glam/f64/
daffine3.rs

1// Generated from affine.rs.tera template. Edit the template, not the generated file.
2
3use crate::{DMat3, DMat4, DQuat, DVec3};
4use core::ops::{Deref, DerefMut, Mul, MulAssign};
5
6/// A 3D affine transform, which can represent translation, rotation, scaling and shear.
7#[derive(Copy, Clone)]
8#[repr(C)]
9pub struct DAffine3 {
10    pub matrix3: DMat3,
11    pub translation: DVec3,
12}
13
14impl DAffine3 {
15    /// The degenerate zero transform.
16    ///
17    /// This transforms any finite vector and point to zero.
18    /// The zero transform is non-invertible.
19    pub const ZERO: Self = Self {
20        matrix3: DMat3::ZERO,
21        translation: DVec3::ZERO,
22    };
23
24    /// The identity transform.
25    ///
26    /// Multiplying a vector with this returns the same vector.
27    pub const IDENTITY: Self = Self {
28        matrix3: DMat3::IDENTITY,
29        translation: DVec3::ZERO,
30    };
31
32    /// All NAN:s.
33    pub const NAN: Self = Self {
34        matrix3: DMat3::NAN,
35        translation: DVec3::NAN,
36    };
37
38    /// Creates an affine transform from three column vectors.
39    #[inline(always)]
40    #[must_use]
41    pub const fn from_cols(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3, w_axis: DVec3) -> Self {
42        Self {
43            matrix3: DMat3::from_cols(x_axis, y_axis, z_axis),
44            translation: w_axis,
45        }
46    }
47
48    /// Creates an affine transform from a `[f64; 12]` array stored in column major order.
49    #[inline]
50    #[must_use]
51    pub fn from_cols_array(m: &[f64; 12]) -> Self {
52        Self {
53            matrix3: DMat3::from_cols_array(&[
54                m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8],
55            ]),
56            translation: DVec3::from_array([m[9], m[10], m[11]]),
57        }
58    }
59
60    /// Creates a `[f64; 12]` array storing data in column major order.
61    #[inline]
62    #[must_use]
63    pub fn to_cols_array(&self) -> [f64; 12] {
64        let x = &self.matrix3.x_axis;
65        let y = &self.matrix3.y_axis;
66        let z = &self.matrix3.z_axis;
67        let w = &self.translation;
68        [x.x, x.y, x.z, y.x, y.y, y.z, z.x, z.y, z.z, w.x, w.y, w.z]
69    }
70
71    /// Creates an affine transform from a `[[f64; 3]; 4]`
72    /// 3D array stored in column major order.
73    /// If your data is in row major order you will need to `transpose` the returned
74    /// matrix.
75    #[inline]
76    #[must_use]
77    pub fn from_cols_array_2d(m: &[[f64; 3]; 4]) -> Self {
78        Self {
79            matrix3: DMat3::from_cols(m[0].into(), m[1].into(), m[2].into()),
80            translation: m[3].into(),
81        }
82    }
83
84    /// Creates a `[[f64; 3]; 4]` 3D array storing data in
85    /// column major order.
86    /// If you require data in row major order `transpose` the matrix first.
87    #[inline]
88    #[must_use]
89    pub fn to_cols_array_2d(&self) -> [[f64; 3]; 4] {
90        [
91            self.matrix3.x_axis.into(),
92            self.matrix3.y_axis.into(),
93            self.matrix3.z_axis.into(),
94            self.translation.into(),
95        ]
96    }
97
98    /// Creates an affine transform from the first 12 values in `slice`.
99    ///
100    /// # Panics
101    ///
102    /// Panics if `slice` is less than 12 elements long.
103    #[inline]
104    #[must_use]
105    pub fn from_cols_slice(slice: &[f64]) -> Self {
106        Self {
107            matrix3: DMat3::from_cols_slice(&slice[0..9]),
108            translation: DVec3::from_slice(&slice[9..12]),
109        }
110    }
111
112    /// Writes the columns of `self` to the first 12 elements in `slice`.
113    ///
114    /// # Panics
115    ///
116    /// Panics if `slice` is less than 12 elements long.
117    #[inline]
118    pub fn write_cols_to_slice(self, slice: &mut [f64]) {
119        self.matrix3.write_cols_to_slice(&mut slice[0..9]);
120        self.translation.write_to_slice(&mut slice[9..12]);
121    }
122
123    /// Creates an affine transform that changes scale.
124    /// Note that if any scale is zero the transform will be non-invertible.
125    #[inline]
126    #[must_use]
127    pub fn from_scale(scale: DVec3) -> Self {
128        Self {
129            matrix3: DMat3::from_diagonal(scale),
130            translation: DVec3::ZERO,
131        }
132    }
133    /// Creates an affine transform from the given `rotation` quaternion.
134    #[inline]
135    #[must_use]
136    pub fn from_quat(rotation: DQuat) -> Self {
137        Self {
138            matrix3: DMat3::from_quat(rotation),
139            translation: DVec3::ZERO,
140        }
141    }
142
143    /// Creates an affine transform containing a 3D rotation around a normalized
144    /// rotation `axis` of `angle` (in radians).
145    #[inline]
146    #[must_use]
147    pub fn from_axis_angle(axis: DVec3, angle: f64) -> Self {
148        Self {
149            matrix3: DMat3::from_axis_angle(axis, angle),
150            translation: DVec3::ZERO,
151        }
152    }
153
154    /// Creates an affine transform containing a 3D rotation around the x axis of
155    /// `angle` (in radians).
156    #[inline]
157    #[must_use]
158    pub fn from_rotation_x(angle: f64) -> Self {
159        Self {
160            matrix3: DMat3::from_rotation_x(angle),
161            translation: DVec3::ZERO,
162        }
163    }
164
165    /// Creates an affine transform containing a 3D rotation around the y axis of
166    /// `angle` (in radians).
167    #[inline]
168    #[must_use]
169    pub fn from_rotation_y(angle: f64) -> Self {
170        Self {
171            matrix3: DMat3::from_rotation_y(angle),
172            translation: DVec3::ZERO,
173        }
174    }
175
176    /// Creates an affine transform containing a 3D rotation around the z axis of
177    /// `angle` (in radians).
178    #[inline]
179    #[must_use]
180    pub fn from_rotation_z(angle: f64) -> Self {
181        Self {
182            matrix3: DMat3::from_rotation_z(angle),
183            translation: DVec3::ZERO,
184        }
185    }
186
187    /// Creates an affine transformation from the given 3D `translation`.
188    #[inline]
189    #[must_use]
190    pub fn from_translation(translation: DVec3) -> Self {
191        #[allow(clippy::useless_conversion)]
192        Self {
193            matrix3: DMat3::IDENTITY,
194            translation: translation.into(),
195        }
196    }
197
198    /// Creates an affine transform from a 3x3 matrix (expressing scale, shear and
199    /// rotation)
200    #[inline]
201    #[must_use]
202    pub fn from_mat3(mat3: DMat3) -> Self {
203        #[allow(clippy::useless_conversion)]
204        Self {
205            matrix3: mat3.into(),
206            translation: DVec3::ZERO,
207        }
208    }
209
210    /// Creates an affine transform from a 3x3 matrix (expressing scale, shear and rotation)
211    /// and a translation vector.
212    ///
213    /// Equivalent to `DAffine3::from_translation(translation) * DAffine3::from_mat3(mat3)`
214    #[inline]
215    #[must_use]
216    pub fn from_mat3_translation(mat3: DMat3, translation: DVec3) -> Self {
217        #[allow(clippy::useless_conversion)]
218        Self {
219            matrix3: mat3.into(),
220            translation: translation.into(),
221        }
222    }
223
224    /// Creates an affine transform from the given 3D `scale`, `rotation` and
225    /// `translation`.
226    ///
227    /// Equivalent to `DAffine3::from_translation(translation) *
228    /// DAffine3::from_quat(rotation) * DAffine3::from_scale(scale)`
229    #[inline]
230    #[must_use]
231    pub fn from_scale_rotation_translation(
232        scale: DVec3,
233        rotation: DQuat,
234        translation: DVec3,
235    ) -> Self {
236        let rotation = DMat3::from_quat(rotation);
237        #[allow(clippy::useless_conversion)]
238        Self {
239            matrix3: DMat3::from_cols(
240                rotation.x_axis * scale.x,
241                rotation.y_axis * scale.y,
242                rotation.z_axis * scale.z,
243            ),
244            translation: translation.into(),
245        }
246    }
247
248    /// Creates an affine transform from the given 3D `rotation` and `translation`.
249    ///
250    /// Equivalent to `DAffine3::from_translation(translation) * DAffine3::from_quat(rotation)`
251    #[inline]
252    #[must_use]
253    pub fn from_rotation_translation(rotation: DQuat, translation: DVec3) -> Self {
254        #[allow(clippy::useless_conversion)]
255        Self {
256            matrix3: DMat3::from_quat(rotation),
257            translation: translation.into(),
258        }
259    }
260
261    /// The given `DMat4` must be an affine transform,
262    /// i.e. contain no perspective transform.
263    #[inline]
264    #[must_use]
265    pub fn from_mat4(m: DMat4) -> Self {
266        Self {
267            matrix3: DMat3::from_cols(
268                DVec3::from_vec4(m.x_axis),
269                DVec3::from_vec4(m.y_axis),
270                DVec3::from_vec4(m.z_axis),
271            ),
272            translation: DVec3::from_vec4(m.w_axis),
273        }
274    }
275
276    /// Extracts `scale`, `rotation` and `translation` from `self`.
277    ///
278    /// The transform is expected to be non-degenerate and without shearing, or the output
279    /// will be invalid.
280    ///
281    /// # Panics
282    ///
283    /// Will panic if the determinant `self.matrix3` is zero or if the resulting scale
284    /// vector contains any zero elements when `glam_assert` is enabled.
285    #[inline]
286    #[must_use]
287    pub fn to_scale_rotation_translation(&self) -> (DVec3, DQuat, DVec3) {
288        use crate::f64::math;
289        let det = self.matrix3.determinant();
290        glam_assert!(det != 0.0);
291
292        let scale = DVec3::new(
293            self.matrix3.x_axis.length() * math::signum(det),
294            self.matrix3.y_axis.length(),
295            self.matrix3.z_axis.length(),
296        );
297
298        glam_assert!(scale.cmpne(DVec3::ZERO).all());
299
300        let inv_scale = scale.recip();
301
302        #[allow(clippy::useless_conversion)]
303        let rotation = DQuat::from_mat3(&DMat3::from_cols(
304            (self.matrix3.x_axis * inv_scale.x).into(),
305            (self.matrix3.y_axis * inv_scale.y).into(),
306            (self.matrix3.z_axis * inv_scale.z).into(),
307        ));
308
309        #[allow(clippy::useless_conversion)]
310        (scale, rotation, self.translation.into())
311    }
312
313    /// Creates a left-handed view transform using a camera position, an up direction, and a facing
314    /// direction.
315    ///
316    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
317    #[inline]
318    #[must_use]
319    pub fn look_to_lh(eye: DVec3, dir: DVec3, up: DVec3) -> Self {
320        Self::look_to_rh(eye, -dir, up)
321    }
322
323    /// Creates a right-handed view transform using a camera position, an up direction, and a facing
324    /// direction.
325    ///
326    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
327    #[inline]
328    #[must_use]
329    pub fn look_to_rh(eye: DVec3, dir: DVec3, up: DVec3) -> Self {
330        let f = dir.normalize();
331        let s = f.cross(up).normalize();
332        let u = s.cross(f);
333
334        Self {
335            matrix3: DMat3::from_cols(
336                DVec3::new(s.x, u.x, -f.x),
337                DVec3::new(s.y, u.y, -f.y),
338                DVec3::new(s.z, u.z, -f.z),
339            ),
340            translation: DVec3::new(-eye.dot(s), -eye.dot(u), eye.dot(f)),
341        }
342    }
343
344    /// Creates a left-handed view transform using a camera position, an up direction, and a focal
345    /// point.
346    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
347    ///
348    /// # Panics
349    ///
350    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
351    #[inline]
352    #[must_use]
353    pub fn look_at_lh(eye: DVec3, center: DVec3, up: DVec3) -> Self {
354        glam_assert!(up.is_normalized());
355        Self::look_to_lh(eye, center - eye, up)
356    }
357
358    /// Creates a right-handed view transform using a camera position, an up direction, and a focal
359    /// point.
360    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
361    ///
362    /// # Panics
363    ///
364    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
365    #[inline]
366    #[must_use]
367    pub fn look_at_rh(eye: DVec3, center: DVec3, up: DVec3) -> Self {
368        glam_assert!(up.is_normalized());
369        Self::look_to_rh(eye, center - eye, up)
370    }
371
372    /// Transforms the given 3D points, applying shear, scale, rotation and translation.
373    #[inline]
374    pub fn transform_point3(&self, rhs: DVec3) -> DVec3 {
375        #[allow(clippy::useless_conversion)]
376        ((self.matrix3.x_axis * rhs.x)
377            + (self.matrix3.y_axis * rhs.y)
378            + (self.matrix3.z_axis * rhs.z)
379            + self.translation)
380            .into()
381    }
382
383    /// Transforms the given 3D vector, applying shear, scale and rotation (but NOT
384    /// translation).
385    ///
386    /// To also apply translation, use [`Self::transform_point3()`] instead.
387    #[inline]
388    #[must_use]
389    pub fn transform_vector3(&self, rhs: DVec3) -> DVec3 {
390        #[allow(clippy::useless_conversion)]
391        ((self.matrix3.x_axis * rhs.x)
392            + (self.matrix3.y_axis * rhs.y)
393            + (self.matrix3.z_axis * rhs.z))
394            .into()
395    }
396
397    /// Returns `true` if, and only if, all elements are finite.
398    ///
399    /// If any element is either `NaN`, positive or negative infinity, this will return
400    /// `false`.
401    #[inline]
402    #[must_use]
403    pub fn is_finite(&self) -> bool {
404        self.matrix3.is_finite() && self.translation.is_finite()
405    }
406
407    /// Returns `true` if any elements are `NaN`.
408    #[inline]
409    #[must_use]
410    pub fn is_nan(&self) -> bool {
411        self.matrix3.is_nan() || self.translation.is_nan()
412    }
413
414    /// Returns true if the absolute difference of all elements between `self` and `rhs`
415    /// is less than or equal to `max_abs_diff`.
416    ///
417    /// This can be used to compare if two 3x4 matrices contain similar elements. It works
418    /// best when comparing with a known value. The `max_abs_diff` that should be used used
419    /// depends on the values being compared against.
420    ///
421    /// For more see
422    /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
423    #[inline]
424    #[must_use]
425    pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f64) -> bool {
426        self.matrix3.abs_diff_eq(rhs.matrix3, max_abs_diff)
427            && self.translation.abs_diff_eq(rhs.translation, max_abs_diff)
428    }
429
430    /// Return the inverse of this transform.
431    ///
432    /// Note that if the transform is not invertible the result will be invalid.
433    #[inline]
434    #[must_use]
435    pub fn inverse(&self) -> Self {
436        let matrix3 = self.matrix3.inverse();
437        // transform negative translation by the matrix inverse:
438        let translation = -(matrix3 * self.translation);
439
440        Self {
441            matrix3,
442            translation,
443        }
444    }
445}
446
447impl Default for DAffine3 {
448    #[inline(always)]
449    fn default() -> Self {
450        Self::IDENTITY
451    }
452}
453
454impl Deref for DAffine3 {
455    type Target = crate::deref::Cols4<DVec3>;
456    #[inline(always)]
457    fn deref(&self) -> &Self::Target {
458        unsafe { &*(self as *const Self as *const Self::Target) }
459    }
460}
461
462impl DerefMut for DAffine3 {
463    #[inline(always)]
464    fn deref_mut(&mut self) -> &mut Self::Target {
465        unsafe { &mut *(self as *mut Self as *mut Self::Target) }
466    }
467}
468
469impl PartialEq for DAffine3 {
470    #[inline]
471    fn eq(&self, rhs: &Self) -> bool {
472        self.matrix3.eq(&rhs.matrix3) && self.translation.eq(&rhs.translation)
473    }
474}
475
476impl core::fmt::Debug for DAffine3 {
477    fn fmt(&self, fmt: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
478        fmt.debug_struct(stringify!(DAffine3))
479            .field("matrix3", &self.matrix3)
480            .field("translation", &self.translation)
481            .finish()
482    }
483}
484
485impl core::fmt::Display for DAffine3 {
486    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
487        if let Some(p) = f.precision() {
488            write!(
489                f,
490                "[{:.*}, {:.*}, {:.*}, {:.*}]",
491                p,
492                self.matrix3.x_axis,
493                p,
494                self.matrix3.y_axis,
495                p,
496                self.matrix3.z_axis,
497                p,
498                self.translation
499            )
500        } else {
501            write!(
502                f,
503                "[{}, {}, {}, {}]",
504                self.matrix3.x_axis, self.matrix3.y_axis, self.matrix3.z_axis, self.translation
505            )
506        }
507    }
508}
509
510impl<'a> core::iter::Product<&'a Self> for DAffine3 {
511    fn product<I>(iter: I) -> Self
512    where
513        I: Iterator<Item = &'a Self>,
514    {
515        iter.fold(Self::IDENTITY, |a, &b| a * b)
516    }
517}
518
519impl Mul for DAffine3 {
520    type Output = DAffine3;
521
522    #[inline]
523    fn mul(self, rhs: DAffine3) -> Self::Output {
524        Self {
525            matrix3: self.matrix3 * rhs.matrix3,
526            translation: self.matrix3 * rhs.translation + self.translation,
527        }
528    }
529}
530
531impl MulAssign for DAffine3 {
532    #[inline]
533    fn mul_assign(&mut self, rhs: DAffine3) {
534        *self = self.mul(rhs);
535    }
536}
537
538impl From<DAffine3> for DMat4 {
539    #[inline]
540    fn from(m: DAffine3) -> DMat4 {
541        DMat4::from_cols(
542            m.matrix3.x_axis.extend(0.0),
543            m.matrix3.y_axis.extend(0.0),
544            m.matrix3.z_axis.extend(0.0),
545            m.translation.extend(1.0),
546        )
547    }
548}
549
550impl Mul<DMat4> for DAffine3 {
551    type Output = DMat4;
552
553    #[inline]
554    fn mul(self, rhs: DMat4) -> Self::Output {
555        DMat4::from(self) * rhs
556    }
557}
558
559impl Mul<DAffine3> for DMat4 {
560    type Output = DMat4;
561
562    #[inline]
563    fn mul(self, rhs: DAffine3) -> Self::Output {
564        self * DMat4::from(rhs)
565    }
566}
glam/f64/daffine3.rs

glam/f64/
daffine3.rs
