add Matrix4x4
will be expanded upon later with more useful methods
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ggdt/src/math/matrix4x4.rs
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651
ggdt/src/math/matrix4x4.rs
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use std::ops::{Mul, MulAssign};
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use crate::math::{nearly_equal, Vector3};
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/// Represents a 4x4 column-major matrix and provides common methods for matrix math.
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#[derive(Debug, Copy, Clone, PartialEq)]
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pub struct Matrix4x4 {
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pub m: [f32; 16],
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}
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impl Matrix4x4 {
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pub const M11: usize = 0;
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pub const M12: usize = 4;
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pub const M13: usize = 8;
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pub const M14: usize = 12;
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pub const M21: usize = 1;
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pub const M22: usize = 5;
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pub const M23: usize = 9;
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pub const M24: usize = 13;
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pub const M31: usize = 2;
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pub const M32: usize = 6;
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pub const M33: usize = 10;
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pub const M34: usize = 14;
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pub const M41: usize = 3;
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pub const M42: usize = 7;
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pub const M43: usize = 11;
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pub const M44: usize = 15;
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#[rustfmt::skip]
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pub const IDENTITY: Matrix4x4 = Matrix4x4 {
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m: [
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0
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],
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};
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/// Returns a new identity matrix.
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#[inline]
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pub fn identity() -> Matrix4x4 {
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Matrix4x4::IDENTITY
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}
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/// Creates a new matrix with the specified elements.
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#[allow(clippy::too_many_arguments)]
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#[rustfmt::skip]
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#[inline]
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pub fn new(
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m11: f32, m12: f32, m13: f32, m14: f32,
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m21: f32, m22: f32, m23: f32, m24: f32,
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m31: f32, m32: f32, m33: f32, m34: f32,
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m41: f32, m42: f32, m43: f32, m44: f32,
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) -> Matrix4x4 {
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Matrix4x4 {
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m: [
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m11, m21, m31, m41,
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m12, m22, m32, m42,
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m13, m23, m33, m43,
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m14, m24, m34, m44,
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]
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}
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}
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/// Creates a new rotation matrix from a set of euler angles.
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///
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/// # Arguments
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///
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/// * `x`: the x angle (in radians)
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/// * `y`: the y angle (in radians)
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/// * `z`: the z angle (in radians)
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pub fn from_euler_angles(x: f32, y: f32, z: f32) -> Matrix4x4 {
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let rotate_z = Matrix4x4::new_rotation_z(z);
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let rotate_y = Matrix4x4::new_rotation_y(y);
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let rotate_x = Matrix4x4::new_rotation_x(x);
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// "right-to-left" column-major matrix concatenation
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rotate_z * rotate_y * rotate_x
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}
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/// Creates a new rotation matrix for rotation around the x axis.
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///
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/// # Arguments
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///
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/// * `radians`: angle to rotate the x axis around (in radians)
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#[rustfmt::skip]
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#[inline]
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pub fn new_rotation_x(radians: f32) -> Matrix4x4 {
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let (s, c) = radians.sin_cos();
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Matrix4x4::new(
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1.0, 0.0, 0.0, 0.0,
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0.0, c, -s, 0.0,
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0.0, s, c, 0.0,
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0.0, 0.0, 0.0, 1.0
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)
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}
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/// Creates a new rotation matrix for rotation around the y axis.
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///
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/// # Arguments
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///
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/// * `radians`: angle to rotate the y axis around (in radians)
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#[rustfmt::skip]
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#[inline]
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pub fn new_rotation_y(radians: f32) -> Matrix4x4 {
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let (s, c) = radians.sin_cos();
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Matrix4x4::new(
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c, 0.0, s, 0.0,
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0.0, 1.0, 0.0, 0.0,
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-s, 0.0, c, 0.0,
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0.0, 0.0, 0.0, 1.0
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)
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}
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/// Creates a new rotation matrix for rotation around the z axis.
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///
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/// # Arguments
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///
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/// * `radians`: angle to rotate the z axis around (in radians)
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#[rustfmt::skip]
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#[inline]
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pub fn new_rotation_z(radians: f32) -> Matrix4x4 {
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let (s, c) = radians.sin_cos();
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Matrix4x4::new(
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c, -s, 0.0, 0.0,
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s, c, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0,
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)
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}
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/// Creates a translation matrix.
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///
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/// # Arguments
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///
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/// * `x`: the amount to translate on the x axis
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/// * `y`: the amount to translate on the y axis
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/// * `z`: the amount to translate on the z axis
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#[rustfmt::skip]
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#[inline]
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pub fn new_translation(x: f32, y: f32, z: f32) -> Matrix4x4 {
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Matrix4x4::new(
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1.0, 0.0, 0.0, x,
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0.0, 1.0, 0.0, y,
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0.0, 0.0, 1.0, z,
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0.0, 0.0, 0.0, 1.0,
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)
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}
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/// Creates a scaling matrix from scaling factors for each axis.
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///
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/// # Arguments
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///
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/// * `x`: the scale factor for the x axis
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/// * `y`: the scale factor for the y axis
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/// * `z`: the scale factor for the z axis
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#[rustfmt::skip]
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#[inline]
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pub fn new_scaling(x: f32, y: f32, z: f32) -> Matrix4x4 {
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Matrix4x4::new(
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x, 0.0, 0.0, 0.0,
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0.0, y, 0.0, 0.0,
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0.0, 0.0, z, 0.0,
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0.0, 0.0, 0.0, 1.0,
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)
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}
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/// Calculates the determinant of this matrix.
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#[rustfmt::skip]
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#[inline]
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pub fn determinant(&self) -> f32 {
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(self.m[Matrix4x4::M11] * self.m[Matrix4x4::M22] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M12]) *
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(self.m[Matrix4x4::M33] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M34]) -
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(self.m[Matrix4x4::M11] * self.m[Matrix4x4::M32] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M12]) *
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(self.m[Matrix4x4::M23] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M24]) +
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(self.m[Matrix4x4::M11] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M12]) *
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(self.m[Matrix4x4::M23] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M33] * self.m[Matrix4x4::M24]) +
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(self.m[Matrix4x4::M21] * self.m[Matrix4x4::M32] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M22]) *
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(self.m[Matrix4x4::M13] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M14]) -
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(self.m[Matrix4x4::M21] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M22]) *
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(self.m[Matrix4x4::M13] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M33] * self.m[Matrix4x4::M14]) +
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(self.m[Matrix4x4::M31] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M32]) *
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(self.m[Matrix4x4::M13] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M23] * self.m[Matrix4x4::M14])
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}
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/// Calculates the inverse of this matrix.
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#[rustfmt::skip]
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pub fn invert(&self) -> Matrix4x4 {
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let d = self.determinant();
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if nearly_equal(d, 0.0, 0.000001) {
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Matrix4x4::IDENTITY
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} else {
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let d = 1.0 / d;
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Matrix4x4 {
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m: [
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d * (self.m[Matrix4x4::M22] * (self.m[Matrix4x4::M33] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M32] * (self.m[Matrix4x4::M43] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M23] * self.m[Matrix4x4::M44]) + self.m[Matrix4x4::M42] * (self.m[Matrix4x4::M23] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M33] * self.m[Matrix4x4::M24])),
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d * (self.m[Matrix4x4::M23] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M33] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M44]) + self.m[Matrix4x4::M43] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M24])),
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d * (self.m[Matrix4x4::M24] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M32]) + self.m[Matrix4x4::M34] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M22] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M42]) + self.m[Matrix4x4::M44] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M32] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M22])),
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d * (self.m[Matrix4x4::M21] * (self.m[Matrix4x4::M42] * self.m[Matrix4x4::M33] - self.m[Matrix4x4::M32] * self.m[Matrix4x4::M43]) + self.m[Matrix4x4::M31] * (self.m[Matrix4x4::M22] * self.m[Matrix4x4::M43] - self.m[Matrix4x4::M42] * self.m[Matrix4x4::M23]) + self.m[Matrix4x4::M41] * (self.m[Matrix4x4::M32] * self.m[Matrix4x4::M23] - self.m[Matrix4x4::M22] * self.m[Matrix4x4::M33])),
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d * (self.m[Matrix4x4::M32] * (self.m[Matrix4x4::M13] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M42] * (self.m[Matrix4x4::M33] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M13] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M12] * (self.m[Matrix4x4::M43] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M33] * self.m[Matrix4x4::M44])),
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d * (self.m[Matrix4x4::M33] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M43] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M13] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M44])),
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d * (self.m[Matrix4x4::M34] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M12]) + self.m[Matrix4x4::M44] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M12] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M32]) + self.m[Matrix4x4::M14] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M32] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M42])),
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d * (self.m[Matrix4x4::M31] * (self.m[Matrix4x4::M42] * self.m[Matrix4x4::M13] - self.m[Matrix4x4::M12] * self.m[Matrix4x4::M43]) + self.m[Matrix4x4::M41] * (self.m[Matrix4x4::M12] * self.m[Matrix4x4::M33] - self.m[Matrix4x4::M32] * self.m[Matrix4x4::M13]) + self.m[Matrix4x4::M11] * (self.m[Matrix4x4::M32] * self.m[Matrix4x4::M43] - self.m[Matrix4x4::M42] * self.m[Matrix4x4::M33])),
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d * (self.m[Matrix4x4::M42] * (self.m[Matrix4x4::M13] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M23] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M12] * (self.m[Matrix4x4::M23] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M43] * self.m[Matrix4x4::M24]) + self.m[Matrix4x4::M22] * (self.m[Matrix4x4::M43] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M13] * self.m[Matrix4x4::M44])),
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d * (self.m[Matrix4x4::M43] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M13] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M44] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M24]) + self.m[Matrix4x4::M23] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M44])),
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d * (self.m[Matrix4x4::M44] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M22] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M12]) + self.m[Matrix4x4::M14] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M42] - self.m[Matrix4x4::M41] * self.m[Matrix4x4::M22]) + self.m[Matrix4x4::M24] * (self.m[Matrix4x4::M41] * self.m[Matrix4x4::M12] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M42])),
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d * (self.m[Matrix4x4::M41] * (self.m[Matrix4x4::M22] * self.m[Matrix4x4::M13] - self.m[Matrix4x4::M12] * self.m[Matrix4x4::M23]) + self.m[Matrix4x4::M11] * (self.m[Matrix4x4::M42] * self.m[Matrix4x4::M23] - self.m[Matrix4x4::M22] * self.m[Matrix4x4::M43]) + self.m[Matrix4x4::M21] * (self.m[Matrix4x4::M12] * self.m[Matrix4x4::M43] - self.m[Matrix4x4::M42] * self.m[Matrix4x4::M13])),
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d * (self.m[Matrix4x4::M12] * (self.m[Matrix4x4::M33] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M23] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M22] * (self.m[Matrix4x4::M13] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M33] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M32] * (self.m[Matrix4x4::M23] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M13] * self.m[Matrix4x4::M24])),
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d * (self.m[Matrix4x4::M13] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M24] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M34]) + self.m[Matrix4x4::M23] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M34] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M14]) + self.m[Matrix4x4::M33] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M14] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M24])),
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d * (self.m[Matrix4x4::M14] * (self.m[Matrix4x4::M31] * self.m[Matrix4x4::M22] - self.m[Matrix4x4::M21] * self.m[Matrix4x4::M32]) + self.m[Matrix4x4::M24] * (self.m[Matrix4x4::M11] * self.m[Matrix4x4::M32] - self.m[Matrix4x4::M31] * self.m[Matrix4x4::M12]) + self.m[Matrix4x4::M34] * (self.m[Matrix4x4::M21] * self.m[Matrix4x4::M12] - self.m[Matrix4x4::M11] * self.m[Matrix4x4::M22])),
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||||||
|
d * (self.m[Matrix4x4::M11] * (self.m[Matrix4x4::M22] * self.m[Matrix4x4::M33] - self.m[Matrix4x4::M32] * self.m[Matrix4x4::M23]) + self.m[Matrix4x4::M21] * (self.m[Matrix4x4::M32] * self.m[Matrix4x4::M13] - self.m[Matrix4x4::M12] * self.m[Matrix4x4::M33]) + self.m[Matrix4x4::M31] * (self.m[Matrix4x4::M12] * self.m[Matrix4x4::M23] - self.m[Matrix4x4::M22] * self.m[Matrix4x4::M13])),
|
||||||
|
]
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Calculates the transpose of this matrix.
|
||||||
|
#[rustfmt::skip]
|
||||||
|
pub fn transpose(&self) -> Matrix4x4 {
|
||||||
|
Matrix4x4::new(
|
||||||
|
self.m[Matrix4x4::M11], self.m[Matrix4x4::M21], self.m[Matrix4x4::M31], self.m[Matrix4x4::M41],
|
||||||
|
self.m[Matrix4x4::M12], self.m[Matrix4x4::M22], self.m[Matrix4x4::M32], self.m[Matrix4x4::M42],
|
||||||
|
self.m[Matrix4x4::M13], self.m[Matrix4x4::M23], self.m[Matrix4x4::M33], self.m[Matrix4x4::M43],
|
||||||
|
self.m[Matrix4x4::M14], self.m[Matrix4x4::M24], self.m[Matrix4x4::M34], self.m[Matrix4x4::M44],
|
||||||
|
)
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Sets all of the elements of this matrix.
|
||||||
|
#[allow(clippy::too_many_arguments)]
|
||||||
|
#[rustfmt::skip]
|
||||||
|
#[inline]
|
||||||
|
pub fn set(
|
||||||
|
&mut self,
|
||||||
|
m11: f32, m12: f32, m13: f32, m14: f32,
|
||||||
|
m21: f32, m22: f32, m23: f32, m24: f32,
|
||||||
|
m31: f32, m32: f32, m33: f32, m34: f32,
|
||||||
|
m41: f32, m42: f32, m43: f32, m44: f32,
|
||||||
|
) {
|
||||||
|
self.m = [
|
||||||
|
m11, m21, m31, m41,
|
||||||
|
m12, m22, m32, m42,
|
||||||
|
m13, m23, m33, m43,
|
||||||
|
m14, m24, m34, m44
|
||||||
|
];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#[rustfmt::skip]
|
||||||
|
#[inline]
|
||||||
|
fn matrix4x4_mul(left: Matrix4x4, right: Matrix4x4) -> [f32; 16] {
|
||||||
|
[
|
||||||
|
left.m[Matrix4x4::M11] * right.m[Matrix4x4::M11] + left.m[Matrix4x4::M12] * right.m[Matrix4x4::M21] + left.m[Matrix4x4::M13] * right.m[Matrix4x4::M31] + left.m[Matrix4x4::M14] * right.m[Matrix4x4::M41],
|
||||||
|
left.m[Matrix4x4::M21] * right.m[Matrix4x4::M11] + left.m[Matrix4x4::M22] * right.m[Matrix4x4::M21] + left.m[Matrix4x4::M23] * right.m[Matrix4x4::M31] + left.m[Matrix4x4::M24] * right.m[Matrix4x4::M41],
|
||||||
|
left.m[Matrix4x4::M31] * right.m[Matrix4x4::M11] + left.m[Matrix4x4::M32] * right.m[Matrix4x4::M21] + left.m[Matrix4x4::M33] * right.m[Matrix4x4::M31] + left.m[Matrix4x4::M34] * right.m[Matrix4x4::M41],
|
||||||
|
left.m[Matrix4x4::M41] * right.m[Matrix4x4::M11] + left.m[Matrix4x4::M42] * right.m[Matrix4x4::M21] + left.m[Matrix4x4::M43] * right.m[Matrix4x4::M31] + left.m[Matrix4x4::M44] * right.m[Matrix4x4::M41],
|
||||||
|
left.m[Matrix4x4::M11] * right.m[Matrix4x4::M12] + left.m[Matrix4x4::M12] * right.m[Matrix4x4::M22] + left.m[Matrix4x4::M13] * right.m[Matrix4x4::M32] + left.m[Matrix4x4::M14] * right.m[Matrix4x4::M42],
|
||||||
|
left.m[Matrix4x4::M21] * right.m[Matrix4x4::M12] + left.m[Matrix4x4::M22] * right.m[Matrix4x4::M22] + left.m[Matrix4x4::M23] * right.m[Matrix4x4::M32] + left.m[Matrix4x4::M24] * right.m[Matrix4x4::M42],
|
||||||
|
left.m[Matrix4x4::M31] * right.m[Matrix4x4::M12] + left.m[Matrix4x4::M32] * right.m[Matrix4x4::M22] + left.m[Matrix4x4::M33] * right.m[Matrix4x4::M32] + left.m[Matrix4x4::M34] * right.m[Matrix4x4::M42],
|
||||||
|
left.m[Matrix4x4::M41] * right.m[Matrix4x4::M12] + left.m[Matrix4x4::M42] * right.m[Matrix4x4::M22] + left.m[Matrix4x4::M43] * right.m[Matrix4x4::M32] + left.m[Matrix4x4::M44] * right.m[Matrix4x4::M42],
|
||||||
|
left.m[Matrix4x4::M11] * right.m[Matrix4x4::M13] + left.m[Matrix4x4::M12] * right.m[Matrix4x4::M23] + left.m[Matrix4x4::M13] * right.m[Matrix4x4::M33] + left.m[Matrix4x4::M14] * right.m[Matrix4x4::M43],
|
||||||
|
left.m[Matrix4x4::M21] * right.m[Matrix4x4::M13] + left.m[Matrix4x4::M22] * right.m[Matrix4x4::M23] + left.m[Matrix4x4::M23] * right.m[Matrix4x4::M33] + left.m[Matrix4x4::M24] * right.m[Matrix4x4::M43],
|
||||||
|
left.m[Matrix4x4::M31] * right.m[Matrix4x4::M13] + left.m[Matrix4x4::M32] * right.m[Matrix4x4::M23] + left.m[Matrix4x4::M33] * right.m[Matrix4x4::M33] + left.m[Matrix4x4::M34] * right.m[Matrix4x4::M43],
|
||||||
|
left.m[Matrix4x4::M41] * right.m[Matrix4x4::M13] + left.m[Matrix4x4::M42] * right.m[Matrix4x4::M23] + left.m[Matrix4x4::M43] * right.m[Matrix4x4::M33] + left.m[Matrix4x4::M44] * right.m[Matrix4x4::M43],
|
||||||
|
left.m[Matrix4x4::M11] * right.m[Matrix4x4::M14] + left.m[Matrix4x4::M12] * right.m[Matrix4x4::M24] + left.m[Matrix4x4::M13] * right.m[Matrix4x4::M34] + left.m[Matrix4x4::M14] * right.m[Matrix4x4::M44],
|
||||||
|
left.m[Matrix4x4::M21] * right.m[Matrix4x4::M14] + left.m[Matrix4x4::M22] * right.m[Matrix4x4::M24] + left.m[Matrix4x4::M23] * right.m[Matrix4x4::M34] + left.m[Matrix4x4::M24] * right.m[Matrix4x4::M44],
|
||||||
|
left.m[Matrix4x4::M31] * right.m[Matrix4x4::M14] + left.m[Matrix4x4::M32] * right.m[Matrix4x4::M24] + left.m[Matrix4x4::M33] * right.m[Matrix4x4::M34] + left.m[Matrix4x4::M34] * right.m[Matrix4x4::M44],
|
||||||
|
left.m[Matrix4x4::M41] * right.m[Matrix4x4::M14] + left.m[Matrix4x4::M42] * right.m[Matrix4x4::M24] + left.m[Matrix4x4::M43] * right.m[Matrix4x4::M34] + left.m[Matrix4x4::M44] * right.m[Matrix4x4::M44],
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Mul for Matrix4x4 {
|
||||||
|
type Output = Self;
|
||||||
|
|
||||||
|
#[inline]
|
||||||
|
fn mul(self, rhs: Self) -> Self::Output {
|
||||||
|
Matrix4x4 { m: matrix4x4_mul(self, rhs) }
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl MulAssign for Matrix4x4 {
|
||||||
|
#[inline]
|
||||||
|
fn mul_assign(&mut self, rhs: Self) {
|
||||||
|
self.m = matrix4x4_mul(*self, rhs);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl Mul<Vector3> for Matrix4x4 {
|
||||||
|
type Output = Vector3;
|
||||||
|
|
||||||
|
#[rustfmt::skip]
|
||||||
|
#[inline]
|
||||||
|
fn mul(self, rhs: Vector3) -> Self::Output {
|
||||||
|
Vector3 {
|
||||||
|
x: rhs.x * self.m[Matrix4x4::M11] + rhs.y * self.m[Matrix4x4::M12] + rhs.z * self.m[Matrix4x4::M13] + self.m[Matrix4x4::M14],
|
||||||
|
y: rhs.x * self.m[Matrix4x4::M21] + rhs.y * self.m[Matrix4x4::M22] + rhs.z * self.m[Matrix4x4::M23] + self.m[Matrix4x4::M24],
|
||||||
|
z: rhs.x * self.m[Matrix4x4::M31] + rhs.y * self.m[Matrix4x4::M32] + rhs.z * self.m[Matrix4x4::M33] + self.m[Matrix4x4::M34],
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#[cfg(test)]
|
||||||
|
mod tests {
|
||||||
|
use crate::math::*;
|
||||||
|
|
||||||
|
use super::*;
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
pub fn test_new() {
|
||||||
|
let m = Matrix4x4::new(
|
||||||
|
1.1, 1.2, 1.3, 1.4, //
|
||||||
|
2.1, 2.2, 2.3, 2.4, //
|
||||||
|
3.1, 3.2, 3.3, 3.4, //
|
||||||
|
4.1, 4.2, 4.3, 4.4,
|
||||||
|
);
|
||||||
|
assert_eq!(1.1, m.m[Matrix4x4::M11]);
|
||||||
|
assert_eq!(1.2, m.m[Matrix4x4::M12]);
|
||||||
|
assert_eq!(1.3, m.m[Matrix4x4::M13]);
|
||||||
|
assert_eq!(1.4, m.m[Matrix4x4::M14]);
|
||||||
|
assert_eq!(2.1, m.m[Matrix4x4::M21]);
|
||||||
|
assert_eq!(2.2, m.m[Matrix4x4::M22]);
|
||||||
|
assert_eq!(2.3, m.m[Matrix4x4::M23]);
|
||||||
|
assert_eq!(2.4, m.m[Matrix4x4::M24]);
|
||||||
|
assert_eq!(3.1, m.m[Matrix4x4::M31]);
|
||||||
|
assert_eq!(3.2, m.m[Matrix4x4::M32]);
|
||||||
|
assert_eq!(3.3, m.m[Matrix4x4::M33]);
|
||||||
|
assert_eq!(3.4, m.m[Matrix4x4::M34]);
|
||||||
|
assert_eq!(4.1, m.m[Matrix4x4::M41]);
|
||||||
|
assert_eq!(4.2, m.m[Matrix4x4::M42]);
|
||||||
|
assert_eq!(4.3, m.m[Matrix4x4::M43]);
|
||||||
|
assert_eq!(4.4, m.m[Matrix4x4::M44]);
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
pub fn test_set() {
|
||||||
|
let mut m = Matrix4x4 { m: [0.0; 16] };
|
||||||
|
m.set(
|
||||||
|
1.1, 1.2, 1.3, 1.4, //
|
||||||
|
2.1, 2.2, 2.3, 2.4, //
|
||||||
|
3.1, 3.2, 3.3, 3.4, //
|
||||||
|
4.1, 4.2, 4.3, 4.4,
|
||||||
|
);
|
||||||
|
assert_eq!(1.1, m.m[Matrix4x4::M11]);
|
||||||
|
assert_eq!(1.2, m.m[Matrix4x4::M12]);
|
||||||
|
assert_eq!(1.3, m.m[Matrix4x4::M13]);
|
||||||
|
assert_eq!(1.4, m.m[Matrix4x4::M14]);
|
||||||
|
assert_eq!(2.1, m.m[Matrix4x4::M21]);
|
||||||
|
assert_eq!(2.2, m.m[Matrix4x4::M22]);
|
||||||
|
assert_eq!(2.3, m.m[Matrix4x4::M23]);
|
||||||
|
assert_eq!(2.4, m.m[Matrix4x4::M24]);
|
||||||
|
assert_eq!(3.1, m.m[Matrix4x4::M31]);
|
||||||
|
assert_eq!(3.2, m.m[Matrix4x4::M32]);
|
||||||
|
assert_eq!(3.3, m.m[Matrix4x4::M33]);
|
||||||
|
assert_eq!(3.4, m.m[Matrix4x4::M34]);
|
||||||
|
assert_eq!(4.1, m.m[Matrix4x4::M41]);
|
||||||
|
assert_eq!(4.2, m.m[Matrix4x4::M42]);
|
||||||
|
assert_eq!(4.3, m.m[Matrix4x4::M43]);
|
||||||
|
assert_eq!(4.4, m.m[Matrix4x4::M44]);
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
pub fn test_identity() {
|
||||||
|
let m = Matrix4x4::identity();
|
||||||
|
assert_eq!(1.0, m.m[Matrix4x4::M11]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M12]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M13]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M14]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M21]);
|
||||||
|
assert_eq!(1.0, m.m[Matrix4x4::M22]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M23]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M24]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M31]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M32]);
|
||||||
|
assert_eq!(1.0, m.m[Matrix4x4::M33]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M34]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M41]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M42]);
|
||||||
|
assert_eq!(0.0, m.m[Matrix4x4::M43]);
|
||||||
|
assert_eq!(1.0, m.m[Matrix4x4::M44]);
|
||||||
|
}
|
||||||
|
|
||||||
|
#[rustfmt::skip]
|
||||||
|
#[test]
|
||||||
|
pub fn test_transpose() {
|
||||||
|
let m = Matrix4x4::new(
|
||||||
|
1.0, 2.0, 3.0, 4.0,
|
||||||
|
5.0, 6.0, 7.0, 8.0,
|
||||||
|
9.0, 10.0, 11.0, 12.0,
|
||||||
|
13.0, 14.0, 15.0, 16.0,
|
||||||
|
);
|
||||||
|
let t = m.transpose();
|
||||||
|
assert_eq!(1.0, t.m[Matrix4x4::M11]);
|
||||||
|
assert_eq!(5.0, t.m[Matrix4x4::M12]);
|
||||||
|
assert_eq!(9.0, t.m[Matrix4x4::M13]);
|
||||||
|
assert_eq!(13.0, t.m[Matrix4x4::M14]);
|
||||||
|
assert_eq!(2.0, t.m[Matrix4x4::M21]);
|
||||||
|
assert_eq!(6.0, t.m[Matrix4x4::M22]);
|
||||||
|
assert_eq!(10.0, t.m[Matrix4x4::M23]);
|
||||||
|
assert_eq!(14.0, t.m[Matrix4x4::M24]);
|
||||||
|
assert_eq!(3.0, t.m[Matrix4x4::M31]);
|
||||||
|
assert_eq!(7.0, t.m[Matrix4x4::M32]);
|
||||||
|
assert_eq!(11.0, t.m[Matrix4x4::M33]);
|
||||||
|
assert_eq!(15.0, t.m[Matrix4x4::M34]);
|
||||||
|
assert_eq!(4.0, t.m[Matrix4x4::M41]);
|
||||||
|
assert_eq!(8.0, t.m[Matrix4x4::M42]);
|
||||||
|
assert_eq!(12.0, t.m[Matrix4x4::M43]);
|
||||||
|
assert_eq!(16.0, t.m[Matrix4x4::M44]);
|
||||||
|
}
|
||||||
|
|
||||||
|
#[rustfmt::skip]
|
||||||
|
#[test]
|
||||||
|
pub fn test_mul() {
|
||||||
|
let a = Matrix4x4::new(
|
||||||
|
5.0, 7.0, 9.0, 10.0,
|
||||||
|
2.0, 3.0, 3.0, 8.0,
|
||||||
|
8.0, 10.0, 2.0, 3.0,
|
||||||
|
3.0, 3.0, 4.0, 8.0
|
||||||
|
);
|
||||||
|
let b = Matrix4x4::new(
|
||||||
|
3.0, 10.0, 12.0, 18.0,
|
||||||
|
12.0, 1.0, 4.0, 9.0,
|
||||||
|
9.0, 10.0, 12.0, 2.0,
|
||||||
|
3.0, 12.0, 4.0, 10.0
|
||||||
|
);
|
||||||
|
|
||||||
|
let c = a * b;
|
||||||
|
assert!(nearly_equal(210.0, c.m[Matrix4x4::M11], 0.001));
|
||||||
|
assert!(nearly_equal(267.0, c.m[Matrix4x4::M12], 0.001));
|
||||||
|
assert!(nearly_equal(236.0, c.m[Matrix4x4::M13], 0.001));
|
||||||
|
assert!(nearly_equal(271.0, c.m[Matrix4x4::M14], 0.001));
|
||||||
|
assert!(nearly_equal(93.0, c.m[Matrix4x4::M21], 0.001));
|
||||||
|
assert!(nearly_equal(149.0, c.m[Matrix4x4::M22], 0.001));
|
||||||
|
assert!(nearly_equal(104.0, c.m[Matrix4x4::M23], 0.001));
|
||||||
|
assert!(nearly_equal(149.0, c.m[Matrix4x4::M24], 0.001));
|
||||||
|
assert!(nearly_equal(171.0, c.m[Matrix4x4::M31], 0.001));
|
||||||
|
assert!(nearly_equal(146.0, c.m[Matrix4x4::M32], 0.001));
|
||||||
|
assert!(nearly_equal(172.0, c.m[Matrix4x4::M33], 0.001));
|
||||||
|
assert!(nearly_equal(268.0, c.m[Matrix4x4::M34], 0.001));
|
||||||
|
assert!(nearly_equal(105.0, c.m[Matrix4x4::M41], 0.001));
|
||||||
|
assert!(nearly_equal(169.0, c.m[Matrix4x4::M42], 0.001));
|
||||||
|
assert!(nearly_equal(128.0, c.m[Matrix4x4::M43], 0.001));
|
||||||
|
assert!(nearly_equal(169.0, c.m[Matrix4x4::M44], 0.001));
|
||||||
|
|
||||||
|
let c = b * a;
|
||||||
|
assert!(nearly_equal(185.0, c.m[Matrix4x4::M11], 0.001));
|
||||||
|
assert!(nearly_equal(225.0, c.m[Matrix4x4::M12], 0.001));
|
||||||
|
assert!(nearly_equal(153.0, c.m[Matrix4x4::M13], 0.001));
|
||||||
|
assert!(nearly_equal(290.0, c.m[Matrix4x4::M14], 0.001));
|
||||||
|
assert!(nearly_equal(121.0, c.m[Matrix4x4::M21], 0.001));
|
||||||
|
assert!(nearly_equal(154.0, c.m[Matrix4x4::M22], 0.001));
|
||||||
|
assert!(nearly_equal(155.0, c.m[Matrix4x4::M23], 0.001));
|
||||||
|
assert!(nearly_equal(212.0, c.m[Matrix4x4::M24], 0.001));
|
||||||
|
assert!(nearly_equal(167.0, c.m[Matrix4x4::M31], 0.001));
|
||||||
|
assert!(nearly_equal(219.0, c.m[Matrix4x4::M32], 0.001));
|
||||||
|
assert!(nearly_equal(143.0, c.m[Matrix4x4::M33], 0.001));
|
||||||
|
assert!(nearly_equal(222.0, c.m[Matrix4x4::M34], 0.001));
|
||||||
|
assert!(nearly_equal(101.0, c.m[Matrix4x4::M41], 0.001));
|
||||||
|
assert!(nearly_equal(127.0, c.m[Matrix4x4::M42], 0.001));
|
||||||
|
assert!(nearly_equal(111.0, c.m[Matrix4x4::M43], 0.001));
|
||||||
|
assert!(nearly_equal(218.0, c.m[Matrix4x4::M44], 0.001));
|
||||||
|
}
|
||||||
|
|
||||||
|
#[rustfmt::skip]
|
||||||
|
#[test]
|
||||||
|
pub fn test_mul_assign() {
|
||||||
|
let mut a = Matrix4x4::new(
|
||||||
|
5.0, 7.0, 9.0, 10.0,
|
||||||
|
2.0, 3.0, 3.0, 8.0,
|
||||||
|
8.0, 10.0, 2.0, 3.0,
|
||||||
|
3.0, 3.0, 4.0, 8.0
|
||||||
|
);
|
||||||
|
let b = Matrix4x4::new(
|
||||||
|
3.0, 10.0, 12.0, 18.0,
|
||||||
|
12.0, 1.0, 4.0, 9.0,
|
||||||
|
9.0, 10.0, 12.0, 2.0,
|
||||||
|
3.0, 12.0, 4.0, 10.0
|
||||||
|
);
|
||||||
|
|
||||||
|
a *= b;
|
||||||
|
assert!(nearly_equal(210.0, a.m[Matrix4x4::M11], 0.001));
|
||||||
|
assert!(nearly_equal(267.0, a.m[Matrix4x4::M12], 0.001));
|
||||||
|
assert!(nearly_equal(236.0, a.m[Matrix4x4::M13], 0.001));
|
||||||
|
assert!(nearly_equal(271.0, a.m[Matrix4x4::M14], 0.001));
|
||||||
|
assert!(nearly_equal(93.0, a.m[Matrix4x4::M21], 0.001));
|
||||||
|
assert!(nearly_equal(149.0, a.m[Matrix4x4::M22], 0.001));
|
||||||
|
assert!(nearly_equal(104.0, a.m[Matrix4x4::M23], 0.001));
|
||||||
|
assert!(nearly_equal(149.0, a.m[Matrix4x4::M24], 0.001));
|
||||||
|
assert!(nearly_equal(171.0, a.m[Matrix4x4::M31], 0.001));
|
||||||
|
assert!(nearly_equal(146.0, a.m[Matrix4x4::M32], 0.001));
|
||||||
|
assert!(nearly_equal(172.0, a.m[Matrix4x4::M33], 0.001));
|
||||||
|
assert!(nearly_equal(268.0, a.m[Matrix4x4::M34], 0.001));
|
||||||
|
assert!(nearly_equal(105.0, a.m[Matrix4x4::M41], 0.001));
|
||||||
|
assert!(nearly_equal(169.0, a.m[Matrix4x4::M42], 0.001));
|
||||||
|
assert!(nearly_equal(128.0, a.m[Matrix4x4::M43], 0.001));
|
||||||
|
assert!(nearly_equal(169.0, a.m[Matrix4x4::M44], 0.001));
|
||||||
|
|
||||||
|
let a = Matrix4x4::new(
|
||||||
|
5.0, 7.0, 9.0, 10.0,
|
||||||
|
2.0, 3.0, 3.0, 8.0,
|
||||||
|
8.0, 10.0, 2.0, 3.0,
|
||||||
|
3.0, 3.0, 4.0, 8.0
|
||||||
|
);
|
||||||
|
let mut b = Matrix4x4::new(
|
||||||
|
3.0, 10.0, 12.0, 18.0,
|
||||||
|
12.0, 1.0, 4.0, 9.0,
|
||||||
|
9.0, 10.0, 12.0, 2.0,
|
||||||
|
3.0, 12.0, 4.0, 10.0
|
||||||
|
);
|
||||||
|
|
||||||
|
b *= a;
|
||||||
|
assert!(nearly_equal(185.0, b.m[Matrix4x4::M11], 0.001));
|
||||||
|
assert!(nearly_equal(225.0, b.m[Matrix4x4::M12], 0.001));
|
||||||
|
assert!(nearly_equal(153.0, b.m[Matrix4x4::M13], 0.001));
|
||||||
|
assert!(nearly_equal(290.0, b.m[Matrix4x4::M14], 0.001));
|
||||||
|
assert!(nearly_equal(121.0, b.m[Matrix4x4::M21], 0.001));
|
||||||
|
assert!(nearly_equal(154.0, b.m[Matrix4x4::M22], 0.001));
|
||||||
|
assert!(nearly_equal(155.0, b.m[Matrix4x4::M23], 0.001));
|
||||||
|
assert!(nearly_equal(212.0, b.m[Matrix4x4::M24], 0.001));
|
||||||
|
assert!(nearly_equal(167.0, b.m[Matrix4x4::M31], 0.001));
|
||||||
|
assert!(nearly_equal(219.0, b.m[Matrix4x4::M32], 0.001));
|
||||||
|
assert!(nearly_equal(143.0, b.m[Matrix4x4::M33], 0.001));
|
||||||
|
assert!(nearly_equal(222.0, b.m[Matrix4x4::M34], 0.001));
|
||||||
|
assert!(nearly_equal(101.0, b.m[Matrix4x4::M41], 0.001));
|
||||||
|
assert!(nearly_equal(127.0, b.m[Matrix4x4::M42], 0.001));
|
||||||
|
assert!(nearly_equal(111.0, b.m[Matrix4x4::M43], 0.001));
|
||||||
|
assert!(nearly_equal(218.0, b.m[Matrix4x4::M44], 0.001));
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
pub fn test_translation() {
|
||||||
|
let v = Vector3::new(10.2, 5.7, 1.8);
|
||||||
|
let m = Matrix4x4::new_translation(2.0, 3.0, -1.7);
|
||||||
|
let t = m * v;
|
||||||
|
assert!(nearly_equal(12.2, t.x, 0.001));
|
||||||
|
assert!(nearly_equal(8.7, t.y, 0.001));
|
||||||
|
assert!(nearly_equal(0.1, t.z, 0.001));
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
pub fn test_scaling() {
|
||||||
|
let v = Vector3::new(10.2, 5.7, 1.8);
|
||||||
|
let m = Matrix4x4::new_scaling(3.0, 4.0, 0.5);
|
||||||
|
let t = m * v;
|
||||||
|
assert!(nearly_equal(30.6, t.x, 0.001));
|
||||||
|
assert!(nearly_equal(22.8, t.y, 0.001));
|
||||||
|
assert!(nearly_equal(0.9, t.z, 0.001));
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
pub fn test_rotation_x() {
|
||||||
|
let v = Vector3::new(10.2, 5.7, 1.8);
|
||||||
|
let m = Matrix4x4::new_rotation_x(45.0f32.to_radians());
|
||||||
|
let t = m * v;
|
||||||
|
assert!(nearly_equal(10.2, t.x, 0.001));
|
||||||
|
assert!(nearly_equal(2.757, t.y, 0.001));
|
||||||
|
assert!(nearly_equal(5.303, t.z, 0.001));
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
pub fn test_rotation_y() {
|
||||||
|
let v = Vector3::new(10.2, 5.7, 1.8);
|
||||||
|
let m = Matrix4x4::new_rotation_y(45.0f32.to_radians());
|
||||||
|
let t = m * v;
|
||||||
|
assert!(nearly_equal(8.485, t.x, 0.001));
|
||||||
|
assert!(nearly_equal(5.7, t.y, 0.001));
|
||||||
|
assert!(nearly_equal(-5.939, t.z, 0.001));
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
pub fn test_rotation_z() {
|
||||||
|
let v = Vector3::new(10.2, 5.7, 1.8);
|
||||||
|
let m = Matrix4x4::new_rotation_z(45.0f32.to_radians());
|
||||||
|
let t = m * v;
|
||||||
|
assert!(nearly_equal(3.181, t.x, 0.001));
|
||||||
|
assert!(nearly_equal(11.243, t.y, 0.001));
|
||||||
|
assert!(nearly_equal(1.8, t.z, 0.001));
|
||||||
|
}
|
||||||
|
|
||||||
|
#[rustfmt::skip]
|
||||||
|
#[test]
|
||||||
|
pub fn test_determinant() {
|
||||||
|
let m = Matrix4x4::new(
|
||||||
|
1.0, 2.0, 6.0, 6.0,
|
||||||
|
4.0, 7.0, 3.0, 2.0,
|
||||||
|
0.0, 0.0, 0.0, 0.0,
|
||||||
|
1.0, 2.0, 2.0, 9.0
|
||||||
|
);
|
||||||
|
let d = m.determinant();
|
||||||
|
assert!(nearly_equal(0.0, d, 0.000001));
|
||||||
|
|
||||||
|
let m = Matrix4x4::new(
|
||||||
|
5.0, 7.0, 9.0, 10.0,
|
||||||
|
2.0, 3.0, 3.0, 8.0,
|
||||||
|
8.0, 10.0, 2.0, 3.0,
|
||||||
|
3.0, 3.0, 4.0, 8.0
|
||||||
|
);
|
||||||
|
let d = m.determinant();
|
||||||
|
assert!(nearly_equal(-361.0, d, 0.001));
|
||||||
|
}
|
||||||
|
|
||||||
|
#[rustfmt::skip]
|
||||||
|
#[test]
|
||||||
|
pub fn test_invert() {
|
||||||
|
let m = Matrix4x4::new(
|
||||||
|
1.0, 2.0, 6.0, 6.0,
|
||||||
|
4.0, 7.0, 3.0, 2.0,
|
||||||
|
0.0, 0.0, 0.0, 0.0,
|
||||||
|
1.0, 2.0, 2.0, 9.0
|
||||||
|
);
|
||||||
|
let inv = m.invert();
|
||||||
|
assert!(nearly_equal(1.0, inv.m[Matrix4x4::M11], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M12], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M13], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M14], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M21], 0.000001));
|
||||||
|
assert!(nearly_equal(1.0, inv.m[Matrix4x4::M22], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M23], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M24], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M31], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M32], 0.000001));
|
||||||
|
assert!(nearly_equal(1.0, inv.m[Matrix4x4::M33], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M34], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M41], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M42], 0.000001));
|
||||||
|
assert!(nearly_equal(0.0, inv.m[Matrix4x4::M43], 0.000001));
|
||||||
|
assert!(nearly_equal(1.0, inv.m[Matrix4x4::M44], 0.000001));
|
||||||
|
|
||||||
|
let m = Matrix4x4::new(
|
||||||
|
5.0, 7.0, 9.0, 10.0,
|
||||||
|
2.0, 3.0, 3.0, 8.0,
|
||||||
|
8.0, 10.0, 2.0, 3.0,
|
||||||
|
3.0, 3.0, 4.0, 8.0
|
||||||
|
);
|
||||||
|
let inv = m.invert();
|
||||||
|
assert!(nearly_equal(-0.196676, inv.m[Matrix4x4::M11], 0.000001));
|
||||||
|
assert!(nearly_equal(-0.750693, inv.m[Matrix4x4::M12], 0.000001));
|
||||||
|
assert!(nearly_equal( 0.072022, inv.m[Matrix4x4::M13], 0.000001));
|
||||||
|
assert!(nearly_equal( 0.969529, inv.m[Matrix4x4::M14], 0.000001));
|
||||||
|
assert!(nearly_equal( 0.141274, inv.m[Matrix4x4::M21], 0.000001));
|
||||||
|
assert!(nearly_equal( 0.595568, inv.m[Matrix4x4::M22], 0.000001));
|
||||||
|
assert!(nearly_equal( 0.060941, inv.m[Matrix4x4::M23], 0.000001));
|
||||||
|
assert!(nearly_equal(-0.795014, inv.m[Matrix4x4::M24], 0.000001));
|
||||||
|
assert!(nearly_equal( 0.196676, inv.m[Matrix4x4::M31], 0.000001));
|
||||||
|
assert!(nearly_equal(-0.249307, inv.m[Matrix4x4::M32], 0.000001));
|
||||||
|
assert!(nearly_equal(-0.072022, inv.m[Matrix4x4::M33], 0.000001));
|
||||||
|
assert!(nearly_equal( 0.030471, inv.m[Matrix4x4::M34], 0.000001));
|
||||||
|
assert!(nearly_equal(-0.077562, inv.m[Matrix4x4::M41], 0.000001));
|
||||||
|
assert!(nearly_equal( 0.182825, inv.m[Matrix4x4::M42], 0.000001));
|
||||||
|
assert!(nearly_equal(-0.013850, inv.m[Matrix4x4::M43], 0.000001));
|
||||||
|
assert!(nearly_equal( 0.044321, inv.m[Matrix4x4::M44], 0.000001));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -4,12 +4,14 @@ use std::simd::{SimdFloat, SimdPartialOrd};
|
||||||
|
|
||||||
mod circle;
|
mod circle;
|
||||||
mod matrix3x3;
|
mod matrix3x3;
|
||||||
|
mod matrix4x4;
|
||||||
mod rect;
|
mod rect;
|
||||||
mod vector2;
|
mod vector2;
|
||||||
mod vector3;
|
mod vector3;
|
||||||
|
|
||||||
pub use circle::*;
|
pub use circle::*;
|
||||||
pub use matrix3x3::*;
|
pub use matrix3x3::*;
|
||||||
|
pub use matrix4x4::*;
|
||||||
pub use rect::*;
|
pub use rect::*;
|
||||||
pub use vector2::*;
|
pub use vector2::*;
|
||||||
pub use vector3::*;
|
pub use vector3::*;
|
||||||
|
|
|
||||||
Loading…
Reference in a new issue