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glam 0.10.0

A simple and fast 3D math library for games and graphics
Documentation 
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#[cfg(feature = "transform-types")]
#[macro_use]
mod support;

#[cfg(feature = "transform-types")]
mod transform {
    use super::support;
    use glam::f32::*;

    #[test]
    fn test_identity() {
        let tr = TransformRT::identity();
        assert_eq!(tr.rotation, Quat::identity());
        assert_eq!(tr.translation, Vec3::zero());

        let srt = TransformSRT::identity();
        assert_eq!(srt.scale, Vec3::one());
        assert_eq!(srt.rotation, Quat::identity());
        assert_eq!(srt.translation, Vec3::zero());

        assert_eq!(srt, tr.into());

        assert_eq!(TransformRT::identity(), TransformRT::default());
        assert_eq!(TransformSRT::identity(), TransformSRT::default());
    }

    #[test]
    fn test_new() {
        let t = Vec3::new(1.0, 2.0, 3.0);
        let r = Quat::from_rotation_y(90.0_f32.to_radians());
        let s = Vec3::new(-1.0, -2.0, -3.0);

        let tr = TransformRT::from_rotation_translation(r, t);
        assert_eq!(tr.rotation, r);
        assert_eq!(tr.translation, t);

        let srt = TransformSRT::from_scale_rotation_translation(s, r, t);
        assert_eq!(srt.scale, s);
        assert_eq!(srt.rotation, r);
        assert_eq!(srt.translation, t);

        assert_eq!(tr, tr);
        assert_eq!(srt, srt);
        assert_eq!(srt, TransformSRT::from_transform_rt(s, &tr));
    }

    #[test]
    fn test_mul() {
        let tr = TransformRT::from_rotation_translation(
            Quat::from_rotation_z(-90.0_f32.to_radians()),
            Vec3::unit_x(),
        );
        let v0 = Vec3::unit_y();
        let v1 = tr * v0;
        assert_approx_eq!(v1, Vec3::unit_x() * 2.0);
        assert_approx_eq!(v1, tr * v0);
        let inv_tr = tr.inverse();
        let v2 = inv_tr * v1;
        assert_approx_eq!(v0, v2);

        assert_eq!(tr * TransformRT::identity(), tr);
        assert_approx_eq!(tr * inv_tr, TransformRT::identity());

        assert_eq!(tr * TransformSRT::identity(), TransformSRT::from(tr));
        assert_eq!(TransformSRT::identity() * tr, TransformSRT::from(tr));

        let s = Vec3::splat(2.0);
        let r = Quat::from_rotation_y(180.0_f32.to_radians());
        let t = -Vec3::unit_y();
        let srt = TransformSRT::from_scale_rotation_translation(s, r, t);
        let v0 = Vec3::unit_x();
        let v1 = srt * v0;
        assert_approx_eq!(v1, (r * (v0 * s)) + t);
        assert_approx_eq!(v1, srt * v0);
        let inv_srt = srt.inverse();
        let v2 = inv_srt * v1;
        assert_approx_eq!(v0, v2);

        assert_eq!(srt * TransformSRT::identity(), srt);
        assert_eq!(srt * inv_srt, TransformSRT::identity());

        // negative scale mul test
        let s = Vec3::splat(-2.0);
        let srt = TransformSRT::from_scale_rotation_translation(s, r, t);
        let inv_srt = srt.inverse();
        assert_eq!(srt * inv_srt, TransformSRT::identity());
    }
}