nalgebra/src/geometry/translation_alga.rs

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use alga::general::{
AbstractGroup, AbstractLoop, AbstractMagma, AbstractMonoid, AbstractQuasigroup,
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AbstractSemigroup, Id, Identity, TwoSidedInverse, Multiplicative, Real,
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};
use alga::linear::Translation as AlgaTranslation;
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use alga::linear::{
AffineTransformation, DirectIsometry, Isometry, ProjectiveTransformation, Similarity,
Transformation,
};
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use crate::base::allocator::Allocator;
use crate::base::dimension::DimName;
use crate::base::{DefaultAllocator, VectorN};
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use crate::geometry::{Point, Translation};
/*
*
* Algebraic structures.
*
*/
impl<N: Real, D: DimName> Identity<Multiplicative> for Translation<N, D>
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where DefaultAllocator: Allocator<N, D>
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{
#[inline]
fn identity() -> Self {
Self::identity()
}
}
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impl<N: Real, D: DimName> TwoSidedInverse<Multiplicative> for Translation<N, D>
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where DefaultAllocator: Allocator<N, D>
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{
#[inline]
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fn two_sided_inverse(&self) -> Self {
self.inverse()
}
#[inline]
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fn two_sided_inverse_mut(&mut self) {
self.inverse_mut()
}
}
impl<N: Real, D: DimName> AbstractMagma<Multiplicative> for Translation<N, D>
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where DefaultAllocator: Allocator<N, D>
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{
#[inline]
fn operate(&self, rhs: &Self) -> Self {
self * rhs
}
}
macro_rules! impl_multiplicative_structures(
($($marker: ident<$operator: ident>),* $(,)*) => {$(
impl<N: Real, D: DimName> $marker<$operator> for Translation<N, D>
where DefaultAllocator: Allocator<N, D> { }
)*}
);
impl_multiplicative_structures!(
AbstractSemigroup<Multiplicative>,
AbstractMonoid<Multiplicative>,
AbstractQuasigroup<Multiplicative>,
AbstractLoop<Multiplicative>,
AbstractGroup<Multiplicative>
);
/*
*
* Transformation groups.
*
*/
impl<N: Real, D: DimName> Transformation<Point<N, D>> for Translation<N, D>
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where DefaultAllocator: Allocator<N, D>
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{
#[inline]
fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
pt + &self.vector
}
#[inline]
fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
v.clone()
}
}
impl<N: Real, D: DimName> ProjectiveTransformation<Point<N, D>> for Translation<N, D>
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where DefaultAllocator: Allocator<N, D>
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{
#[inline]
fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
pt - &self.vector
}
#[inline]
fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
v.clone()
}
}
impl<N: Real, D: DimName> AffineTransformation<Point<N, D>> for Translation<N, D>
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where DefaultAllocator: Allocator<N, D>
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{
type Rotation = Id;
type NonUniformScaling = Id;
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type Translation = Self;
#[inline]
fn decompose(&self) -> (Self, Id, Id, Id) {
(self.clone(), Id::new(), Id::new(), Id::new())
}
#[inline]
fn append_translation(&self, t: &Self::Translation) -> Self {
t * self
}
#[inline]
fn prepend_translation(&self, t: &Self::Translation) -> Self {
self * t
}
#[inline]
fn append_rotation(&self, _: &Self::Rotation) -> Self {
self.clone()
}
#[inline]
fn prepend_rotation(&self, _: &Self::Rotation) -> Self {
self.clone()
}
#[inline]
fn append_scaling(&self, _: &Self::NonUniformScaling) -> Self {
self.clone()
}
#[inline]
fn prepend_scaling(&self, _: &Self::NonUniformScaling) -> Self {
self.clone()
}
}
impl<N: Real, D: DimName> Similarity<Point<N, D>> for Translation<N, D>
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where DefaultAllocator: Allocator<N, D>
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{
type Scaling = Id;
#[inline]
fn translation(&self) -> Self {
self.clone()
}
#[inline]
fn rotation(&self) -> Id {
Id::new()
}
#[inline]
fn scaling(&self) -> Id {
Id::new()
}
}
macro_rules! marker_impl(
($($Trait: ident),*) => {$(
impl<N: Real, D: DimName> $Trait<Point<N, D>> for Translation<N, D>
where DefaultAllocator: Allocator<N, D> { }
)*}
);
marker_impl!(Isometry, DirectIsometry);
/// Subgroups of the n-dimensional translation group `T(n)`.
impl<N: Real, D: DimName> AlgaTranslation<Point<N, D>> for Translation<N, D>
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where DefaultAllocator: Allocator<N, D>
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{
#[inline]
fn to_vector(&self) -> VectorN<N, D> {
self.vector.clone()
}
#[inline]
fn from_vector(v: VectorN<N, D>) -> Option<Self> {
Some(Self::from(v))
}
#[inline]
fn powf(&self, n: N) -> Option<Self> {
Some(Self::from(&self.vector * n))
}
#[inline]
fn translation_between(a: &Point<N, D>, b: &Point<N, D>) -> Option<Self> {
Some(Self::from(b - a))
}
}