glam/f32/
affine3a.rs

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1// Generated from affine.rs.tera template. Edit the template, not the generated file.
2
3use crate::{Mat3, Mat3A, Mat4, Quat, Vec3, Vec3A};
4use 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)]
11pub struct Affine3A {
12    pub matrix3: Mat3A,
13    pub translation: Vec3A,
14}
15
16impl 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]
43    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]
53    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]
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]
77    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]
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]
105    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]
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]
127    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]
136    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]
147    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]
158    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]
169    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]
180    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]
190    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]
202    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]
216    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]
231    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]
249    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]
261    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]
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]
315    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]
325    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]
349    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]
363    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]
370    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]
385    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]
396    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]
406    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]
416    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]
423    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]
438    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]
448    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
460impl Default for Affine3A {
461    #[inline(always)]
462    fn default() -> Self {
463        Self::IDENTITY
464    }
465}
466
467impl Deref for Affine3A {
468    type Target = crate::deref::Cols4<Vec3A>;
469    #[inline(always)]
470    fn deref(&self) -> &Self::Target {
471        unsafe { &*(self as *const Self as *const Self::Target) }
472    }
473}
474
475impl DerefMut for Affine3A {
476    #[inline(always)]
477    fn deref_mut(&mut self) -> &mut Self::Target {
478        unsafe { &mut *(self as *mut Self as *mut Self::Target) }
479    }
480}
481
482impl PartialEq for Affine3A {
483    #[inline]
484    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"))]
490impl core::fmt::Debug for Affine3A {
491    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"))]
500impl core::fmt::Display for Affine3A {
501    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
510impl<'a> core::iter::Product<&'a Self> for Affine3A {
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 Affine3A {
520    type Output = Affine3A;
521
522    #[inline]
523    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
531impl MulAssign for Affine3A {
532    #[inline]
533    fn mul_assign(&mut self, rhs: Affine3A) {
534        *self = self.mul(rhs);
535    }
536}
537
538impl From<Affine3A> for Mat4 {
539    #[inline]
540    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
550impl Mul<Mat4> for Affine3A {
551    type Output = Mat4;
552
553    #[inline]
554    fn mul(self, rhs: Mat4) -> Self::Output {
555        Mat4::from(self) * rhs
556    }
557}
558
559impl Mul<Affine3A> for Mat4 {
560    type Output = Mat4;
561
562    #[inline]
563    fn mul(self, rhs: Affine3A) -> Self::Output {
564        self * Mat4::from(rhs)
565    }
566}
glam/f32/affine3a.rs

glam/f32/
affine3a.rs
