use approx::{AbsDiffEq, RelativeEq, UlpsEq};
use num::Zero;
use std::fmt;
use std::hash;
#[cfg(feature = "abomonation-serialize")]
use std::io::{Result as IOResult, Write};
#[cfg(feature = "serde-serialize")]
use serde::{Deserialize, Serialize};
#[cfg(feature = "abomonation-serialize")]
use abomonation::Abomonation;
use simba::scalar::{RealField, SubsetOf};
use simba::simd::SimdRealField;
use crate::base::allocator::Allocator;
use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
use crate::base::storage::Owned;
use crate::base::{DefaultAllocator, MatrixN, Scalar, VectorN};
use crate::geometry::{AbstractRotation, Isometry, Point, Translation};
#[repr(C)]
#[derive(Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[cfg_attr(
feature = "serde-serialize",
serde(bound(serialize = "N: Serialize,
R: Serialize,
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: Serialize"))
)]
#[cfg_attr(
feature = "serde-serialize",
serde(bound(deserialize = "N: Deserialize<'de>,
R: Deserialize<'de>,
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: Deserialize<'de>"))
)]
pub struct Similarity<N: Scalar, D: DimName, R>
where
DefaultAllocator: Allocator<N, D>,
{
pub isometry: Isometry<N, D, R>,
scaling: N,
}
#[cfg(feature = "abomonation-serialize")]
impl<N: Scalar, D: DimName, R> Abomonation for Similarity<N, D, R>
where
Isometry<N, D, R>: Abomonation,
DefaultAllocator: Allocator<N, D>,
{
unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
self.isometry.entomb(writer)
}
fn extent(&self) -> usize {
self.isometry.extent()
}
unsafe fn exhume<'a, 'b>(&'a mut self, bytes: &'b mut [u8]) -> Option<&'b mut [u8]> {
self.isometry.exhume(bytes)
}
}
impl<N: Scalar + hash::Hash, D: DimName + hash::Hash, R: hash::Hash> hash::Hash
for Similarity<N, D, R>
where
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: hash::Hash,
{
fn hash<H: hash::Hasher>(&self, state: &mut H) {
self.isometry.hash(state);
self.scaling.hash(state);
}
}
impl<N: Scalar + Copy + Zero, D: DimName + Copy, R: AbstractRotation<N, D> + Copy> Copy
for Similarity<N, D, R>
where
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: Copy,
{
}
impl<N: Scalar + Zero, D: DimName, R: AbstractRotation<N, D> + Clone> Clone for Similarity<N, D, R>
where
DefaultAllocator: Allocator<N, D>,
{
#[inline]
fn clone(&self) -> Self {
Similarity::from_isometry(self.isometry.clone(), self.scaling.clone())
}
}
impl<N: Scalar + Zero, D: DimName, R> Similarity<N, D, R>
where
R: AbstractRotation<N, D>,
DefaultAllocator: Allocator<N, D>,
{
#[inline]
pub fn from_parts(translation: Translation<N, D>, rotation: R, scaling: N) -> Self {
Self::from_isometry(Isometry::from_parts(translation, rotation), scaling)
}
#[inline]
pub fn from_isometry(isometry: Isometry<N, D, R>, scaling: N) -> Self {
assert!(!scaling.is_zero(), "The scaling factor must not be zero.");
Self { isometry, scaling }
}
#[inline]
pub fn set_scaling(&mut self, scaling: N) {
assert!(
!scaling.is_zero(),
"The similarity scaling factor must not be zero."
);
self.scaling = scaling;
}
}
impl<N: Scalar, D: DimName, R> Similarity<N, D, R>
where
DefaultAllocator: Allocator<N, D>,
{
#[inline]
pub fn scaling(&self) -> N {
self.scaling.inlined_clone()
}
}
impl<N: SimdRealField, D: DimName, R> Similarity<N, D, R>
where
N::Element: SimdRealField,
R: AbstractRotation<N, D>,
DefaultAllocator: Allocator<N, D>,
{
#[inline]
pub fn from_scaling(scaling: N) -> Self {
Self::from_isometry(Isometry::identity(), scaling)
}
#[inline]
#[must_use = "Did you mean to use inverse_mut()?"]
pub fn inverse(&self) -> Self {
let mut res = self.clone();
res.inverse_mut();
res
}
#[inline]
pub fn inverse_mut(&mut self) {
self.scaling = N::one() / self.scaling;
self.isometry.inverse_mut();
self.isometry.translation.vector *= self.scaling;
}
#[inline]
#[must_use = "Did you mean to use prepend_scaling_mut()?"]
pub fn prepend_scaling(&self, scaling: N) -> Self {
assert!(
!scaling.is_zero(),
"The similarity scaling factor must not be zero."
);
Self::from_isometry(self.isometry.clone(), self.scaling * scaling)
}
#[inline]
#[must_use = "Did you mean to use append_scaling_mut()?"]
pub fn append_scaling(&self, scaling: N) -> Self {
assert!(
!scaling.is_zero(),
"The similarity scaling factor must not be zero."
);
Self::from_parts(
Translation::from(&self.isometry.translation.vector * scaling),
self.isometry.rotation.clone(),
self.scaling * scaling,
)
}
#[inline]
pub fn prepend_scaling_mut(&mut self, scaling: N) {
assert!(
!scaling.is_zero(),
"The similarity scaling factor must not be zero."
);
self.scaling *= scaling
}
#[inline]
pub fn append_scaling_mut(&mut self, scaling: N) {
assert!(
!scaling.is_zero(),
"The similarity scaling factor must not be zero."
);
self.isometry.translation.vector *= scaling;
self.scaling *= scaling;
}
#[inline]
pub fn append_translation_mut(&mut self, t: &Translation<N, D>) {
self.isometry.append_translation_mut(t)
}
#[inline]
pub fn append_rotation_mut(&mut self, r: &R) {
self.isometry.append_rotation_mut(r)
}
#[inline]
pub fn append_rotation_wrt_point_mut(&mut self, r: &R, p: &Point<N, D>) {
self.isometry.append_rotation_wrt_point_mut(r, p)
}
#[inline]
pub fn append_rotation_wrt_center_mut(&mut self, r: &R) {
self.isometry.append_rotation_wrt_center_mut(r)
}
#[inline]
pub fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
self * pt
}
#[inline]
pub fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
self * v
}
#[inline]
pub fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
self.isometry.inverse_transform_point(pt) / self.scaling()
}
#[inline]
pub fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
self.isometry.inverse_transform_vector(v) / self.scaling()
}
}
impl<N: SimdRealField, D: DimName, R> Similarity<N, D, R>
where
DefaultAllocator: Allocator<N, D>,
{
#[inline]
pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
where
D: DimNameAdd<U1>,
R: SubsetOf<MatrixN<N, DimNameSum<D, U1>>>,
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
{
let mut res = self.isometry.to_homogeneous();
for e in res.fixed_slice_mut::<D, D>(0, 0).iter_mut() {
*e *= self.scaling
}
res
}
}
impl<N: SimdRealField, D: DimName, R> Eq for Similarity<N, D, R>
where
R: AbstractRotation<N, D> + Eq,
DefaultAllocator: Allocator<N, D>,
{
}
impl<N: SimdRealField, D: DimName, R> PartialEq for Similarity<N, D, R>
where
R: AbstractRotation<N, D> + PartialEq,
DefaultAllocator: Allocator<N, D>,
{
#[inline]
fn eq(&self, right: &Self) -> bool {
self.isometry == right.isometry && self.scaling == right.scaling
}
}
impl<N: RealField, D: DimName, R> AbsDiffEq for Similarity<N, D, R>
where
R: AbstractRotation<N, D> + AbsDiffEq<Epsilon = N::Epsilon>,
DefaultAllocator: Allocator<N, D>,
N::Epsilon: Copy,
{
type Epsilon = N::Epsilon;
#[inline]
fn default_epsilon() -> Self::Epsilon {
N::default_epsilon()
}
#[inline]
fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool {
self.isometry.abs_diff_eq(&other.isometry, epsilon)
&& self.scaling.abs_diff_eq(&other.scaling, epsilon)
}
}
impl<N: RealField, D: DimName, R> RelativeEq for Similarity<N, D, R>
where
R: AbstractRotation<N, D> + RelativeEq<Epsilon = N::Epsilon>,
DefaultAllocator: Allocator<N, D>,
N::Epsilon: Copy,
{
#[inline]
fn default_max_relative() -> Self::Epsilon {
N::default_max_relative()
}
#[inline]
fn relative_eq(
&self,
other: &Self,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon,
) -> bool {
self.isometry
.relative_eq(&other.isometry, epsilon, max_relative)
&& self
.scaling
.relative_eq(&other.scaling, epsilon, max_relative)
}
}
impl<N: RealField, D: DimName, R> UlpsEq for Similarity<N, D, R>
where
R: AbstractRotation<N, D> + UlpsEq<Epsilon = N::Epsilon>,
DefaultAllocator: Allocator<N, D>,
N::Epsilon: Copy,
{
#[inline]
fn default_max_ulps() -> u32 {
N::default_max_ulps()
}
#[inline]
fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
self.isometry.ulps_eq(&other.isometry, epsilon, max_ulps)
&& self.scaling.ulps_eq(&other.scaling, epsilon, max_ulps)
}
}
impl<N, D: DimName, R> fmt::Display for Similarity<N, D, R>
where
N: RealField + fmt::Display,
R: AbstractRotation<N, D> + fmt::Display,
DefaultAllocator: Allocator<N, D> + Allocator<usize, D>,
{
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
let precision = f.precision().unwrap_or(3);
writeln!(f, "Similarity {{")?;
write!(f, "{:.*}", precision, self.isometry)?;
write!(f, "Scaling: {:.*}", precision, self.scaling)?;
writeln!(f, "}}")
}
}