1 // Generated from affine.rs.tera template. Edit the template, not the generated file.
2 
3 use crate::{Mat3, Mat3A, Mat4, Quat, Vec3, Vec3A};
4 use 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)]
11 pub struct Affine3A {
12     pub matrix3: Mat3A,
13     pub translation: Vec3A,
14 }
15 
16 impl 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     #[must_use]
from_cols(x_axis: Vec3A, y_axis: Vec3A, z_axis: Vec3A, w_axis: Vec3A) -> Self43     pub const fn from_cols(x_axis: Vec3A, y_axis: Vec3A, z_axis: Vec3A, w_axis: Vec3A) -> Self {
44         Self {
45             matrix3: Mat3A::from_cols(x_axis, y_axis, z_axis),
46             translation: w_axis,
47         }
48     }
49 
50     /// Creates an affine transform from a `[f32; 12]` array stored in column major order.
51     #[inline]
52     #[must_use]
from_cols_array(m: &[f32; 12]) -> Self53     pub fn from_cols_array(m: &[f32; 12]) -> Self {
54         Self {
55             matrix3: Mat3A::from_cols_slice(&m[0..9]),
56             translation: Vec3A::from_slice(&m[9..12]),
57         }
58     }
59 
60     /// Creates a `[f32; 12]` array storing data in column major order.
61     #[inline]
62     #[must_use]
to_cols_array(&self) -> [f32; 12]63     pub fn to_cols_array(&self) -> [f32; 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 `[[f32; 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]
from_cols_array_2d(m: &[[f32; 3]; 4]) -> Self77     pub fn from_cols_array_2d(m: &[[f32; 3]; 4]) -> Self {
78         Self {
79             matrix3: Mat3A::from_cols(m[0].into(), m[1].into(), m[2].into()),
80             translation: m[3].into(),
81         }
82     }
83 
84     /// Creates a `[[f32; 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]
to_cols_array_2d(&self) -> [[f32; 3]; 4]89     pub fn to_cols_array_2d(&self) -> [[f32; 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]
from_cols_slice(slice: &[f32]) -> Self105     pub fn from_cols_slice(slice: &[f32]) -> Self {
106         Self {
107             matrix3: Mat3A::from_cols_slice(&slice[0..9]),
108             translation: Vec3A::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]
write_cols_to_slice(self, slice: &mut [f32])118     pub fn write_cols_to_slice(self, slice: &mut [f32]) {
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]
from_scale(scale: Vec3) -> Self127     pub fn from_scale(scale: Vec3) -> Self {
128         Self {
129             matrix3: Mat3A::from_diagonal(scale),
130             translation: Vec3A::ZERO,
131         }
132     }
133     /// Creates an affine transform from the given `rotation` quaternion.
134     #[inline]
135     #[must_use]
from_quat(rotation: Quat) -> Self136     pub fn from_quat(rotation: Quat) -> Self {
137         Self {
138             matrix3: Mat3A::from_quat(rotation),
139             translation: Vec3A::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]
from_axis_angle(axis: Vec3, angle: f32) -> Self147     pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self {
148         Self {
149             matrix3: Mat3A::from_axis_angle(axis, angle),
150             translation: Vec3A::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]
from_rotation_x(angle: f32) -> Self158     pub fn from_rotation_x(angle: f32) -> Self {
159         Self {
160             matrix3: Mat3A::from_rotation_x(angle),
161             translation: Vec3A::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]
from_rotation_y(angle: f32) -> Self169     pub fn from_rotation_y(angle: f32) -> Self {
170         Self {
171             matrix3: Mat3A::from_rotation_y(angle),
172             translation: Vec3A::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]
from_rotation_z(angle: f32) -> Self180     pub fn from_rotation_z(angle: f32) -> Self {
181         Self {
182             matrix3: Mat3A::from_rotation_z(angle),
183             translation: Vec3A::ZERO,
184         }
185     }
186 
187     /// Creates an affine transformation from the given 3D `translation`.
188     #[inline]
189     #[must_use]
from_translation(translation: Vec3) -> Self190     pub fn from_translation(translation: Vec3) -> Self {
191         #[allow(clippy::useless_conversion)]
192         Self {
193             matrix3: Mat3A::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]
from_mat3(mat3: Mat3) -> Self202     pub fn from_mat3(mat3: Mat3) -> Self {
203         #[allow(clippy::useless_conversion)]
204         Self {
205             matrix3: mat3.into(),
206             translation: Vec3A::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 `Affine3A::from_translation(translation) * Affine3A::from_mat3(mat3)`
214     #[inline]
215     #[must_use]
from_mat3_translation(mat3: Mat3, translation: Vec3) -> Self216     pub fn from_mat3_translation(mat3: Mat3, translation: Vec3) -> 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 `Affine3A::from_translation(translation) *
228     /// Affine3A::from_quat(rotation) * Affine3A::from_scale(scale)`
229     #[inline]
230     #[must_use]
from_scale_rotation_translation(scale: Vec3, rotation: Quat, translation: Vec3) -> Self231     pub fn from_scale_rotation_translation(scale: Vec3, rotation: Quat, translation: Vec3) -> Self {
232         let rotation = Mat3A::from_quat(rotation);
233         #[allow(clippy::useless_conversion)]
234         Self {
235             matrix3: Mat3A::from_cols(
236                 rotation.x_axis * scale.x,
237                 rotation.y_axis * scale.y,
238                 rotation.z_axis * scale.z,
239             ),
240             translation: translation.into(),
241         }
242     }
243 
244     /// Creates an affine transform from the given 3D `rotation` and `translation`.
245     ///
246     /// Equivalent to `Affine3A::from_translation(translation) * Affine3A::from_quat(rotation)`
247     #[inline]
248     #[must_use]
from_rotation_translation(rotation: Quat, translation: Vec3) -> Self249     pub fn from_rotation_translation(rotation: Quat, translation: Vec3) -> Self {
250         #[allow(clippy::useless_conversion)]
251         Self {
252             matrix3: Mat3A::from_quat(rotation),
253             translation: translation.into(),
254         }
255     }
256 
257     /// The given `Mat4` must be an affine transform,
258     /// i.e. contain no perspective transform.
259     #[inline]
260     #[must_use]
from_mat4(m: Mat4) -> Self261     pub fn from_mat4(m: Mat4) -> Self {
262         Self {
263             matrix3: Mat3A::from_cols(
264                 Vec3A::from_vec4(m.x_axis),
265                 Vec3A::from_vec4(m.y_axis),
266                 Vec3A::from_vec4(m.z_axis),
267             ),
268             translation: Vec3A::from_vec4(m.w_axis),
269         }
270     }
271 
272     /// Extracts `scale`, `rotation` and `translation` from `self`.
273     ///
274     /// The transform is expected to be non-degenerate and without shearing, or the output
275     /// will be invalid.
276     ///
277     /// # Panics
278     ///
279     /// Will panic if the determinant `self.matrix3` is zero or if the resulting scale
280     /// vector contains any zero elements when `glam_assert` is enabled.
281     #[inline]
282     #[must_use]
to_scale_rotation_translation(&self) -> (Vec3, Quat, Vec3)283     pub fn to_scale_rotation_translation(&self) -> (Vec3, Quat, Vec3) {
284         use crate::f32::math;
285         let det = self.matrix3.determinant();
286         glam_assert!(det != 0.0);
287 
288         let scale = Vec3::new(
289             self.matrix3.x_axis.length() * math::signum(det),
290             self.matrix3.y_axis.length(),
291             self.matrix3.z_axis.length(),
292         );
293 
294         glam_assert!(scale.cmpne(Vec3::ZERO).all());
295 
296         let inv_scale = scale.recip();
297 
298         #[allow(clippy::useless_conversion)]
299         let rotation = Quat::from_mat3(&Mat3::from_cols(
300             (self.matrix3.x_axis * inv_scale.x).into(),
301             (self.matrix3.y_axis * inv_scale.y).into(),
302             (self.matrix3.z_axis * inv_scale.z).into(),
303         ));
304 
305         #[allow(clippy::useless_conversion)]
306         (scale, rotation, self.translation.into())
307     }
308 
309     /// Creates a left-handed view transform using a camera position, an up direction, and a facing
310     /// direction.
311     ///
312     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
313     #[inline]
314     #[must_use]
look_to_lh(eye: Vec3, dir: Vec3, up: Vec3) -> Self315     pub fn look_to_lh(eye: Vec3, dir: Vec3, up: Vec3) -> Self {
316         Self::look_to_rh(eye, -dir, up)
317     }
318 
319     /// Creates a right-handed view transform using a camera position, an up direction, and a facing
320     /// direction.
321     ///
322     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
323     #[inline]
324     #[must_use]
look_to_rh(eye: Vec3, dir: Vec3, up: Vec3) -> Self325     pub fn look_to_rh(eye: Vec3, dir: Vec3, up: Vec3) -> Self {
326         let f = dir.normalize();
327         let s = f.cross(up).normalize();
328         let u = s.cross(f);
329 
330         Self {
331             matrix3: Mat3A::from_cols(
332                 Vec3A::new(s.x, u.x, -f.x),
333                 Vec3A::new(s.y, u.y, -f.y),
334                 Vec3A::new(s.z, u.z, -f.z),
335             ),
336             translation: Vec3A::new(-eye.dot(s), -eye.dot(u), eye.dot(f)),
337         }
338     }
339 
340     /// Creates a left-handed view transform using a camera position, an up direction, and a focal
341     /// point.
342     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
343     ///
344     /// # Panics
345     ///
346     /// Will panic if `up` is not normalized when `glam_assert` is enabled.
347     #[inline]
348     #[must_use]
look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Self349     pub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Self {
350         glam_assert!(up.is_normalized());
351         Self::look_to_lh(eye, center - eye, up)
352     }
353 
354     /// Creates a right-handed view transform using a camera position, an up direction, and a focal
355     /// point.
356     /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
357     ///
358     /// # Panics
359     ///
360     /// Will panic if `up` is not normalized when `glam_assert` is enabled.
361     #[inline]
362     #[must_use]
look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Self363     pub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Self {
364         glam_assert!(up.is_normalized());
365         Self::look_to_rh(eye, center - eye, up)
366     }
367 
368     /// Transforms the given 3D points, applying shear, scale, rotation and translation.
369     #[inline]
transform_point3(&self, rhs: Vec3) -> Vec3370     pub fn transform_point3(&self, rhs: Vec3) -> Vec3 {
371         #[allow(clippy::useless_conversion)]
372         ((self.matrix3.x_axis * rhs.x)
373             + (self.matrix3.y_axis * rhs.y)
374             + (self.matrix3.z_axis * rhs.z)
375             + self.translation)
376             .into()
377     }
378 
379     /// Transforms the given 3D vector, applying shear, scale and rotation (but NOT
380     /// translation).
381     ///
382     /// To also apply translation, use [`Self::transform_point3()`] instead.
383     #[inline]
384     #[must_use]
transform_vector3(&self, rhs: Vec3) -> Vec3385     pub fn transform_vector3(&self, rhs: Vec3) -> Vec3 {
386         #[allow(clippy::useless_conversion)]
387         ((self.matrix3.x_axis * rhs.x)
388             + (self.matrix3.y_axis * rhs.y)
389             + (self.matrix3.z_axis * rhs.z))
390             .into()
391     }
392 
393     /// Transforms the given [`Vec3A`], applying shear, scale, rotation and translation.
394     #[inline]
395     #[must_use]
transform_point3a(&self, rhs: Vec3A) -> Vec3A396     pub fn transform_point3a(&self, rhs: Vec3A) -> Vec3A {
397         self.matrix3 * rhs + self.translation
398     }
399 
400     /// Transforms the given [`Vec3A`], applying shear, scale and rotation (but NOT
401     /// translation).
402     ///
403     /// To also apply translation, use [`Self::transform_point3a()`] instead.
404     #[inline]
405     #[must_use]
transform_vector3a(&self, rhs: Vec3A) -> Vec3A406     pub fn transform_vector3a(&self, rhs: Vec3A) -> Vec3A {
407         self.matrix3 * rhs
408     }
409 
410     /// Returns `true` if, and only if, all elements are finite.
411     ///
412     /// If any element is either `NaN`, positive or negative infinity, this will return
413     /// `false`.
414     #[inline]
415     #[must_use]
is_finite(&self) -> bool416     pub fn is_finite(&self) -> bool {
417         self.matrix3.is_finite() && self.translation.is_finite()
418     }
419 
420     /// Returns `true` if any elements are `NaN`.
421     #[inline]
422     #[must_use]
is_nan(&self) -> bool423     pub fn is_nan(&self) -> bool {
424         self.matrix3.is_nan() || self.translation.is_nan()
425     }
426 
427     /// Returns true if the absolute difference of all elements between `self` and `rhs`
428     /// is less than or equal to `max_abs_diff`.
429     ///
430     /// This can be used to compare if two 3x4 matrices contain similar elements. It works
431     /// best when comparing with a known value. The `max_abs_diff` that should be used used
432     /// depends on the values being compared against.
433     ///
434     /// For more see
435     /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
436     #[inline]
437     #[must_use]
abs_diff_eq(&self, rhs: Self, max_abs_diff: f32) -> bool438     pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f32) -> bool {
439         self.matrix3.abs_diff_eq(rhs.matrix3, max_abs_diff)
440             && self.translation.abs_diff_eq(rhs.translation, max_abs_diff)
441     }
442 
443     /// Return the inverse of this transform.
444     ///
445     /// Note that if the transform is not invertible the result will be invalid.
446     #[inline]
447     #[must_use]
inverse(&self) -> Self448     pub fn inverse(&self) -> Self {
449         let matrix3 = self.matrix3.inverse();
450         // transform negative translation by the matrix inverse:
451         let translation = -(matrix3 * self.translation);
452 
453         Self {
454             matrix3,
455             translation,
456         }
457     }
458 }
459 
460 impl Default for Affine3A {
461     #[inline(always)]
default() -> Self462     fn default() -> Self {
463         Self::IDENTITY
464     }
465 }
466 
467 impl Deref for Affine3A {
468     type Target = crate::deref::Cols4<Vec3A>;
469     #[inline(always)]
deref(&self) -> &Self::Target470     fn deref(&self) -> &Self::Target {
471         unsafe { &*(self as *const Self as *const Self::Target) }
472     }
473 }
474 
475 impl DerefMut for Affine3A {
476     #[inline(always)]
deref_mut(&mut self) -> &mut Self::Target477     fn deref_mut(&mut self) -> &mut Self::Target {
478         unsafe { &mut *(self as *mut Self as *mut Self::Target) }
479     }
480 }
481 
482 impl PartialEq for Affine3A {
483     #[inline]
eq(&self, rhs: &Self) -> bool484     fn eq(&self, rhs: &Self) -> bool {
485         self.matrix3.eq(&rhs.matrix3) && self.translation.eq(&rhs.translation)
486     }
487 }
488 
489 #[cfg(not(target_arch = "spirv"))]
490 impl core::fmt::Debug for Affine3A {
fmt(&self, fmt: &mut core::fmt::Formatter<'_>) -> core::fmt::Result491     fn fmt(&self, fmt: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
492         fmt.debug_struct(stringify!(Affine3A))
493             .field("matrix3", &self.matrix3)
494             .field("translation", &self.translation)
495             .finish()
496     }
497 }
498 
499 #[cfg(not(target_arch = "spirv"))]
500 impl core::fmt::Display for Affine3A {
fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result501     fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
502         write!(
503             f,
504             "[{}, {}, {}, {}]",
505             self.matrix3.x_axis, self.matrix3.y_axis, self.matrix3.z_axis, self.translation
506         )
507     }
508 }
509 
510 impl<'a> core::iter::Product<&'a Self> for Affine3A {
product<I>(iter: I) -> Self where I: Iterator<Item = &'a Self>,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 
519 impl Mul for Affine3A {
520     type Output = Affine3A;
521 
522     #[inline]
mul(self, rhs: Affine3A) -> Self::Output523     fn mul(self, rhs: Affine3A) -> Self::Output {
524         Self {
525             matrix3: self.matrix3 * rhs.matrix3,
526             translation: self.matrix3 * rhs.translation + self.translation,
527         }
528     }
529 }
530 
531 impl MulAssign for Affine3A {
532     #[inline]
mul_assign(&mut self, rhs: Affine3A)533     fn mul_assign(&mut self, rhs: Affine3A) {
534         *self = self.mul(rhs);
535     }
536 }
537 
538 impl From<Affine3A> for Mat4 {
539     #[inline]
from(m: Affine3A) -> Mat4540     fn from(m: Affine3A) -> Mat4 {
541         Mat4::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 
550 impl Mul<Mat4> for Affine3A {
551     type Output = Mat4;
552 
553     #[inline]
mul(self, rhs: Mat4) -> Self::Output554     fn mul(self, rhs: Mat4) -> Self::Output {
555         Mat4::from(self) * rhs
556     }
557 }
558 
559 impl Mul<Affine3A> for Mat4 {
560     type Output = Mat4;
561 
562     #[inline]
mul(self, rhs: Affine3A) -> Self::Output563     fn mul(self, rhs: Affine3A) -> Self::Output {
564         self * Mat4::from(rhs)
565     }
566 }
567