MRRigidScaleXf3.h

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#pragma once
 
#include "MRRigidXf3.h"
 
namespace MR
{
 
template <typename T>
struct RigidScaleXf3
{
    using V = Vector3<T>;
 
    V a; 
    V b; 
    T s = 1; 
 
    constexpr RigidScaleXf3() noexcept = default;
    constexpr RigidScaleXf3( const V & a, const V & b, T s ) noexcept : a( a ), b( b ), s( s ) { }
    template <typename U>
    constexpr explicit RigidScaleXf3( const RigidScaleXf3<U> & xf ) noexcept : a( xf.a ), b( xf.b ), s( T( xf.s ) ) { }
    template <typename U>
    constexpr explicit RigidScaleXf3( const RigidXf3<U> & xf ) noexcept : a( xf.a ), b( xf.b ), s( 1 ) { }
 
    [[nodiscard]] AffineXf3<T> rigidScaleXf() const { return { s * Matrix3<T>( Quaternion<T>( a, a.length() ) ), b }; }
 
    [[nodiscard]] AffineXf3<T> linearXf() const { return { s * Matrix3<T>::approximateLinearRotationMatrixFromEuler( a ), b }; }
};
 
} // namespace MR