06cb5c5fd9
# Objective Component `require()` IDE integration is fully broken, as of #16575. ## Solution This reverts us back to the previous "put the docs on Component trait" impl. This _does_ reduce the accessibility of the required components in rust docs, but the complete erasure of "required component IDE experience" is not worth the price of slightly increased prominence of requires in docs. Additionally, Rust Analyzer has recently started including derive attributes in suggestions, so we aren't losing that benefit of the proc_macro attribute impl.
644 lines
25 KiB
Rust
644 lines
25 KiB
Rust
use super::GlobalTransform;
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use bevy_math::{Affine3A, Dir3, Isometry3d, Mat3, Mat4, Quat, Vec3};
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use core::ops::Mul;
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#[cfg(feature = "bevy-support")]
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use bevy_ecs::component::Component;
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#[cfg(feature = "bevy_reflect")]
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use {bevy_ecs::reflect::ReflectComponent, bevy_reflect::prelude::*};
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/// Checks that a vector with the given squared length is normalized.
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///
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/// Warns for small error with a length threshold of approximately `1e-4`,
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/// and panics for large error with a length threshold of approximately `1e-2`.
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#[cfg(debug_assertions)]
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fn assert_is_normalized(message: &str, length_squared: f32) {
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use bevy_math::ops;
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#[cfg(feature = "std")]
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use std::eprintln;
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let length_error_squared = ops::abs(length_squared - 1.0);
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// Panic for large error and warn for slight error.
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if length_error_squared > 2e-2 || length_error_squared.is_nan() {
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// Length error is approximately 1e-2 or more.
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panic!("Error: {message}",);
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} else if length_error_squared > 2e-4 {
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// Length error is approximately 1e-4 or more.
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#[cfg(feature = "std")]
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eprintln!("Warning: {message}",);
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}
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}
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/// Describe the position of an entity. If the entity has a parent, the position is relative
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/// to its parent position.
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///
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/// * To place or move an entity, you should set its [`Transform`].
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/// * To get the global transform of an entity, you should get its [`GlobalTransform`].
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/// * To be displayed, an entity must have both a [`Transform`] and a [`GlobalTransform`].
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/// [`GlobalTransform`] is automatically inserted whenever [`Transform`] is inserted.
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///
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/// ## [`Transform`] and [`GlobalTransform`]
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///
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/// [`Transform`] is the position of an entity relative to its parent position, or the reference
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/// frame if it doesn't have a [`ChildOf`](bevy_ecs::hierarchy::ChildOf) component.
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///
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/// [`GlobalTransform`] is the position of an entity relative to the reference frame.
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///
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/// [`GlobalTransform`] is updated from [`Transform`] by systems in the system set
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/// [`TransformPropagate`](crate::TransformSystem::TransformPropagate).
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///
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/// This system runs during [`PostUpdate`](bevy_app::PostUpdate). If you
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/// update the [`Transform`] of an entity during this set or after, you will notice a 1 frame lag
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/// before the [`GlobalTransform`] is updated.
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///
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/// # Examples
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///
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/// - [`transform`][transform_example]
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///
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/// [transform_example]: https://github.com/bevyengine/bevy/blob/latest/examples/transforms/transform.rs
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#[derive(Debug, PartialEq, Clone, Copy)]
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#[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
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#[cfg_attr(feature = "bevy-support", derive(Component), require(GlobalTransform))]
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#[cfg_attr(
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feature = "bevy_reflect",
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derive(Reflect),
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reflect(Component, Default, PartialEq, Debug)
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)]
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#[cfg_attr(
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all(feature = "bevy_reflect", feature = "serialize"),
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reflect(Serialize, Deserialize)
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)]
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pub struct Transform {
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/// Position of the entity. In 2d, the last value of the `Vec3` is used for z-ordering.
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///
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/// See the [`translations`] example for usage.
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///
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/// [`translations`]: https://github.com/bevyengine/bevy/blob/latest/examples/transforms/translation.rs
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pub translation: Vec3,
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/// Rotation of the entity.
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///
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/// See the [`3d_rotation`] example for usage.
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///
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/// [`3d_rotation`]: https://github.com/bevyengine/bevy/blob/latest/examples/transforms/3d_rotation.rs
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pub rotation: Quat,
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/// Scale of the entity.
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///
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/// See the [`scale`] example for usage.
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///
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/// [`scale`]: https://github.com/bevyengine/bevy/blob/latest/examples/transforms/scale.rs
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pub scale: Vec3,
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}
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impl Transform {
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/// An identity [`Transform`] with no translation, rotation, and a scale of 1 on all axes.
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pub const IDENTITY: Self = Transform {
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translation: Vec3::ZERO,
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rotation: Quat::IDENTITY,
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scale: Vec3::ONE,
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};
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/// Creates a new [`Transform`] at the position `(x, y, z)`. In 2d, the `z` component
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/// is used for z-ordering elements: higher `z`-value will be in front of lower
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/// `z`-value.
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#[inline]
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pub const fn from_xyz(x: f32, y: f32, z: f32) -> Self {
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Self::from_translation(Vec3::new(x, y, z))
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}
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/// Extracts the translation, rotation, and scale from `matrix`. It must be a 3d affine
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/// transformation matrix.
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#[inline]
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pub fn from_matrix(world_from_local: Mat4) -> Self {
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let (scale, rotation, translation) = world_from_local.to_scale_rotation_translation();
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Transform {
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translation,
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rotation,
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scale,
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}
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}
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/// Creates a new [`Transform`], with `translation`. Rotation will be 0 and scale 1 on
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/// all axes.
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#[inline]
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pub const fn from_translation(translation: Vec3) -> Self {
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Transform {
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translation,
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..Self::IDENTITY
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}
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}
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/// Creates a new [`Transform`], with `rotation`. Translation will be 0 and scale 1 on
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/// all axes.
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#[inline]
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pub const fn from_rotation(rotation: Quat) -> Self {
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Transform {
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rotation,
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..Self::IDENTITY
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}
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}
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/// Creates a new [`Transform`], with `scale`. Translation will be 0 and rotation 0 on
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/// all axes.
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#[inline]
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pub const fn from_scale(scale: Vec3) -> Self {
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Transform {
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scale,
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..Self::IDENTITY
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}
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}
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/// Creates a new [`Transform`] that is equivalent to the given [isometry].
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///
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/// [isometry]: Isometry3d
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#[inline]
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pub fn from_isometry(iso: Isometry3d) -> Self {
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Transform {
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translation: iso.translation.into(),
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rotation: iso.rotation,
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..Self::IDENTITY
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}
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}
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/// Returns this [`Transform`] with a new rotation so that [`Transform::forward`]
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/// points towards the `target` position and [`Transform::up`] points towards `up`.
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///
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/// In some cases it's not possible to construct a rotation. Another axis will be picked in those cases:
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/// * if `target` is the same as the transform translation, `Vec3::Z` is used instead
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/// * if `up` fails converting to `Dir3` (e.g if it is `Vec3::ZERO`), `Dir3::Y` is used instead
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/// * if the resulting forward direction is parallel with `up`, an orthogonal vector is used as the "right" direction
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#[inline]
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#[must_use]
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pub fn looking_at(mut self, target: Vec3, up: impl TryInto<Dir3>) -> Self {
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self.look_at(target, up);
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self
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}
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/// Returns this [`Transform`] with a new rotation so that [`Transform::forward`]
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/// points in the given `direction` and [`Transform::up`] points towards `up`.
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///
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/// In some cases it's not possible to construct a rotation. Another axis will be picked in those cases:
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/// * if `direction` fails converting to `Dir3` (e.g if it is `Vec3::ZERO`), `Dir3::Z` is used instead
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/// * if `up` fails converting to `Dir3`, `Dir3::Y` is used instead
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/// * if `direction` is parallel with `up`, an orthogonal vector is used as the "right" direction
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#[inline]
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#[must_use]
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pub fn looking_to(mut self, direction: impl TryInto<Dir3>, up: impl TryInto<Dir3>) -> Self {
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self.look_to(direction, up);
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self
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}
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/// Rotates this [`Transform`] so that the `main_axis` vector, reinterpreted in local coordinates, points
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/// in the given `main_direction`, while `secondary_axis` points towards `secondary_direction`.
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/// For example, if a spaceship model has its nose pointing in the X-direction in its own local coordinates
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/// and its dorsal fin pointing in the Y-direction, then `align(Dir3::X, v, Dir3::Y, w)` will make the spaceship's
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/// nose point in the direction of `v`, while the dorsal fin does its best to point in the direction `w`.
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///
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///
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/// In some cases a rotation cannot be constructed. Another axis will be picked in those cases:
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/// * if `main_axis` or `main_direction` fail converting to `Dir3` (e.g are zero), `Dir3::X` takes their place
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/// * if `secondary_axis` or `secondary_direction` fail converting, `Dir3::Y` takes their place
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/// * if `main_axis` is parallel with `secondary_axis` or `main_direction` is parallel with `secondary_direction`,
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/// a rotation is constructed which takes `main_axis` to `main_direction` along a great circle, ignoring the secondary
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/// counterparts
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///
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/// See [`Transform::align`] for additional details.
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#[inline]
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#[must_use]
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pub fn aligned_by(
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mut self,
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main_axis: impl TryInto<Dir3>,
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main_direction: impl TryInto<Dir3>,
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secondary_axis: impl TryInto<Dir3>,
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secondary_direction: impl TryInto<Dir3>,
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) -> Self {
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self.align(
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main_axis,
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main_direction,
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secondary_axis,
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secondary_direction,
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);
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self
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}
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/// Returns this [`Transform`] with a new translation.
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#[inline]
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#[must_use]
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pub const fn with_translation(mut self, translation: Vec3) -> Self {
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self.translation = translation;
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self
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}
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/// Returns this [`Transform`] with a new rotation.
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#[inline]
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#[must_use]
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pub const fn with_rotation(mut self, rotation: Quat) -> Self {
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self.rotation = rotation;
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self
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}
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/// Returns this [`Transform`] with a new scale.
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#[inline]
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#[must_use]
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pub const fn with_scale(mut self, scale: Vec3) -> Self {
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self.scale = scale;
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self
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}
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/// Returns the 3d affine transformation matrix from this transforms translation,
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/// rotation, and scale.
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#[inline]
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pub fn compute_matrix(&self) -> Mat4 {
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Mat4::from_scale_rotation_translation(self.scale, self.rotation, self.translation)
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}
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/// Returns the 3d affine transformation matrix from this transforms translation,
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/// rotation, and scale.
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#[inline]
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pub fn compute_affine(&self) -> Affine3A {
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Affine3A::from_scale_rotation_translation(self.scale, self.rotation, self.translation)
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}
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/// Get the unit vector in the local `X` direction.
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#[inline]
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pub fn local_x(&self) -> Dir3 {
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// Quat * unit vector is length 1
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Dir3::new_unchecked(self.rotation * Vec3::X)
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}
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/// Equivalent to [`-local_x()`][Transform::local_x()]
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#[inline]
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pub fn left(&self) -> Dir3 {
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-self.local_x()
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}
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/// Equivalent to [`local_x()`][Transform::local_x()]
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#[inline]
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pub fn right(&self) -> Dir3 {
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self.local_x()
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}
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/// Get the unit vector in the local `Y` direction.
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#[inline]
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pub fn local_y(&self) -> Dir3 {
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// Quat * unit vector is length 1
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Dir3::new_unchecked(self.rotation * Vec3::Y)
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}
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/// Equivalent to [`local_y()`][Transform::local_y]
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#[inline]
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pub fn up(&self) -> Dir3 {
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self.local_y()
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}
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/// Equivalent to [`-local_y()`][Transform::local_y]
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#[inline]
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pub fn down(&self) -> Dir3 {
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-self.local_y()
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}
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/// Get the unit vector in the local `Z` direction.
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#[inline]
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pub fn local_z(&self) -> Dir3 {
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// Quat * unit vector is length 1
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Dir3::new_unchecked(self.rotation * Vec3::Z)
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}
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/// Equivalent to [`-local_z()`][Transform::local_z]
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#[inline]
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pub fn forward(&self) -> Dir3 {
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-self.local_z()
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}
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/// Equivalent to [`local_z()`][Transform::local_z]
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#[inline]
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pub fn back(&self) -> Dir3 {
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self.local_z()
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}
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/// Rotates this [`Transform`] by the given rotation.
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///
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/// If this [`Transform`] has a parent, the `rotation` is relative to the rotation of the parent.
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///
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/// # Examples
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///
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/// - [`3d_rotation`]
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///
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/// [`3d_rotation`]: https://github.com/bevyengine/bevy/blob/latest/examples/transforms/3d_rotation.rs
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#[inline]
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pub fn rotate(&mut self, rotation: Quat) {
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self.rotation = rotation * self.rotation;
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}
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/// Rotates this [`Transform`] around the given `axis` by `angle` (in radians).
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///
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/// If this [`Transform`] has a parent, the `axis` is relative to the rotation of the parent.
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///
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/// # Warning
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///
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/// If you pass in an `axis` based on the current rotation (e.g. obtained via [`Transform::local_x`]),
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/// floating point errors can accumulate exponentially when applying rotations repeatedly this way. This will
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/// result in a denormalized rotation. In this case, it is recommended to normalize the [`Transform::rotation`] after
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/// each call to this method.
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#[inline]
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pub fn rotate_axis(&mut self, axis: Dir3, angle: f32) {
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#[cfg(debug_assertions)]
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assert_is_normalized(
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"The axis given to `Transform::rotate_axis` is not normalized. This may be a result of obtaining \
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the axis from the transform. See the documentation of `Transform::rotate_axis` for more details.",
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axis.length_squared(),
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);
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self.rotate(Quat::from_axis_angle(axis.into(), angle));
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}
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/// Rotates this [`Transform`] around the `X` axis by `angle` (in radians).
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///
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/// If this [`Transform`] has a parent, the axis is relative to the rotation of the parent.
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#[inline]
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pub fn rotate_x(&mut self, angle: f32) {
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self.rotate(Quat::from_rotation_x(angle));
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}
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/// Rotates this [`Transform`] around the `Y` axis by `angle` (in radians).
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///
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/// If this [`Transform`] has a parent, the axis is relative to the rotation of the parent.
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#[inline]
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pub fn rotate_y(&mut self, angle: f32) {
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self.rotate(Quat::from_rotation_y(angle));
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}
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/// Rotates this [`Transform`] around the `Z` axis by `angle` (in radians).
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///
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/// If this [`Transform`] has a parent, the axis is relative to the rotation of the parent.
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#[inline]
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pub fn rotate_z(&mut self, angle: f32) {
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self.rotate(Quat::from_rotation_z(angle));
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}
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/// Rotates this [`Transform`] by the given `rotation`.
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///
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/// The `rotation` is relative to this [`Transform`]'s current rotation.
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#[inline]
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pub fn rotate_local(&mut self, rotation: Quat) {
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self.rotation *= rotation;
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}
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/// Rotates this [`Transform`] around its local `axis` by `angle` (in radians).
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///
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/// # Warning
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///
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/// If you pass in an `axis` based on the current rotation (e.g. obtained via [`Transform::local_x`]),
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/// floating point errors can accumulate exponentially when applying rotations repeatedly this way. This will
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/// result in a denormalized rotation. In this case, it is recommended to normalize the [`Transform::rotation`] after
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/// each call to this method.
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#[inline]
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pub fn rotate_local_axis(&mut self, axis: Dir3, angle: f32) {
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#[cfg(debug_assertions)]
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assert_is_normalized(
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"The axis given to `Transform::rotate_axis_local` is not normalized. This may be a result of obtaining \
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the axis from the transform. See the documentation of `Transform::rotate_axis_local` for more details.",
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axis.length_squared(),
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);
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self.rotate_local(Quat::from_axis_angle(axis.into(), angle));
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}
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/// Rotates this [`Transform`] around its local `X` axis by `angle` (in radians).
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#[inline]
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pub fn rotate_local_x(&mut self, angle: f32) {
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self.rotate_local(Quat::from_rotation_x(angle));
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}
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/// Rotates this [`Transform`] around its local `Y` axis by `angle` (in radians).
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#[inline]
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pub fn rotate_local_y(&mut self, angle: f32) {
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self.rotate_local(Quat::from_rotation_y(angle));
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}
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/// Rotates this [`Transform`] around its local `Z` axis by `angle` (in radians).
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#[inline]
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pub fn rotate_local_z(&mut self, angle: f32) {
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self.rotate_local(Quat::from_rotation_z(angle));
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}
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/// Translates this [`Transform`] around a `point` in space.
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///
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/// If this [`Transform`] has a parent, the `point` is relative to the [`Transform`] of the parent.
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#[inline]
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pub fn translate_around(&mut self, point: Vec3, rotation: Quat) {
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self.translation = point + rotation * (self.translation - point);
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}
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/// Rotates this [`Transform`] around a `point` in space.
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///
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/// If this [`Transform`] has a parent, the `point` is relative to the [`Transform`] of the parent.
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#[inline]
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pub fn rotate_around(&mut self, point: Vec3, rotation: Quat) {
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self.translate_around(point, rotation);
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self.rotate(rotation);
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}
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/// Rotates this [`Transform`] so that [`Transform::forward`] points towards the `target` position,
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/// and [`Transform::up`] points towards `up`.
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///
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/// In some cases it's not possible to construct a rotation. Another axis will be picked in those cases:
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/// * if `target` is the same as the transform translation, `Vec3::Z` is used instead
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/// * if `up` fails converting to `Dir3` (e.g if it is `Vec3::ZERO`), `Dir3::Y` is used instead
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/// * if the resulting forward direction is parallel with `up`, an orthogonal vector is used as the "right" direction
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#[inline]
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pub fn look_at(&mut self, target: Vec3, up: impl TryInto<Dir3>) {
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self.look_to(target - self.translation, up);
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}
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/// Rotates this [`Transform`] so that [`Transform::forward`] points in the given `direction`
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/// and [`Transform::up`] points towards `up`.
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///
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/// In some cases it's not possible to construct a rotation. Another axis will be picked in those cases:
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/// * if `direction` fails converting to `Dir3` (e.g if it is `Vec3::ZERO`), `Dir3::NEG_Z` is used instead
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/// * if `up` fails converting to `Dir3`, `Dir3::Y` is used instead
|
|
/// * if `direction` is parallel with `up`, an orthogonal vector is used as the "right" direction
|
|
#[inline]
|
|
pub fn look_to(&mut self, direction: impl TryInto<Dir3>, up: impl TryInto<Dir3>) {
|
|
let back = -direction.try_into().unwrap_or(Dir3::NEG_Z);
|
|
let up = up.try_into().unwrap_or(Dir3::Y);
|
|
let right = up
|
|
.cross(back.into())
|
|
.try_normalize()
|
|
.unwrap_or_else(|| up.any_orthonormal_vector());
|
|
let up = back.cross(right);
|
|
self.rotation = Quat::from_mat3(&Mat3::from_cols(right, up, back.into()));
|
|
}
|
|
|
|
/// Rotates this [`Transform`] so that the `main_axis` vector, reinterpreted in local coordinates, points
|
|
/// in the given `main_direction`, while `secondary_axis` points towards `secondary_direction`.
|
|
///
|
|
/// For example, if a spaceship model has its nose pointing in the X-direction in its own local coordinates
|
|
/// and its dorsal fin pointing in the Y-direction, then `align(Dir3::X, v, Dir3::Y, w)` will make the spaceship's
|
|
/// nose point in the direction of `v`, while the dorsal fin does its best to point in the direction `w`.
|
|
///
|
|
/// More precisely, the [`Transform::rotation`] produced will be such that:
|
|
/// * applying it to `main_axis` results in `main_direction`
|
|
/// * applying it to `secondary_axis` produces a vector that lies in the half-plane generated by `main_direction` and
|
|
/// `secondary_direction` (with positive contribution by `secondary_direction`)
|
|
///
|
|
/// [`Transform::look_to`] is recovered, for instance, when `main_axis` is `Dir3::NEG_Z` (the [`Transform::forward`]
|
|
/// direction in the default orientation) and `secondary_axis` is `Dir3::Y` (the [`Transform::up`] direction in the default
|
|
/// orientation). (Failure cases may differ somewhat.)
|
|
///
|
|
/// In some cases a rotation cannot be constructed. Another axis will be picked in those cases:
|
|
/// * if `main_axis` or `main_direction` fail converting to `Dir3` (e.g are zero), `Dir3::X` takes their place
|
|
/// * if `secondary_axis` or `secondary_direction` fail converting, `Dir3::Y` takes their place
|
|
/// * if `main_axis` is parallel with `secondary_axis` or `main_direction` is parallel with `secondary_direction`,
|
|
/// a rotation is constructed which takes `main_axis` to `main_direction` along a great circle, ignoring the secondary
|
|
/// counterparts
|
|
///
|
|
/// Example
|
|
/// ```
|
|
/// # use bevy_math::{Dir3, Vec3, Quat};
|
|
/// # use bevy_transform::components::Transform;
|
|
/// # let mut t1 = Transform::IDENTITY;
|
|
/// # let mut t2 = Transform::IDENTITY;
|
|
/// t1.align(Dir3::X, Dir3::Y, Vec3::new(1., 1., 0.), Dir3::Z);
|
|
/// let main_axis_image = t1.rotation * Dir3::X;
|
|
/// let secondary_axis_image = t1.rotation * Vec3::new(1., 1., 0.);
|
|
/// assert!(main_axis_image.abs_diff_eq(Vec3::Y, 1e-5));
|
|
/// assert!(secondary_axis_image.abs_diff_eq(Vec3::new(0., 1., 1.), 1e-5));
|
|
///
|
|
/// t1.align(Vec3::ZERO, Dir3::Z, Vec3::ZERO, Dir3::X);
|
|
/// t2.align(Dir3::X, Dir3::Z, Dir3::Y, Dir3::X);
|
|
/// assert_eq!(t1.rotation, t2.rotation);
|
|
///
|
|
/// t1.align(Dir3::X, Dir3::Z, Dir3::X, Dir3::Y);
|
|
/// assert_eq!(t1.rotation, Quat::from_rotation_arc(Vec3::X, Vec3::Z));
|
|
/// ```
|
|
#[inline]
|
|
pub fn align(
|
|
&mut self,
|
|
main_axis: impl TryInto<Dir3>,
|
|
main_direction: impl TryInto<Dir3>,
|
|
secondary_axis: impl TryInto<Dir3>,
|
|
secondary_direction: impl TryInto<Dir3>,
|
|
) {
|
|
let main_axis = main_axis.try_into().unwrap_or(Dir3::X);
|
|
let main_direction = main_direction.try_into().unwrap_or(Dir3::X);
|
|
let secondary_axis = secondary_axis.try_into().unwrap_or(Dir3::Y);
|
|
let secondary_direction = secondary_direction.try_into().unwrap_or(Dir3::Y);
|
|
|
|
// The solution quaternion will be constructed in two steps.
|
|
// First, we start with a rotation that takes `main_axis` to `main_direction`.
|
|
let first_rotation = Quat::from_rotation_arc(main_axis.into(), main_direction.into());
|
|
|
|
// Let's follow by rotating about the `main_direction` axis so that the image of `secondary_axis`
|
|
// is taken to something that lies in the plane of `main_direction` and `secondary_direction`. Since
|
|
// `main_direction` is fixed by this rotation, the first criterion is still satisfied.
|
|
let secondary_image = first_rotation * secondary_axis;
|
|
let secondary_image_ortho = secondary_image
|
|
.reject_from_normalized(main_direction.into())
|
|
.try_normalize();
|
|
let secondary_direction_ortho = secondary_direction
|
|
.reject_from_normalized(main_direction.into())
|
|
.try_normalize();
|
|
|
|
// If one of the two weak vectors was parallel to `main_direction`, then we just do the first part
|
|
self.rotation = match (secondary_image_ortho, secondary_direction_ortho) {
|
|
(Some(secondary_img_ortho), Some(secondary_dir_ortho)) => {
|
|
let second_rotation =
|
|
Quat::from_rotation_arc(secondary_img_ortho, secondary_dir_ortho);
|
|
second_rotation * first_rotation
|
|
}
|
|
_ => first_rotation,
|
|
};
|
|
}
|
|
|
|
/// Multiplies `self` with `transform` component by component, returning the
|
|
/// resulting [`Transform`]
|
|
#[inline]
|
|
#[must_use]
|
|
pub fn mul_transform(&self, transform: Transform) -> Self {
|
|
let translation = self.transform_point(transform.translation);
|
|
let rotation = self.rotation * transform.rotation;
|
|
let scale = self.scale * transform.scale;
|
|
Transform {
|
|
translation,
|
|
rotation,
|
|
scale,
|
|
}
|
|
}
|
|
|
|
/// Transforms the given `point`, applying scale, rotation and translation.
|
|
///
|
|
/// If this [`Transform`] has an ancestor entity with a [`Transform`] component,
|
|
/// [`Transform::transform_point`] will transform a point in local space into its
|
|
/// parent transform's space.
|
|
///
|
|
/// If this [`Transform`] does not have a parent, [`Transform::transform_point`] will
|
|
/// transform a point in local space into worldspace coordinates.
|
|
///
|
|
/// If you always want to transform a point in local space to worldspace, or if you need
|
|
/// the inverse transformations, see [`GlobalTransform::transform_point()`].
|
|
#[inline]
|
|
pub fn transform_point(&self, mut point: Vec3) -> Vec3 {
|
|
point = self.scale * point;
|
|
point = self.rotation * point;
|
|
point += self.translation;
|
|
point
|
|
}
|
|
|
|
/// Returns `true` if, and only if, translation, rotation and scale all are
|
|
/// finite. If any of them contains a `NaN`, positive or negative infinity,
|
|
/// this will return `false`.
|
|
#[inline]
|
|
#[must_use]
|
|
pub fn is_finite(&self) -> bool {
|
|
self.translation.is_finite() && self.rotation.is_finite() && self.scale.is_finite()
|
|
}
|
|
|
|
/// Get the [isometry] defined by this transform's rotation and translation, ignoring scale.
|
|
///
|
|
/// [isometry]: Isometry3d
|
|
#[inline]
|
|
pub fn to_isometry(&self) -> Isometry3d {
|
|
Isometry3d::new(self.translation, self.rotation)
|
|
}
|
|
}
|
|
|
|
impl Default for Transform {
|
|
fn default() -> Self {
|
|
Self::IDENTITY
|
|
}
|
|
}
|
|
|
|
/// The transform is expected to be non-degenerate and without shearing, or the output
|
|
/// will be invalid.
|
|
impl From<GlobalTransform> for Transform {
|
|
fn from(transform: GlobalTransform) -> Self {
|
|
transform.compute_transform()
|
|
}
|
|
}
|
|
|
|
impl Mul<Transform> for Transform {
|
|
type Output = Transform;
|
|
|
|
fn mul(self, transform: Transform) -> Self::Output {
|
|
self.mul_transform(transform)
|
|
}
|
|
}
|
|
|
|
impl Mul<GlobalTransform> for Transform {
|
|
type Output = GlobalTransform;
|
|
|
|
#[inline]
|
|
fn mul(self, global_transform: GlobalTransform) -> Self::Output {
|
|
GlobalTransform::from(self) * global_transform
|
|
}
|
|
}
|
|
|
|
impl Mul<Vec3> for Transform {
|
|
type Output = Vec3;
|
|
|
|
fn mul(self, value: Vec3) -> Self::Output {
|
|
self.transform_point(value)
|
|
}
|
|
}
|