1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
|
#[macro_use]
extern crate approx;
extern crate nalgebra as na;
use na::{Isometry2, Point2, Vector2};
use std::f32;
fn use_dedicated_types() {
let iso = Isometry2::new(Vector2::new(1.0, 1.0), f32::consts::PI);
let pt = Point2::new(1.0, 0.0);
let vec = Vector2::x();
let transformed_pt = iso * pt;
let transformed_vec = iso * vec;
assert_relative_eq!(transformed_pt, Point2::new(0.0, 1.0));
assert_relative_eq!(transformed_vec, Vector2::new(-1.0, 0.0));
}
fn use_homogeneous_coordinates() {
let iso = Isometry2::new(Vector2::new(1.0, 1.0), f32::consts::PI);
let pt = Point2::new(1.0, 0.0);
let vec = Vector2::x();
// Compute using homogeneous coordinates.
let hom_iso = iso.to_homogeneous();
let hom_pt = pt.to_homogeneous();
let hom_vec = vec.to_homogeneous();
let hom_transformed_pt = hom_iso * hom_pt;
let hom_transformed_vec = hom_iso * hom_vec;
// Convert back to the cartesian coordinates.
let transformed_pt = Point2::from_homogeneous(hom_transformed_pt).unwrap();
let transformed_vec = Vector2::from_homogeneous(hom_transformed_vec).unwrap();
assert_relative_eq!(transformed_pt, Point2::new(0.0, 1.0));
assert_relative_eq!(transformed_vec, Vector2::new(-1.0, 0.0));
}
fn main() {
use_dedicated_types();
use_homogeneous_coordinates();
}
|
