glam/f32/
affine3.rs

1// Generated from affine.rs.tera template. Edit the template, not the generated file.
2
3use crate::{Affine3A, Mat3, Mat4, Quat, Vec3};
4use core::ops::{Deref, DerefMut, Mul, MulAssign};
5
6#[cfg(all(feature = "zerocopy-08", not(feature = "core-simd")))]
7use zerocopy_derive_08::*;
8
9/// A 3D affine transform, which can represent translation, rotation, scaling and shear.
10#[derive(Copy, Clone)]
11#[cfg_attr(feature = "bytemuck", derive(bytemuck::Pod, bytemuck::Zeroable))]
12#[cfg_attr(
13    all(feature = "zerocopy-08", not(feature = "core-simd")),
14    derive(FromBytes, Immutable, IntoBytes, KnownLayout)
15)]
16#[repr(C)]
17pub struct Affine3 {
18    pub matrix3: Mat3,
19    pub translation: Vec3,
20}
21
22impl Affine3 {
23    /// The degenerate zero transform.
24    ///
25    /// This transforms any finite vector and point to zero.
26    /// The zero transform is non-invertible.
27    pub const ZERO: Self = Self {
28        matrix3: Mat3::ZERO,
29        translation: Vec3::ZERO,
30    };
31
32    /// The identity transform.
33    ///
34    /// Multiplying a vector with this returns the same vector.
35    pub const IDENTITY: Self = Self {
36        matrix3: Mat3::IDENTITY,
37        translation: Vec3::ZERO,
38    };
39
40    /// All NAN:s.
41    pub const NAN: Self = Self {
42        matrix3: Mat3::NAN,
43        translation: Vec3::NAN,
44    };
45
46    /// Creates an affine transform from three column vectors.
47    #[inline(always)]
48    #[must_use]
49    pub const fn from_cols(x_axis: Vec3, y_axis: Vec3, z_axis: Vec3, w_axis: Vec3) -> Self {
50        Self {
51            matrix3: Mat3::from_cols(x_axis, y_axis, z_axis),
52            translation: w_axis,
53        }
54    }
55
56    /// Creates an affine transform from a `[f32; 12]` array stored in column major order.
57    #[inline]
58    #[must_use]
59    pub fn from_cols_array(m: &[f32; 12]) -> Self {
60        Self {
61            matrix3: Mat3::from_cols_array(&[m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]]),
62            translation: Vec3::from_array([m[9], m[10], m[11]]),
63        }
64    }
65
66    /// Creates a `[f32; 12]` array storing data in column major order.
67    #[inline]
68    #[must_use]
69    pub fn to_cols_array(&self) -> [f32; 12] {
70        let x = &self.matrix3.x_axis;
71        let y = &self.matrix3.y_axis;
72        let z = &self.matrix3.z_axis;
73        let w = &self.translation;
74        [x.x, x.y, x.z, y.x, y.y, y.z, z.x, z.y, z.z, w.x, w.y, w.z]
75    }
76
77    /// Creates an affine transform from a `[[f32; 3]; 4]`
78    /// 3D array stored in column major order.
79    /// If your data is in row major order you will need to `transpose` the returned
80    /// matrix.
81    #[inline]
82    #[must_use]
83    pub fn from_cols_array_2d(m: &[[f32; 3]; 4]) -> Self {
84        Self {
85            matrix3: Mat3::from_cols(m[0].into(), m[1].into(), m[2].into()),
86            translation: m[3].into(),
87        }
88    }
89
90    /// Creates a `[[f32; 3]; 4]` 3D array storing data in
91    /// column major order.
92    /// If you require data in row major order `transpose` the matrix first.
93    #[inline]
94    #[must_use]
95    pub fn to_cols_array_2d(&self) -> [[f32; 3]; 4] {
96        [
97            self.matrix3.x_axis.into(),
98            self.matrix3.y_axis.into(),
99            self.matrix3.z_axis.into(),
100            self.translation.into(),
101        ]
102    }
103
104    /// Creates an affine transform from the first 12 values in `slice`.
105    ///
106    /// # Panics
107    ///
108    /// Panics if `slice` is less than 12 elements long.
109    #[inline]
110    #[must_use]
111    pub fn from_cols_slice(slice: &[f32]) -> Self {
112        Self {
113            matrix3: Mat3::from_cols_slice(&slice[0..9]),
114            translation: Vec3::from_slice(&slice[9..12]),
115        }
116    }
117
118    /// Writes the columns of `self` to the first 12 elements in `slice`.
119    ///
120    /// # Panics
121    ///
122    /// Panics if `slice` is less than 12 elements long.
123    #[inline]
124    pub fn write_cols_to_slice(&self, slice: &mut [f32]) {
125        self.matrix3.write_cols_to_slice(&mut slice[0..9]);
126        self.translation.write_to_slice(&mut slice[9..12]);
127    }
128
129    /// Creates an affine transform that changes scale.
130    /// Note that if any scale is zero the transform will be non-invertible.
131    #[inline]
132    #[must_use]
133    pub fn from_scale(scale: Vec3) -> Self {
134        Self {
135            matrix3: Mat3::from_diagonal(scale),
136            translation: Vec3::ZERO,
137        }
138    }
139    /// Creates an affine transform from the given `rotation` quaternion.
140    ///
141    /// # Panics
142    ///
143    /// Will panic if `rotation` is not normalized when `glam_assert` is enabled.
144    #[inline]
145    #[must_use]
146    #[cfg_attr(any(debug_assertions, feature = "glam-assert"), track_caller)]
147    pub fn from_quat(rotation: Quat) -> Self {
148        Self {
149            matrix3: Mat3::from_quat(rotation),
150            translation: Vec3::ZERO,
151        }
152    }
153
154    /// Creates an affine transform containing a 3D rotation around a normalized
155    /// rotation `axis` of `angle` (in radians).
156    ///
157    /// # Panics
158    ///
159    /// Will panic if `axis` is not normalized when `glam_assert` is enabled.
160    #[inline]
161    #[must_use]
162    #[cfg_attr(any(debug_assertions, feature = "glam-assert"), track_caller)]
163    pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self {
164        Self {
165            matrix3: Mat3::from_axis_angle(axis, angle),
166            translation: Vec3::ZERO,
167        }
168    }
169
170    /// Creates an affine transform containing a 3D rotation around the x axis of
171    /// `angle` (in radians).
172    #[inline]
173    #[must_use]
174    pub fn from_rotation_x(angle: f32) -> Self {
175        Self {
176            matrix3: Mat3::from_rotation_x(angle),
177            translation: Vec3::ZERO,
178        }
179    }
180
181    /// Creates an affine transform containing a 3D rotation around the y axis of
182    /// `angle` (in radians).
183    #[inline]
184    #[must_use]
185    pub fn from_rotation_y(angle: f32) -> Self {
186        Self {
187            matrix3: Mat3::from_rotation_y(angle),
188            translation: Vec3::ZERO,
189        }
190    }
191
192    /// Creates an affine transform containing a 3D rotation around the z axis of
193    /// `angle` (in radians).
194    #[inline]
195    #[must_use]
196    pub fn from_rotation_z(angle: f32) -> Self {
197        Self {
198            matrix3: Mat3::from_rotation_z(angle),
199            translation: Vec3::ZERO,
200        }
201    }
202
203    /// Creates an affine transformation from the given 3D `translation`.
204    #[inline]
205    #[must_use]
206    pub fn from_translation(translation: Vec3) -> Self {
207        #[allow(clippy::useless_conversion)]
208        Self {
209            matrix3: Mat3::IDENTITY,
210            translation: translation.into(),
211        }
212    }
213
214    /// Creates an affine transform from a 3x3 matrix (expressing scale, shear and
215    /// rotation)
216    #[inline]
217    #[must_use]
218    pub fn from_mat3(mat3: Mat3) -> Self {
219        #[allow(clippy::useless_conversion)]
220        Self {
221            matrix3: mat3.into(),
222            translation: Vec3::ZERO,
223        }
224    }
225
226    /// Creates an affine transform from a 3x3 matrix (expressing scale, shear and rotation)
227    /// and a translation vector.
228    ///
229    /// Equivalent to `Affine3::from_translation(translation) * Affine3::from_mat3(mat3)`
230    #[inline]
231    #[must_use]
232    pub fn from_mat3_translation(mat3: Mat3, translation: Vec3) -> Self {
233        #[allow(clippy::useless_conversion)]
234        Self {
235            matrix3: mat3.into(),
236            translation: translation.into(),
237        }
238    }
239
240    /// Creates an affine transform from the given 3D `scale`, `rotation` and
241    /// `translation`.
242    ///
243    /// Equivalent to `Affine3::from_translation(translation) *
244    /// Affine3::from_quat(rotation) * Affine3::from_scale(scale)`
245    ///
246    /// # Panics
247    ///
248    /// Will panic if `rotation` is not normalized when `glam_assert` is enabled.
249    #[inline]
250    #[must_use]
251    #[cfg_attr(any(debug_assertions, feature = "glam-assert"), track_caller)]
252    pub fn from_scale_rotation_translation(scale: Vec3, rotation: Quat, translation: Vec3) -> Self {
253        let rotation = Mat3::from_quat(rotation);
254        #[allow(clippy::useless_conversion)]
255        Self {
256            matrix3: Mat3::from_cols(
257                rotation.x_axis * scale.x,
258                rotation.y_axis * scale.y,
259                rotation.z_axis * scale.z,
260            ),
261            translation: translation.into(),
262        }
263    }
264
265    /// Creates an affine transform from the given 3D `rotation` and `translation`.
266    ///
267    /// Equivalent to `Affine3::from_translation(translation) * Affine3::from_quat(rotation)`
268    ///
269    /// # Panics
270    ///
271    /// Will panic if `rotation` is not normalized when `glam_assert` is enabled.
272    #[inline]
273    #[must_use]
274    #[cfg_attr(any(debug_assertions, feature = "glam-assert"), track_caller)]
275    pub fn from_rotation_translation(rotation: Quat, translation: Vec3) -> Self {
276        #[allow(clippy::useless_conversion)]
277        Self {
278            matrix3: Mat3::from_quat(rotation),
279            translation: translation.into(),
280        }
281    }
282
283    /// The given `Mat4` must be an affine transform,
284    /// i.e. contain no perspective transform.
285    #[inline]
286    #[must_use]
287    pub fn from_mat4(m: Mat4) -> Self {
288        Self {
289            matrix3: Mat3::from_cols(
290                Vec3::from_vec4(m.x_axis),
291                Vec3::from_vec4(m.y_axis),
292                Vec3::from_vec4(m.z_axis),
293            ),
294            translation: Vec3::from_vec4(m.w_axis),
295        }
296    }
297
298    /// Extracts `scale`, `rotation` and `translation` from `self`.
299    ///
300    /// The transform is expected to be non-degenerate and without shearing, or the output
301    /// will be invalid.
302    ///
303    /// # Panics
304    ///
305    /// Will panic if the determinant `self.matrix3` is zero or if the resulting scale
306    /// vector contains any zero elements when `glam_assert` is enabled.
307    #[inline]
308    #[must_use]
309    #[cfg_attr(any(debug_assertions, feature = "glam-assert"), track_caller)]
310    pub fn to_scale_rotation_translation(&self) -> (Vec3, Quat, Vec3) {
311        let det = self.matrix3.determinant();
312        glam_assert!(det != 0.0);
313
314        let scale = Vec3::new(
315            self.matrix3.x_axis.length() * det.signum(),
316            self.matrix3.y_axis.length(),
317            self.matrix3.z_axis.length(),
318        );
319
320        glam_assert!(scale.cmpne(Vec3::ZERO).all());
321
322        let inv_scale = scale.recip();
323
324        #[allow(clippy::useless_conversion)]
325        let rotation = Quat::from_mat3(&Mat3::from_cols(
326            (self.matrix3.x_axis * inv_scale.x).into(),
327            (self.matrix3.y_axis * inv_scale.y).into(),
328            (self.matrix3.z_axis * inv_scale.z).into(),
329        ));
330
331        #[allow(clippy::useless_conversion)]
332        (scale, rotation, self.translation.into())
333    }
334
335    /// Transforms the given 3D points, applying shear, scale, rotation and translation.
336    #[inline]
337    pub fn transform_point3(&self, rhs: Vec3) -> Vec3 {
338        #[allow(clippy::useless_conversion)]
339        ((self.matrix3.x_axis * rhs.x)
340            + (self.matrix3.y_axis * rhs.y)
341            + (self.matrix3.z_axis * rhs.z)
342            + self.translation)
343            .into()
344    }
345
346    /// Transforms the given 3D vector, applying shear, scale and rotation (but NOT
347    /// translation).
348    ///
349    /// To also apply translation, use [`Self::transform_point3()`] instead.
350    #[inline]
351    #[must_use]
352    pub fn transform_vector3(&self, rhs: Vec3) -> Vec3 {
353        #[allow(clippy::useless_conversion)]
354        ((self.matrix3.x_axis * rhs.x)
355            + (self.matrix3.y_axis * rhs.y)
356            + (self.matrix3.z_axis * rhs.z))
357            .into()
358    }
359
360    /// Returns `true` if, and only if, all elements are finite.
361    ///
362    /// If any element is either `NaN`, positive or negative infinity, this will return
363    /// `false`.
364    #[inline]
365    #[must_use]
366    pub fn is_finite(&self) -> bool {
367        self.matrix3.is_finite() && self.translation.is_finite()
368    }
369
370    /// Returns `true` if any elements are `NaN`.
371    #[inline]
372    #[must_use]
373    pub fn is_nan(&self) -> bool {
374        self.matrix3.is_nan() || self.translation.is_nan()
375    }
376
377    /// Returns true if the absolute difference of all elements between `self` and `rhs`
378    /// is less than or equal to `max_abs_diff`.
379    ///
380    /// This can be used to compare if two 3x4 matrices contain similar elements. It works
381    /// best when comparing with a known value. The `max_abs_diff` that should be used used
382    /// depends on the values being compared against.
383    ///
384    /// For more see
385    /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
386    #[inline]
387    #[must_use]
388    pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f32) -> bool {
389        self.matrix3.abs_diff_eq(rhs.matrix3, max_abs_diff)
390            && self.translation.abs_diff_eq(rhs.translation, max_abs_diff)
391    }
392
393    /// Return the inverse of this transform.
394    ///
395    /// Note that if the transform is not invertible the result will be invalid.
396    ///
397    /// # Panics
398    ///
399    /// Will panic if the resulting inverted matrix is not finite when `glam_assert` is enabled.
400    #[inline]
401    #[must_use]
402    #[cfg_attr(any(debug_assertions, feature = "glam-assert"), track_caller)]
403    pub fn inverse(&self) -> Self {
404        let matrix3 = self.matrix3.inverse();
405        // transform negative translation by the matrix inverse:
406        let translation = -(matrix3 * self.translation);
407
408        Self {
409            matrix3,
410            translation,
411        }
412    }
413
414    /// Casts all elements of `self` to `f64`.
415    #[cfg(feature = "f64")]
416    #[inline]
417    #[must_use]
418    pub fn as_daffine3(&self) -> crate::DAffine3 {
419        crate::DAffine3::from_mat3_translation(self.matrix3.as_dmat3(), self.translation.as_dvec3())
420    }
421}
422
423impl Default for Affine3 {
424    #[inline(always)]
425    fn default() -> Self {
426        Self::IDENTITY
427    }
428}
429
430impl Deref for Affine3 {
431    type Target = crate::deref::Cols4<Vec3>;
432    #[inline(always)]
433    fn deref(&self) -> &Self::Target {
434        unsafe { &*(self as *const Self as *const Self::Target) }
435    }
436}
437
438impl DerefMut for Affine3 {
439    #[inline(always)]
440    fn deref_mut(&mut self) -> &mut Self::Target {
441        unsafe { &mut *(self as *mut Self as *mut Self::Target) }
442    }
443}
444
445impl PartialEq for Affine3 {
446    #[inline]
447    fn eq(&self, rhs: &Self) -> bool {
448        self.matrix3.eq(&rhs.matrix3) && self.translation.eq(&rhs.translation)
449    }
450}
451
452impl core::fmt::Debug for Affine3 {
453    fn fmt(&self, fmt: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
454        fmt.debug_struct(stringify!(Affine3))
455            .field("matrix3", &self.matrix3)
456            .field("translation", &self.translation)
457            .finish()
458    }
459}
460
461impl core::fmt::Display for Affine3 {
462    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
463        if let Some(p) = f.precision() {
464            write!(
465                f,
466                "[{:.*}, {:.*}, {:.*}, {:.*}]",
467                p,
468                self.matrix3.x_axis,
469                p,
470                self.matrix3.y_axis,
471                p,
472                self.matrix3.z_axis,
473                p,
474                self.translation
475            )
476        } else {
477            write!(
478                f,
479                "[{}, {}, {}, {}]",
480                self.matrix3.x_axis, self.matrix3.y_axis, self.matrix3.z_axis, self.translation
481            )
482        }
483    }
484}
485
486impl<'a> core::iter::Product<&'a Self> for Affine3 {
487    fn product<I>(iter: I) -> Self
488    where
489        I: Iterator<Item = &'a Self>,
490    {
491        iter.fold(Self::IDENTITY, |a, &b| a * b)
492    }
493}
494
495impl Mul for Affine3 {
496    type Output = Self;
497
498    #[inline]
499    fn mul(self, rhs: Self) -> Self {
500        Self {
501            matrix3: self.matrix3 * rhs.matrix3,
502            translation: self.matrix3 * rhs.translation + self.translation,
503        }
504    }
505}
506
507impl Mul<&Self> for Affine3 {
508    type Output = Self;
509    #[inline]
510    fn mul(self, rhs: &Self) -> Self {
511        self.mul(*rhs)
512    }
513}
514
515impl Mul<&Affine3> for &Affine3 {
516    type Output = Affine3;
517    #[inline]
518    fn mul(self, rhs: &Affine3) -> Affine3 {
519        (*self).mul(*rhs)
520    }
521}
522
523impl Mul<Affine3> for &Affine3 {
524    type Output = Affine3;
525    #[inline]
526    fn mul(self, rhs: Affine3) -> Affine3 {
527        (*self).mul(rhs)
528    }
529}
530
531impl MulAssign for Affine3 {
532    #[inline]
533    fn mul_assign(&mut self, rhs: Self) {
534        *self = self.mul(rhs);
535    }
536}
537
538impl MulAssign<&Self> for Affine3 {
539    #[inline]
540    fn mul_assign(&mut self, rhs: &Self) {
541        self.mul_assign(*rhs);
542    }
543}
544
545impl Mul<Mat4> for Affine3 {
546    type Output = Mat4;
547
548    #[inline]
549    fn mul(self, rhs: Mat4) -> Self::Output {
550        Mat4::from(self) * rhs
551    }
552}
553
554impl Mul<&Mat4> for Affine3 {
555    type Output = Mat4;
556    #[inline]
557    fn mul(self, rhs: &Mat4) -> Mat4 {
558        self.mul(*rhs)
559    }
560}
561
562impl Mul<&Mat4> for &Affine3 {
563    type Output = Mat4;
564    #[inline]
565    fn mul(self, rhs: &Mat4) -> Mat4 {
566        (*self).mul(*rhs)
567    }
568}
569
570impl Mul<Mat4> for &Affine3 {
571    type Output = Mat4;
572    #[inline]
573    fn mul(self, rhs: Mat4) -> Mat4 {
574        (*self).mul(rhs)
575    }
576}
577
578impl Mul<Affine3> for Mat4 {
579    type Output = Self;
580
581    #[inline]
582    fn mul(self, rhs: Affine3) -> Self {
583        self * Self::from(rhs)
584    }
585}
586
587impl Mul<&Affine3> for Mat4 {
588    type Output = Self;
589    #[inline]
590    fn mul(self, rhs: &Affine3) -> Self {
591        self.mul(*rhs)
592    }
593}
594
595impl Mul<&Affine3> for &Mat4 {
596    type Output = Mat4;
597    #[inline]
598    fn mul(self, rhs: &Affine3) -> Mat4 {
599        (*self).mul(*rhs)
600    }
601}
602
603impl Mul<Affine3> for &Mat4 {
604    type Output = Mat4;
605    #[inline]
606    fn mul(self, rhs: Affine3) -> Mat4 {
607        (*self).mul(rhs)
608    }
609}
610
611impl MulAssign<Affine3> for Mat4 {
612    #[inline]
613    fn mul_assign(&mut self, rhs: Affine3) {
614        *self = self.mul(rhs);
615    }
616}
617
618impl MulAssign<&Affine3> for Mat4 {
619    #[inline]
620    fn mul_assign(&mut self, rhs: &Affine3) {
621        self.mul_assign(*rhs);
622    }
623}
624
625impl From<Affine3> for Mat4 {
626    #[inline]
627    fn from(m: Affine3) -> Self {
628        Self::from_cols(
629            m.matrix3.x_axis.extend(0.0),
630            m.matrix3.y_axis.extend(0.0),
631            m.matrix3.z_axis.extend(0.0),
632            m.translation.extend(1.0),
633        )
634    }
635}
636
637impl From<Affine3A> for Affine3 {
638    #[inline]
639    fn from(a: Affine3A) -> Self {
640        Self::from_cols(
641            a.matrix3.x_axis.into(),
642            a.matrix3.y_axis.into(),
643            a.matrix3.z_axis.into(),
644            a.translation.into(),
645        )
646    }
647}
glam/f32/affine3.rs

glam/f32/
affine3.rs
