin_cos(angle);
317        Self::from_cols(
318            DVec3::new(cosa, sina, 0.0),
319            DVec3::new(-sina, cosa, 0.0),
320            DVec3::Z,
321        )
322    }
323
324    /// Creates an affine transformation matrix from the given 2D `translation`.
325    ///
326    /// The resulting matrix can be used to transform 2D points and vectors. See
327    /// [`Self::transform_point2()`] and [`Self::transform_vector2()`].
328    #[inline]
329    #[must_use]
330    pub fn from_translation(translation: DVec2) -> Self {
331        Self::from_cols(
332            DVec3::X,
333            DVec3::Y,
334            DVec3::new(translation.x, translation.y, 1.0),
335        )
336    }
337
338    /// Creates an affine transformation matrix from the given 2D rotation `angle` (in
339    /// radians).
340    ///
341    /// The resulting matrix can be used to transform 2D points and vectors. See
342    /// [`Self::transform_point2()`] and [`Self::transform_vector2()`].
343    #[inline]
344    #[must_use]
345    pub fn from_angle(angle: f64) -> Self {
346        let (sin, cos) = math::sin_cos(angle);
347        Self::from_cols(
348            DVec3::new(cos, sin, 0.0),
349            DVec3::new(-sin, cos, 0.0),
350            DVec3::Z,
351        )
352    }
353
354    /// Creates an affine transformation matrix from the given 2D `scale`, rotation `angle` (in
355    /// radians) and `translation`.
356    ///
357    /// The resulting matrix can be used to transform 2D points and vectors. See
358    /// [`Self::transform_point2()`] and [`Self::transform_vector2()`].
359    #[inline]
360    #[must_use]
361    pub fn from_scale_angle_translation(scale: DVec2, angle: f64, translation: DVec2) -> Self {
362        let (sin, cos) = math::sin_cos(angle);
363        Self::from_cols(
364            DVec3::new(cos * scale.x, sin * scale.x, 0.0),
365            DVec3::new(-sin * scale.y, cos * scale.y, 0.0),
366            DVec3::new(translation.x, translation.y, 1.0),
367        )
368    }
369
370    /// Creates an affine transformation matrix from the given non-uniform 2D `scale`.
371    ///
372    /// The resulting matrix can be used to transform 2D points and vectors. See
373    /// [`Self::transform_point2()`] and [`Self::transform_vector2()`].
374    ///
375    /// # Panics
376    ///
377    /// Will panic if all elements of `scale` are zero when `glam_assert` is enabled.
378    #[inline]
379    #[must_use]
380    pub fn from_scale(scale: DVec2) -> Self {
381        // Do not panic as long as any component is non-zero
382        glam_assert!(scale.cmpne(DVec2::ZERO).any());
383
384        Self::from_cols(
385            DVec3::new(scale.x, 0.0, 0.0),
386            DVec3::new(0.0, scale.y, 0.0),
387            DVec3::Z,
388        )
389    }
390
391    /// Creates an affine transformation matrix from the given 2x2 matrix.
392    ///
393    /// The resulting matrix can be used to transform 2D points and vectors. See
394    /// [`Self::transform_point2()`] and [`Self::transform_vector2()`].
395    #[inline]
396    pub fn from_mat2(m: DMat2) -> Self {
397        Self::from_cols((m.x_axis, 0.0).into(), (m.y_axis, 0.0).into(), DVec3::Z)
398    }
399
400    /// Creates a 3x3 matrix from the first 9 values in `slice`.
401    ///
402    /// # Panics
403    ///
404    /// Panics if `slice` is less than 9 elements long.
405    #[inline]
406    #[must_use]
407    pub const fn from_cols_slice(slice: &[f64]) -> Self {
408        Self::new(
409            slice[0], slice[1], slice[2], slice[3], slice[4], slice[5], slice[6], slice[7],
410            slice[8],
411        )
412    }
413
414    /// Writes the columns of `self` to the first 9 elements in `slice`.
415    ///
416    /// # Panics
417    ///
418    /// Panics if `slice` is less than 9 elements long.
419    #[inline]
420    pub fn write_cols_to_slice(&self, slice: &mut [f64]) {
421        slice[0] = self.x_axis.x;
422        slice[1] = self.x_axis.y;
423        slice[2] = self.x_axis.z;
424        slice[3] = self.y_axis.x;
425        slice[4] = self.y_axis.y;
426        slice[5] = self.y_axis.z;
427        slice[6] = self.z_axis.x;
428        slice[7] = self.z_axis.y;
429        slice[8] = self.z_axis.z;
430    }
431
432    /// Returns the matrix column for the given `index`.
433    ///
434    /// # Panics
435    ///
436    /// Panics if `index` is greater than 2.
437    #[inline]
438    #[must_use]
439    pub fn col(&self, index: usize) -> DVec3 {
440        match index {
441            0 => self.x_axis,
442            1 => self.y_axis,
443            2 => self.z_axis,
444            _ => panic!("index out of bounds"),
445        }
446    }
447
448    /// Returns a mutable reference to the matrix column for the given `index`.
449    ///
450    /// # Panics
451    ///
452    /// Panics if `index` is greater than 2.
453    #[inline]
454    pub fn col_mut(&mut self, index: usize) -> &mut DVec3 {
455        match index {
456            0 => &mut self.x_axis,
457            1 => &mut self.y_axis,
458            2 => &mut self.z_axis,
459            _ => panic!("index out of bounds"),
460        }
461    }
462
463    /// Returns the matrix row for the given `index`.
464    ///
465    /// # Panics
466    ///
467    /// Panics if `index` is greater than 2.
468    #[inline]
469    #[must_use]
470    pub fn row(&self, index: usize) -> DVec3 {
471        match index {
472            0 => DVec3::new(self.x_axis.x, self.y_axis.x, self.z_axis.x),
473            1 => DVec3::new(self.x_axis.y, self.y_axis.y, self.z_axis.y),
474            2 => DVec3::new(self.x_axis.z, self.y_axis.z, self.z_axis.z),
475            _ => panic!("index out of bounds"),
476        }
477    }
478
479    /// Returns `true` if, and only if, all elements are finite.
480    /// If any element is either `NaN`, positive or negative infinity, this will return `false`.
481    #[inline]
482    #[must_use]
483    pub fn is_finite(&self) -> bool {
484        self.x_axis.is_finite() && self.y_axis.is_finite() && self.z_axis.is_finite()
485    }
486
487    /// Returns `true` if any elements are `NaN`.
488    #[inline]
489    #[must_use]
490    pub fn is_nan(&self) -> bool {
491        self.x_axis.is_nan() || self.y_axis.is_nan() || self.z_axis.is_nan()
492    }
493
494    /// Returns the transpose of `self`.
495    #[inline]
496    #[must_use]
497    pub fn transpose(&self) -> Self {
498        Self {
499            x_axis: DVec3::new(self.x_axis.x, self.y_axis.x, self.z_axis.x),
500            y_axis: DVec3::new(self.x_axis.y, self.y_axis.y, self.z_axis.y),
501            z_axis: DVec3::new(self.x_axis.z, self.y_axis.z, self.z_axis.z),
502        }
503    }
504
505    /// Returns the diagonal of `self`.
506    #[inline]
507    #[must_use]
508    pub fn diagonal(&self) -> DVec3 {
509        DVec3::new(self.x_axis.x, self.y_axis.y, self.z_axis.z)
510    }
511
512    /// Returns the determinant of `self`.
513    #[inline]
514    #[must_use]
515    pub fn determinant(&self) -> f64 {
516        self.z_axis.dot(self.x_axis.cross(self.y_axis))
517    }
518
519    /// If `CHECKED` is true then if the determinant is zero this function will return a tuple
520    /// containing a zero matrix and false. If the determinant is non zero a tuple containing the
521    /// inverted matrix and true is returned.
522    ///
523    /// If `CHECKED` is false then the determinant is not checked and if it is zero the resulting
524    /// inverted matrix will be invalid. Will panic if the determinant of `self` is zero when
525    /// `glam_assert` is enabled.
526    ///
527    /// A tuple containing the inverted matrix and a bool is used instead of an option here as
528    /// regular Rust enums put the discriminant first which can result in a lot of padding if the
529    /// matrix is aligned.
530    #[inline(always)]
531    #[must_use]
532    fn inverse_checked<const CHECKED: bool>(&self) -> (Self, bool) {
533        let tmp0 = self.y_axis.cross(self.z_axis);
534        let tmp1 = self.z_axis.cross(self.x_axis);
535        let tmp2 = self.x_axis.cross(self.y_axis);
536        let det = self.z_axis.dot(tmp2);
537        if CHECKED {
538            if det == 0.0 {
539                return (Self::ZERO, false);
540            }
541        } else {
542            glam_assert!(det != 0.0);
543        }
544        let inv_det = DVec3::splat(det.recip());
545        (
546            Self::from_cols(tmp0.mul(inv_det), tmp1.mul(inv_det), tmp2.mul(inv_det)).transpose(),
547            true,
548        )
549    }
550
551    /// Returns the inverse of `self`.
552    ///
553    /// If the matrix is not invertible the returned matrix will be invalid.
554    ///
555    /// # Panics
556    ///
557    /// Will panic if the determinant of `self` is zero when `glam_assert` is enabled.
558    #[inline]
559    #[must_use]
560    pub fn inverse(&self) -> Self {
561        self.inverse_checked::<false>().0
562    }
563
564    /// Returns the inverse of `self` or `None` if the matrix is not invertible.
565    #[inline]
566    #[must_use]
567    pub fn try_inverse(&self) -> Option<Self> {
568        let (m, is_valid) = self.inverse_checked::<true>();
569        if is_valid {
570            Some(m)
571        } else {
572            None
573        }
574    }
575
576    /// Returns the inverse of `self` or `DMat3::ZERO` if the matrix is not invertible.
577    #[inline]
578    #[must_use]
579    pub fn inverse_or_zero(&self) -> Self {
580        self.inverse_checked::<true>().0
581    }
582
583    /// Transforms the given 2D vector as a point.
584    ///
585    /// This is the equivalent of multiplying `rhs` as a 3D vector where `z` is `1`.
586    ///
587    /// This method assumes that `self` contains a valid affine transform.
588    ///
589    /// # Panics
590    ///
591    /// Will panic if the 2nd row of `self` is not `(0, 0, 1)` when `glam_assert` is enabled.
592    #[inline]
593    #[must_use]
594    pub fn transform_point2(&self, rhs: DVec2) -> DVec2 {
595        glam_assert!(self.row(2).abs_diff_eq(DVec3::Z, 1e-6));
596        DMat2::from_cols(self.x_axis.xy(), self.y_axis.xy()) * rhs + self.z_axis.xy()
597    }
598
599    /// Rotates the given 2D vector.
600    ///
601    /// This is the equivalent of multiplying `rhs` as a 3D vector where `z` is `0`.
602    ///
603    /// This method assumes that `self` contains a valid affine transform.
604    ///
605    /// # Panics
606    ///
607    /// Will panic if the 2nd row of `self` is not `(0, 0, 1)` when `glam_assert` is enabled.
608    #[inline]
609    #[must_use]
610    pub fn transform_vector2(&self, rhs: DVec2) -> DVec2 {
611        glam_assert!(self.row(2).abs_diff_eq(DVec3::Z, 1e-6));
612        DMat2::from_cols(self.x_axis.xy(), self.y_axis.xy()) * rhs
613    }
614
615    /// Creates a left-handed view matrix using a facing direction and an up direction.
616    ///
617    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
618    ///
619    /// # Panics
620    ///
621    /// Will panic if `dir` or `up` are not normalized when `glam_assert` is enabled.
622    #[inline]
623    #[must_use]
624    pub fn look_to_lh(dir: DVec3, up: DVec3) -> Self {
625        Self::look_to_rh(-dir, up)
626    }
627
628    /// Creates a right-handed view matrix using a facing direction and an up direction.
629    ///
630    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
631    ///
632    /// # Panics
633    ///
634    /// Will panic if `dir` or `up` are not normalized when `glam_assert` is enabled.
635    #[inline]
636    #[must_use]
637    pub fn look_to_rh(dir: DVec3, up: DVec3) -> Self {
638        glam_assert!(dir.is_normalized());
639        glam_assert!(up.is_normalized());
640        let f = dir;
641        let s = f.cross(up).normalize();
642        let u = s.cross(f);
643
644        Self::from_cols(
645            DVec3::new(s.x, u.x, -f.x),
646            DVec3::new(s.y, u.y, -f.y),
647            DVec3::new(s.z, u.z, -f.z),
648        )
649    }
650
651    /// Creates a left-handed view matrix using a camera position, a focal point and an up
652    /// direction.
653    ///
654    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
655    ///
656    /// # Panics
657    ///
658    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
659    #[inline]
660    #[must_use]
661    pub fn look_at_lh(eye: DVec3, center: DVec3, up: DVec3) -> Self {
662        Self::look_to_lh(center.sub(eye).normalize(), up)
663    }
664
665    /// Creates a right-handed view matrix using a camera position, a focal point and an up
666    /// direction.
667    ///
668    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
669    ///
670    /// # Panics
671    ///
672    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
673    #[inline]
674    pub fn look_at_rh(eye: DVec3, center: DVec3, up: DVec3) -> Self {
675        Self::look_to_rh(center.sub(eye).normalize(), up)
676    }
677
678    /// Transforms a 3D vector.
679    #[inline]
680    #[must_use]
681    pub fn mul_vec3(&self, rhs: DVec3) -> DVec3 {
682        let mut res = self.x_axis.mul(rhs.x);
683        res = res.add(self.y_axis.mul(rhs.y));
684        res = res.add(self.z_axis.mul(rhs.z));
685        res
686    }
687
688    /// Transforms a 3D vector by the transpose of `self`.
689    #[inline]
690    #[must_use]
691    pub fn mul_transpose_vec3(&self, rhs: DVec3) -> DVec3 {
692        DVec3::new(
693            self.x_axis.dot(rhs),
694            self.y_axis.dot(rhs),
695            self.z_axis.dot(rhs),
696        )
697    }
698
699    /// Multiplies two 3x3 matrices.
700    #[inline]
701    #[must_use]
702    pub fn mul_mat3(&self, rhs: &Self) -> Self {
703        self.mul(rhs)
704    }
705
706    /// Adds two 3x3 matrices.
707    #[inline]
708    #[must_use]
709    pub fn add_mat3(&self, rhs: &Self) -> Self {
710        self.add(rhs)
711    }
712
713    /// Subtracts two 3x3 matrices.
714    #[inline]
715    #[must_use]
716    pub fn sub_mat3(&self, rhs: &Self) -> Self {
717        self.sub(rhs)
718    }
719
720    /// Multiplies a 3x3 matrix by a scalar.
721    #[inline]
722    #[must_use]
723    pub fn mul_scalar(&self, rhs: f64) -> Self {
724        Self::from_cols(
725            self.x_axis.mul(rhs),
726            self.y_axis.mul(rhs),
727            self.z_axis.mul(rhs),
728        )
729    }
730
731    /// Multiply `self` by a scaling vector `scale`.
732    /// This is faster than creating a whole diagonal scaling matrix and then multiplying that.
733    /// This operation is commutative.
734    #[inline]
735    #[must_use]
736    pub fn mul_diagonal_scale(&self, scale: DVec3) -> Self {
737        Self::from_cols(
738            self.x_axis * scale.x,
739            self.y_axis * scale.y,
740            self.z_axis * scale.z,
741        )
742    }
743
744    /// Divides a 3x3 matrix by a scalar.
745    #[inline]
746    #[must_use]
747    pub fn div_scalar(&self, rhs: f64) -> Self {
748        let rhs = DVec3::splat(rhs);
749        Self::from_cols(
750            self.x_axis.div(rhs),
751            self.y_axis.div(rhs),
752            self.z_axis.div(rhs),
753        )
754    }
755
756    /// Returns a matrix containing the reciprocal `1.0/n` of each element of `self`.
757    #[inline]
758    #[must_use]
759    pub fn recip(&self) -> Self {
760        Self::from_cols(
761            self.x_axis.recip(),
762            self.y_axis.recip(),
763            self.z_axis.recip(),
764        )
765    }
766
767    /// Returns true if the absolute difference of all elements between `self` and `rhs`
768    /// is less than or equal to `max_abs_diff`.
769    ///
770    /// This can be used to compare if two matrices contain similar elements. It works best
771    /// when comparing with a known value. The `max_abs_diff` that should be used used
772    /// depends on the values being compared against.
773    ///
774    /// For more see
775    /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
776    #[inline]
777    #[must_use]
778    pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f64) -> bool {
779        self.x_axis.abs_diff_eq(rhs.x_axis, max_abs_diff)
780            && self.y_axis.abs_diff_eq(rhs.y_axis, max_abs_diff)
781            && self.z_axis.abs_diff_eq(rhs.z_axis, max_abs_diff)
782    }
783
784    /// Takes the absolute value of each element in `self`
785    #[inline]
786    #[must_use]
787    pub fn abs(&self) -> Self {
788        Self::from_cols(self.x_axis.abs(), self.y_axis.abs(), self.z_axis.abs())
789    }
790
791    #[inline]
792    pub fn as_mat3(&self) -> Mat3 {
793        Mat3::from_cols(
794            self.x_axis.as_vec3(),
795            self.y_axis.as_vec3(),
796            self.z_axis.as_vec3(),
797        )
798    }
799}
800
801impl Default for DMat3 {
802    #[inline]
803    fn default() -> Self {
804        Self::IDENTITY
805    }
806}
807
808impl Add for DMat3 {
809    type Output = Self;
810    #[inline]
811    fn add(self, rhs: Self) -> Self {
812        Self::from_cols(
813            self.x_axis.add(rhs.x_axis),
814            self.y_axis.add(rhs.y_axis),
815            self.z_axis.add(rhs.z_axis),
816        )
817    }
818}
819
820impl Add<&Self> for DMat3 {
821    type Output = Self;
822    #[inline]
823    fn add(self, rhs: &Self) -> Self {
824        self.add(*rhs)
825    }
826}
827
828impl Add<&DMat3> for &DMat3 {
829    type Output = DMat3;
830    #[inline]
831    fn add(self, rhs: &DMat3) -> DMat3 {
832        (*self).add(*rhs)
833    }
834}
835
836impl Add<DMat3> for &DMat3 {
837    type Output = DMat3;
838    #[inline]
839    fn add(self, rhs: DMat3) -> DMat3 {
840        (*self).add(rhs)
841    }
842}
843
844impl AddAssign for DMat3 {
845    #[inline]
846    fn add_assign(&mut self, rhs: Self) {
847        *self = self.add(rhs);
848    }
849}
850
851impl AddAssign<&Self> for DMat3 {
852    #[inline]
853    fn add_assign(&mut self, rhs: &Self) {
854        self.add_assign(*rhs);
855    }
856}
857
858impl Sub for DMat3 {
859    type Output = Self;
860    #[inline]
861    fn sub(self, rhs: Self) -> Self {
862        Self::from_cols(
863            self.x_axis.sub(rhs.x_axis),
864            self.y_axis.sub(rhs.y_axis),
865            self.z_axis.sub(rhs.z_axis),
866        )
867    }
868}
869
870impl Sub<&Self> for DMat3 {
871    type Output = Self;
872    #[inline]
873    fn sub(self, rhs: &Self) -> Self {
874        self.sub(*rhs)
875    }
876}
877
878impl Sub<&DMat3> for &DMat3 {
879    type Output = DMat3;
880    #[inline]
881    fn sub(self, rhs: &DMat3) -> DMat3 {
882        (*self).sub(*rhs)
883    }
884}
885
886impl Sub<DMat3> for &DMat3 {
887    type Output = DMat3;
888    #[inline]
889    fn sub(self, rhs: DMat3) -> DMat3 {
890        (*self).sub(rhs)
891    }
892}
893
894impl SubAssign for DMat3 {
895    #[inline]
896    fn sub_assign(&mut self, rhs: Self) {
897        *self = self.sub(rhs);
898    }
899}
900
901impl SubAssign<&Self> for DMat3 {
902    #[inline]
903    fn sub_assign(&mut self, rhs: &Self) {
904        self.sub_assign(*rhs);
905    }
906}
907
908impl Neg for DMat3 {
909    type Output = Self;
910    #[inline]
911    fn neg(self) -> Self::Output {
912        Self::from_cols(self.x_axis.neg(), self.y_axis.neg(), self.z_axis.neg())
913    }
914}
915
916impl Neg for &DMat3 {
917    type Output = DMat3;
918    #[inline]
919    fn neg(self) -> DMat3 {
920        (*self).neg()
921    }
922}
923
924impl Mul for DMat3 {
925    type Output = Self;
926    #[inline]
927    fn mul(self, rhs: Self) -> Self {
928        Self::from_cols(
929            self.mul(rhs.x_axis),
930            self.mul(rhs.y_axis),
931            self.mul(rhs.z_axis),
932        )
933    }
934}
935
936impl Mul<&Self> for DMat3 {
937    type Output = Self;
938    #[inline]
939    fn mul(self, rhs: &Self) -> Self {
940        self.mul(*rhs)
941    }
942}
943
944impl Mul<&DMat3> for &DMat3 {
945    type Output = DMat3;
946    #[inline]
947    fn mul(self, rhs: &DMat3) -> DMat3 {
948        (*self).mul(*rhs)
949    }
950}
951
952impl Mul<DMat3> for &DMat3 {
953    type Output = DMat3;
954    #[inline]
955    fn mul(self, rhs: DMat3) -> DMat3 {
956        (*self).mul(rhs)
957    }
958}
959
960impl MulAssign for DMat3 {
961    #[inline]
962    fn mul_assign(&mut self, rhs: Self) {
963        *self = self.mul(rhs);
964    }
965}
966
967impl MulAssign<&Self> for DMat3 {
968    #[inline]
969    fn mul_assign(&mut self, rhs: &Self) {
970        self.mul_assign(*rhs);
971    }
972}
973
974impl Mul<DVec3> for DMat3 {
975    type Output = DVec3;
976    #[inline]
977    fn mul(self, rhs: DVec3) -> Self::Output {
978        self.mul_vec3(rhs)
979    }
980}
981
982impl Mul<&DVec3> for DMat3 {
983    type Output = DVec3;
984    #[inline]
985    fn mul(self, rhs: &DVec3) -> DVec3 {
986        self.mul(*rhs)
987    }
988}
989
990impl Mul<&DVec3> for &DMat3 {
991    type Output = DVec3;
992    #[inline]
993    fn mul(self, rhs: &DVec3) -> DVec3 {
994        (*self).mul(*rhs)
995    }
996}
997
998impl Mul<DVec3> for &DMat3 {
999    type Output = DVec3;
1000    #[inline]
1001    fn mul(self, rhs: DVec3) -> DVec3 {
1002        (*self).mul(rhs)
1003    }
1004}
1005
1006impl Mul<DMat3> for f64 {
1007    type Output = DMat3;
1008    #[inline]
1009    fn mul(self, rhs: DMat3) -> Self::Output {
1010        rhs.mul_scalar(self)
1011    }
1012}
1013
1014impl Mul<&DMat3> for f64 {
1015    type Output = DMat3;
1016    #[inline]
1017    fn mul(self, rhs: &DMat3) -> DMat3 {
1018        self.mul(*rhs)
1019    }
1020}
1021
1022impl Mul<&DMat3> for &f64 {
1023    type Output = DMat3;
1024    #[inline]
1025    fn mul(self, rhs: &DMat3) -> DMat3 {
1026        (*self).mul(*rhs)
1027    }
1028}
1029
1030impl Mul<DMat3> for &f64 {
1031    type Output = DMat3;
1032    #[inline]
1033    fn mul(self, rhs: DMat3) -> DMat3 {
1034        (*self).mul(rhs)
1035    }
1036}
1037
1038impl Mul<f64> for DMat3 {
1039    type Output = Self;
1040    #[inline]
1041    fn mul(self, rhs: f64) -> Self {
1042        self.mul_scalar(rhs)
1043    }
1044}
1045
1046impl Mul<&f64> for DMat3 {
1047    type Output = Self;
1048    #[inline]
1049    fn mul(self, rhs: &f64) -> Self {
1050        self.mul(*rhs)
1051    }
1052}
1053
1054impl Mul<&f64> for &DMat3 {
1055    type Output = DMat3;
1056    #[inline]
1057    fn mul(self, rhs: &f64) -> DMat3 {
1058        (*self).mul(*rhs)
1059    }
1060}
1061
1062impl Mul<f64> for &DMat3 {
1063    type Output = DMat3;
1064    #[inline]
1065    fn mul(self, rhs: f64) -> DMat3 {
1066        (*self).mul(rhs)
1067    }
1068}
1069
1070impl MulAssign<f64> for DMat3 {
1071    #[inline]
1072    fn mul_assign(&mut self, rhs: f64) {
1073        *self = self.mul(rhs);
1074    }
1075}
1076
1077impl MulAssign<&f64> for DMat3 {
1078    #[inline]
1079    fn mul_assign(&mut self, rhs: &f64) {
1080        self.mul_assign(*rhs);
1081    }
1082}
1083
1084impl Div<DMat3> for f64 {
1085    type Output = DMat3;
1086    #[inline]
1087    fn div(self, rhs: DMat3) -> Self::Output {
1088        DMat3::from_cols(
1089            self.div(rhs.x_axis),
1090            self.div(rhs.y_axis),
1091            self.div(rhs.z_axis),
1092        )
1093    }
1094}
1095
1096impl Div<&DMat3> for f64 {
1097    type Output = DMat3;
1098    #[inline]
1099    fn div(self, rhs: &DMat3) -> DMat3 {
1100        self.div(*rhs)
1101    }
1102}
1103
1104impl Div<&DMat3> for &f64 {
1105    type Output = DMat3;
1106    #[inline]
1107    fn div(self, rhs: &DMat3) -> DMat3 {
1108        (*self).div(*rhs)
1109    }
1110}
1111
1112impl Div<DMat3> for &f64 {
1113    type Output = DMat3;
1114    #[inline]
1115    fn div(self, rhs: DMat3) -> DMat3 {
1116        (*self).div(rhs)
1117    }
1118}
1119
1120impl Div<f64> for DMat3 {
1121    type Output = Self;
1122    #[inline]
1123    fn div(self, rhs: f64) -> Self {
1124        self.div_scalar(rhs)
1125    }
1126}
1127
1128impl Div<&f64> for DMat3 {
1129    type Output = Self;
1130    #[inline]
1131    fn div(self, rhs: &f64) -> Self {
1132        self.div(*rhs)
1133    }
1134}
1135
1136impl Div<&f64> for &DMat3 {
1137    type Output = DMat3;
1138    #[inline]
1139    fn div(self, rhs: &f64) -> DMat3 {
1140        (*self).div(*rhs)
1141    }
1142}
1143
1144impl Div<f64> for &DMat3 {
1145    type Output = DMat3;
1146    #[inline]
1147    fn div(self, rhs: f64) -> DMat3 {
1148        (*self).div(rhs)
1149    }
1150}
1151
1152impl DivAssign<f64> for DMat3 {
1153    #[inline]
1154    fn div_assign(&mut self, rhs: f64) {
1155        *self = self.div(rhs);
1156    }
1157}
1158
1159impl DivAssign<&f64> for DMat3 {
1160    #[inline]
1161    fn div_assign(&mut self, rhs: &f64) {
1162        self.div_assign(*rhs);
1163    }
1164}
1165
1166impl Sum<Self> for DMat3 {
1167    fn sum<I>(iter: I) -> Self
1168    where
1169        I: Iterator<Item = Self>,
1170    {
1171        iter.fold(Self::ZERO, Self::add)
1172    }
1173}
1174
1175impl<'a> Sum<&'a Self> for DMat3 {
1176    fn sum<I>(iter: I) -> Self
1177    where
1178        I: Iterator<Item = &'a Self>,
1179    {
1180        iter.fold(Self::ZERO, |a, &b| Self::add(a, b))
1181    }
1182}
1183
1184impl Product for DMat3 {
1185    fn product<I>(iter: I) -> Self
1186    where
1187        I: Iterator<Item = Self>,
1188    {
1189        iter.fold(Self::IDENTITY, Self::mul)
1190    }
1191}
1192
1193impl<'a> Product<&'a Self> for DMat3 {
1194    fn product<I>(iter: I) -> Self
1195    where
1196        I: Iterator<Item = &'a Self>,
1197    {
1198        iter.fold(Self::IDENTITY, |a, &b| Self::mul(a, b))
1199    }
1200}
1201
1202impl PartialEq for DMat3 {
1203    #[inline]
1204    fn eq(&self, rhs: &Self) -> bool {
1205        self.x_axis.eq(&rhs.x_axis) && self.y_axis.eq(&rhs.y_axis) && self.z_axis.eq(&rhs.z_axis)
1206    }
1207}
1208
1209impl AsRef<[f64; 9]> for DMat3 {
1210    #[inline]
1211    fn as_ref(&self) -> &[f64; 9] {
1212        unsafe { &*(self as *const Self as *const [f64; 9]) }
1213    }
1214}
1215
1216impl AsMut<[f64; 9]> for DMat3 {
1217    #[inline]
1218    fn as_mut(&mut self) -> &mut [f64; 9] {
1219        unsafe { &mut *(self as *mut Self as *mut [f64; 9]) }
1220    }
1221}
1222
1223impl fmt::Debug for DMat3 {
1224    fn fmt(&self, fmt: &mut fmt::Formatter<'_>) -> fmt::Result {
1225        fmt.debug_struct(stringify!(DMat3))
1226            .field("x_axis", &self.x_axis)
1227            .field("y_axis", &self.y_axis)
1228            .field("z_axis", &self.z_axis)
1229            .finish()
1230    }
1231}
1232
1233impl fmt::Display for DMat3 {
1234    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
1235        if let Some(p) = f.precision() {
1236            write!(
1237                f,
1238                "[{:.*}, {:.*}, {:.*}]",
1239                p, self.x_axis, p, self.y_axis, p, self.z_axis
1240            )
1241        } else {
1242            write!(f, "[{}, {}, {}]", self.x_axis, self.y_axis, self.z_axis)
1243        }
1244    }
1245}
glam/f64/dmat3.rs

glam/f64/
dmat3.rs
