Merge pull request #431 from Rhuagh/add-inverse-transform-vector
Adding inverse transformation of a vector to the Transform trait.
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2 changed files with 26 additions and 0 deletions
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@ -37,6 +37,11 @@ pub trait Transform<P: EuclideanSpace>: Sized {
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/// Transform a vector using this transform.
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fn transform_vector(&self, vec: P::Diff) -> P::Diff;
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/// Inverse transform a vector using this transform
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fn inverse_transform_vector(&self, vec: P::Diff) -> Option<P::Diff> {
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self.inverse_transform().and_then(|inverse| Some(inverse.transform_vector(vec)))
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}
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/// Transform a point using this transform.
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fn transform_point(&self, point: P) -> P;
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@ -93,6 +98,15 @@ impl<P: EuclideanSpace, R: Rotation<P>> Transform<P> for Decomposed<P::Diff, R>
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self.rot.rotate_vector(vec * self.scale)
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}
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#[inline]
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fn inverse_transform_vector(&self, vec: P::Diff) -> Option<P::Diff> {
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if ulps_eq!(self.scale, &P::Scalar::zero()) {
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None
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} else {
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Some(self.rot.invert().rotate_vector(vec / self.scale))
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}
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}
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#[inline]
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fn transform_point(&self, point: P) -> P {
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self.rot.rotate_point(point * self.scale) + self.disp
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@ -35,6 +35,18 @@ fn test_invert() {
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assert_ulps_eq!(&v, &ti.transform_vector(vt));
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}
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#[test]
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fn test_inverse_vector() {
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let v = Vector3::new(1.0f64, 2.0, 3.0);
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let t = Decomposed {
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scale: 1.5f64,
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rot: Quaternion::new(0.5f64, 0.5, 0.5, 0.5),
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disp: Vector3::new(6.0f64, -7.0, 8.0),
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};
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let vt = t.inverse_transform_vector(v).expect("Expected successful inversion");
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assert_ulps_eq!(v, t.transform_vector(vt));
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}
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#[test]
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fn test_look_at() {
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let eye = Point3::new(0.0f64, 0.0, -5.0);
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