glam/f32/
affine2.rs

1// Generated from affine.rs.tera template. Edit the template, not the generated file.
2
3use crate::{Mat2, Mat3, Mat3A, Vec2, Vec3A};
4use core::ops::{Deref, DerefMut, Mul, MulAssign};
5
6#[cfg(all(feature = "zerocopy", not(feature = "core-simd")))]
7use zerocopy_derive::*;
8
9/// A 2D affine transform, which can represent translation, rotation, scaling and shear.
10#[derive(Copy, Clone)]
11#[cfg_attr(
12    all(feature = "bytemuck", not(feature = "scalar-math")),
13    derive(bytemuck::AnyBitPattern)
14)]
15#[cfg_attr(
16    all(feature = "bytemuck", feature = "scalar-math"),
17    derive(bytemuck::Pod, bytemuck::Zeroable)
18)]
19#[cfg_attr(
20    all(feature = "zerocopy", not(feature = "core-simd")),
21    derive(FromBytes, Immutable, KnownLayout)
22)]
23#[repr(C)]
24pub struct Affine2 {
25    pub matrix2: Mat2,
26    pub translation: Vec2,
27}
28
29impl Affine2 {
30    /// The degenerate zero transform.
31    ///
32    /// This transforms any finite vector and point to zero.
33    /// The zero transform is non-invertible.
34    pub const ZERO: Self = Self {
35        matrix2: Mat2::ZERO,
36        translation: Vec2::ZERO,
37    };
38
39    /// The identity transform.
40    ///
41    /// Multiplying a vector with this returns the same vector.
42    pub const IDENTITY: Self = Self {
43        matrix2: Mat2::IDENTITY,
44        translation: Vec2::ZERO,
45    };
46
47    /// All NAN:s.
48    pub const NAN: Self = Self {
49        matrix2: Mat2::NAN,
50        translation: Vec2::NAN,
51    };
52
53    /// Creates an affine transform from three column vectors.
54    #[inline(always)]
55    #[must_use]
56    pub const fn from_cols(x_axis: Vec2, y_axis: Vec2, z_axis: Vec2) -> Self {
57        Self {
58            matrix2: Mat2::from_cols(x_axis, y_axis),
59            translation: z_axis,
60        }
61    }
62
63    /// Creates an affine transform from a `[f32; 6]` array stored in column major order.
64    #[inline]
65    #[must_use]
66    pub fn from_cols_array(m: &[f32; 6]) -> Self {
67        Self {
68            matrix2: Mat2::from_cols_array(&[m[0], m[1], m[2], m[3]]),
69            translation: Vec2::from_array([m[4], m[5]]),
70        }
71    }
72
73    /// Creates a `[f32; 6]` array storing data in column major order.
74    #[inline]
75    #[must_use]
76    pub fn to_cols_array(&self) -> [f32; 6] {
77        let x = &self.matrix2.x_axis;
78        let y = &self.matrix2.y_axis;
79        let z = &self.translation;
80        [x.x, x.y, y.x, y.y, z.x, z.y]
81    }
82
83    /// Creates an affine transform from a `[[f32; 2]; 3]`
84    /// 2D array stored in column major order.
85    /// If your data is in row major order you will need to `transpose` the returned
86    /// matrix.
87    #[inline]
88    #[must_use]
89    pub fn from_cols_array_2d(m: &[[f32; 2]; 3]) -> Self {
90        Self {
91            matrix2: Mat2::from_cols(m[0].into(), m[1].into()),
92            translation: m[2].into(),
93        }
94    }
95
96    /// Creates a `[[f32; 2]; 3]` 2D array storing data in
97    /// column major order.
98    /// If you require data in row major order `transpose` the matrix first.
99    #[inline]
100    #[must_use]
101    pub fn to_cols_array_2d(&self) -> [[f32; 2]; 3] {
102        [
103            self.matrix2.x_axis.into(),
104            self.matrix2.y_axis.into(),
105            self.translation.into(),
106        ]
107    }
108
109    /// Creates an affine transform from the first 6 values in `slice`.
110    ///
111    /// # Panics
112    ///
113    /// Panics if `slice` is less than 6 elements long.
114    #[inline]
115    #[must_use]
116    pub fn from_cols_slice(slice: &[f32]) -> Self {
117        Self {
118            matrix2: Mat2::from_cols_slice(&slice[0..4]),
119            translation: Vec2::from_slice(&slice[4..6]),
120        }
121    }
122
123    /// Writes the columns of `self` to the first 6 elements in `slice`.
124    ///
125    /// # Panics
126    ///
127    /// Panics if `slice` is less than 6 elements long.
128    #[inline]
129    pub fn write_cols_to_slice(&self, slice: &mut [f32]) {
130        self.matrix2.write_cols_to_slice(&mut slice[0..4]);
131        self.translation.write_to_slice(&mut slice[4..6]);
132    }
133
134    /// Creates an affine transform that changes scale.
135    /// Note that if any scale is zero the transform will be non-invertible.
136    #[inline]
137    #[must_use]
138    pub fn from_scale(scale: Vec2) -> Self {
139        Self {
140            matrix2: Mat2::from_diagonal(scale),
141            translation: Vec2::ZERO,
142        }
143    }
144
145    /// Creates an affine transform from the given rotation `angle`.
146    #[inline]
147    #[must_use]
148    pub fn from_angle(angle: f32) -> Self {
149        Self {
150            matrix2: Mat2::from_angle(angle),
151            translation: Vec2::ZERO,
152        }
153    }
154
155    /// Creates an affine transformation from the given 2D `translation`.
156    #[inline]
157    #[must_use]
158    pub fn from_translation(translation: Vec2) -> Self {
159        Self {
160            matrix2: Mat2::IDENTITY,
161            translation,
162        }
163    }
164
165    /// Creates an affine transform from a 2x2 matrix (expressing scale, shear and rotation)
166    #[inline]
167    #[must_use]
168    pub fn from_mat2(matrix2: Mat2) -> Self {
169        Self {
170            matrix2,
171            translation: Vec2::ZERO,
172        }
173    }
174
175    /// Creates an affine transform from a 2x2 matrix (expressing scale, shear and rotation) and a
176    /// translation vector.
177    ///
178    /// Equivalent to
179    /// `Affine2::from_translation(translation) * Affine2::from_mat2(mat2)`
180    #[inline]
181    #[must_use]
182    pub fn from_mat2_translation(matrix2: Mat2, translation: Vec2) -> Self {
183        Self {
184            matrix2,
185            translation,
186        }
187    }
188
189    /// Creates an affine transform from the given 2D `scale`, rotation `angle` (in radians) and
190    /// `translation`.
191    ///
192    /// Equivalent to `Affine2::from_translation(translation) *
193    /// Affine2::from_angle(angle) * Affine2::from_scale(scale)`
194    #[inline]
195    #[must_use]
196    pub fn from_scale_angle_translation(scale: Vec2, angle: f32, translation: Vec2) -> Self {
197        let rotation = Mat2::from_angle(angle);
198        Self {
199            matrix2: Mat2::from_cols(rotation.x_axis * scale.x, rotation.y_axis * scale.y),
200            translation,
201        }
202    }
203
204    /// Creates an affine transform from the given 2D rotation `angle` (in radians) and
205    /// `translation`.
206    ///
207    /// Equivalent to `Affine2::from_translation(translation) * Affine2::from_angle(angle)`
208    #[inline]
209    #[must_use]
210    pub fn from_angle_translation(angle: f32, translation: Vec2) -> Self {
211        Self {
212            matrix2: Mat2::from_angle(angle),
213            translation,
214        }
215    }
216
217    /// The given `Mat3` must be an affine transform,
218    #[inline]
219    #[must_use]
220    pub fn from_mat3(m: Mat3) -> Self {
221        use crate::swizzles::Vec3Swizzles;
222        Self {
223            matrix2: Mat2::from_cols(m.x_axis.xy(), m.y_axis.xy()),
224            translation: m.z_axis.xy(),
225        }
226    }
227
228    /// The given [`Mat3A`] must be an affine transform,
229    #[inline]
230    #[must_use]
231    pub fn from_mat3a(m: Mat3A) -> Self {
232        use crate::swizzles::Vec3Swizzles;
233        Self {
234            matrix2: Mat2::from_cols(m.x_axis.xy(), m.y_axis.xy()),
235            translation: m.z_axis.xy(),
236        }
237    }
238
239    /// Extracts `scale`, `angle` and `translation` from `self`.
240    ///
241    /// The transform is expected to be non-degenerate and without shearing, or the output
242    /// will be invalid.
243    ///
244    /// # Panics
245    ///
246    /// Will panic if the determinant `self.matrix2` is zero or if the resulting scale
247    /// vector contains any zero elements when `glam_assert` is enabled.
248    #[inline]
249    #[must_use]
250    pub fn to_scale_angle_translation(&self) -> (Vec2, f32, Vec2) {
251        use crate::f32::math;
252        let det = self.matrix2.determinant();
253        glam_assert!(det != 0.0);
254
255        let scale = Vec2::new(
256            self.matrix2.x_axis.length() * math::signum(det),
257            self.matrix2.y_axis.length(),
258        );
259
260        glam_assert!(scale.cmpne(Vec2::ZERO).all());
261
262        let angle = math::atan2(-self.matrix2.y_axis.x, self.matrix2.y_axis.y);
263
264        (scale, angle, self.translation)
265    }
266
267    /// Transforms the given 2D point, applying shear, scale, rotation and translation.
268    #[inline]
269    #[must_use]
270    pub fn transform_point2(&self, rhs: Vec2) -> Vec2 {
271        self.matrix2 * rhs + self.translation
272    }
273
274    /// Transforms the given 2D vector, applying shear, scale and rotation (but NOT
275    /// translation).
276    ///
277    /// To also apply translation, use [`Self::transform_point2()`] instead.
278    #[inline]
279    pub fn transform_vector2(&self, rhs: Vec2) -> Vec2 {
280        self.matrix2 * rhs
281    }
282
283    /// Returns `true` if, and only if, all elements are finite.
284    ///
285    /// If any element is either `NaN`, positive or negative infinity, this will return
286    /// `false`.
287    #[inline]
288    #[must_use]
289    pub fn is_finite(&self) -> bool {
290        self.matrix2.is_finite() && self.translation.is_finite()
291    }
292
293    /// Returns `true` if any elements are `NaN`.
294    #[inline]
295    #[must_use]
296    pub fn is_nan(&self) -> bool {
297        self.matrix2.is_nan() || self.translation.is_nan()
298    }
299
300    /// Returns true if the absolute difference of all elements between `self` and `rhs`
301    /// is less than or equal to `max_abs_diff`.
302    ///
303    /// This can be used to compare if two 3x4 matrices contain similar elements. It works
304    /// best when comparing with a known value. The `max_abs_diff` that should be used used
305    /// depends on the values being compared against.
306    ///
307    /// For more see
308    /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
309    #[inline]
310    #[must_use]
311    pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f32) -> bool {
312        self.matrix2.abs_diff_eq(rhs.matrix2, max_abs_diff)
313            && self.translation.abs_diff_eq(rhs.translation, max_abs_diff)
314    }
315
316    /// Return the inverse of this transform.
317    ///
318    /// Note that if the transform is not invertible the result will be invalid.
319    #[inline]
320    #[must_use]
321    pub fn inverse(&self) -> Self {
322        let matrix2 = self.matrix2.inverse();
323        // transform negative translation by the matrix inverse:
324        let translation = -(matrix2 * self.translation);
325
326        Self {
327            matrix2,
328            translation,
329        }
330    }
331
332    /// Casts all elements of `self` to `f64`.
333    #[cfg(feature = "f64")]
334    #[inline]
335    #[must_use]
336    pub fn as_daffine2(&self) -> crate::DAffine2 {
337        crate::DAffine2::from_mat2_translation(self.matrix2.as_dmat2(), self.translation.as_dvec2())
338    }
339}
340
341impl Default for Affine2 {
342    #[inline(always)]
343    fn default() -> Self {
344        Self::IDENTITY
345    }
346}
347
348impl Deref for Affine2 {
349    type Target = crate::deref::Cols3<Vec2>;
350    #[inline(always)]
351    fn deref(&self) -> &Self::Target {
352        unsafe { &*(self as *const Self as *const Self::Target) }
353    }
354}
355
356impl DerefMut for Affine2 {
357    #[inline(always)]
358    fn deref_mut(&mut self) -> &mut Self::Target {
359        unsafe { &mut *(self as *mut Self as *mut Self::Target) }
360    }
361}
362
363impl PartialEq for Affine2 {
364    #[inline]
365    fn eq(&self, rhs: &Self) -> bool {
366        self.matrix2.eq(&rhs.matrix2) && self.translation.eq(&rhs.translation)
367    }
368}
369
370impl core::fmt::Debug for Affine2 {
371    fn fmt(&self, fmt: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
372        fmt.debug_struct(stringify!(Affine2))
373            .field("matrix2", &self.matrix2)
374            .field("translation", &self.translation)
375            .finish()
376    }
377}
378
379impl core::fmt::Display for Affine2 {
380    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
381        if let Some(p) = f.precision() {
382            write!(
383                f,
384                "[{:.*}, {:.*}, {:.*}]",
385                p, self.matrix2.x_axis, p, self.matrix2.y_axis, p, self.translation
386            )
387        } else {
388            write!(
389                f,
390                "[{}, {}, {}]",
391                self.matrix2.x_axis, self.matrix2.y_axis, self.translation
392            )
393        }
394    }
395}
396
397impl<'a> core::iter::Product<&'a Self> for Affine2 {
398    fn product<I>(iter: I) -> Self
399    where
400        I: Iterator<Item = &'a Self>,
401    {
402        iter.fold(Self::IDENTITY, |a, &b| a * b)
403    }
404}
405
406impl Mul for Affine2 {
407    type Output = Self;
408
409    #[inline]
410    fn mul(self, rhs: Self) -> Self {
411        Self {
412            matrix2: self.matrix2 * rhs.matrix2,
413            translation: self.matrix2 * rhs.translation + self.translation,
414        }
415    }
416}
417
418impl Mul<&Self> for Affine2 {
419    type Output = Self;
420    #[inline]
421    fn mul(self, rhs: &Self) -> Self {
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 Mul<Affine2> for &Affine2 {
435    type Output = Affine2;
436    #[inline]
437    fn mul(self, rhs: Affine2) -> Affine2 {
438        (*self).mul(rhs)
439    }
440}
441
442impl MulAssign for Affine2 {
443    #[inline]
444    fn mul_assign(&mut self, rhs: Self) {
445        *self = self.mul(rhs);
446    }
447}
448
449impl MulAssign<&Self> for Affine2 {
450    #[inline]
451    fn mul_assign(&mut self, rhs: &Self) {
452        self.mul_assign(*rhs);
453    }
454}
455
456impl From<Affine2> for Mat3 {
457    #[inline]
458    fn from(m: Affine2) -> Self {
459        Self::from_cols(
460            m.matrix2.x_axis.extend(0.0),
461            m.matrix2.y_axis.extend(0.0),
462            m.translation.extend(1.0),
463        )
464    }
465}
466
467impl Mul<Mat3> for Affine2 {
468    type Output = Mat3;
469
470    #[inline]
471    fn mul(self, rhs: Mat3) -> Self::Output {
472        Mat3::from(self) * 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<Mat3> for &Affine2 {
493    type Output = Mat3;
494    #[inline]
495    fn mul(self, rhs: Mat3) -> Mat3 {
496        (*self).mul(rhs)
497    }
498}
499
500impl Mul<Affine2> for Mat3 {
501    type Output = Self;
502
503    #[inline]
504    fn mul(self, rhs: Affine2) -> Self {
505        self * Self::from(rhs)
506    }
507}
508
509impl Mul<&Affine2> for Mat3 {
510    type Output = Self;
511    #[inline]
512    fn mul(self, rhs: &Affine2) -> Self {
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 Mul<Affine2> for &Mat3 {
526    type Output = Mat3;
527    #[inline]
528    fn mul(self, rhs: Affine2) -> Mat3 {
529        (*self).mul(rhs)
530    }
531}
532
533impl MulAssign<Affine2> for Mat3 {
534    #[inline]
535    fn mul_assign(&mut self, rhs: Affine2) {
536        *self = self.mul(rhs);
537    }
538}
539
540impl MulAssign<&Affine2> for Mat3 {
541    #[inline]
542    fn mul_assign(&mut self, rhs: &Affine2) {
543        self.mul_assign(*rhs);
544    }
545}
546
547impl Mul<Mat3A> for Affine2 {
548    type Output = Mat3A;
549
550    #[inline]
551    fn mul(self, rhs: Mat3A) -> Self::Output {
552        Mat3A::from(self) * 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<Mat3A> for &Affine2 {
573    type Output = Mat3A;
574    #[inline]
575    fn mul(self, rhs: Mat3A) -> Mat3A {
576        (*self).mul(rhs)
577    }
578}
579
580impl Mul<Affine2> for Mat3A {
581    type Output = Self;
582
583    #[inline]
584    fn mul(self, rhs: Affine2) -> Self {
585        self * Self::from(rhs)
586    }
587}
588
589impl Mul<&Affine2> for Mat3A {
590    type Output = Self;
591    #[inline]
592    fn mul(self, rhs: &Affine2) -> Self {
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 Mul<Affine2> for &Mat3A {
606    type Output = Mat3A;
607    #[inline]
608    fn mul(self, rhs: Affine2) -> Mat3A {
609        (*self).mul(rhs)
610    }
611}
612
613impl MulAssign<Affine2> for Mat3A {
614    #[inline]
615    fn mul_assign(&mut self, rhs: Affine2) {
616        *self = self.mul(rhs);
617    }
618}
619
620impl MulAssign<&Affine2> for Mat3A {
621    #[inline]
622    fn mul_assign(&mut self, rhs: &Affine2) {
623        self.mul_assign(*rhs);
624    }
625}
626
627impl From<Affine2> for Mat3A {
628    #[inline]
629    fn from(m: Affine2) -> Self {
630        Self::from_cols(
631            Vec3A::from((m.matrix2.x_axis, 0.0)),
632            Vec3A::from((m.matrix2.y_axis, 0.0)),
633            Vec3A::from((m.translation, 1.0)),
634        )
635    }
636}
glam/f32/affine2.rs

glam/f32/
affine2.rs
