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Add Column + Homogeneous + Indexable traits. 

Column: to access a matrix column.
Homogeneous: to convert a matrix/vector from/to homogenous coordinates.
Indexable: to access a matrix/vector element using indices.
This commit is contained in:
Sébastien Crozet 2013-06-29 11:40:31 +00:00
parent c58e1ed40d
commit 3bb470ac95
10 changed files with 281 additions and 43 deletions
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11
src/adaptors/rotmat.rs
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@ -9,6 +9,8 @@ use traits::inv::Inv;
use traits::transpose::Transpose;
use traits::rotation::{Rotation, Rotate, Rotatable};
use traits::transformation::{Transform}; // FIXME: implement Transformation and Transformable
use traits::homogeneous::ToHomogeneous;
use traits::indexable::Indexable;
use vec::Vec1;
use mat::{Mat2, Mat3};
use vec::Vec3;
@ -61,7 +63,7 @@ Rotation<Vec1<N>> for Rotmat<Mat2<N>>
{
#[inline]
fn rotation(&self) -> Vec1<N>
{ Vec1::new([ -(self.submat.at(0, 1) / self.submat.at(0, 0)).atan() ]) }
{ Vec1::new([ -(self.submat.at((0, 1)) / self.submat.at((0, 0))).atan() ]) }
#[inline]
fn inv_rotation(&self) -> Vec1<N>
@ -200,6 +202,13 @@ Transpose for Rotmat<M>
{ self.submat.transpose() }
}
// we loose the info that we are a rotation matrix
impl<M: ToHomogeneous<M2>, M2> ToHomogeneous<M2> for Rotmat<M>
{
fn to_homogeneous(&self) -> M2
{ self.submat.to_homogeneous() }
}
impl<N: ApproxEq<N>, M: ApproxEq<N>> ApproxEq<N> for Rotmat<M>
{
#[inline]

28
src/adaptors/transform.rs
View File

@ -8,6 +8,8 @@ use traits::translation::{Translation, Translate, Translatable};
use traits::transformation;
use traits::transformation::{Transformation, Transformable};
use traits::rlmul::{RMul, LMul};
use traits::homogeneous::{ToHomogeneous, FromHomogeneous};
use traits::column::Column;
#[deriving(Eq, ToStr)]
pub struct Transform<M, V>
@ -215,6 +217,32 @@ Inv for Transform<M, V>
}
}
impl<M: ToHomogeneous<M2>, M2: Dim + Column<V>, V: Copy>
ToHomogeneous<M2> for Transform<M, V>
{
fn to_homogeneous(&self) -> M2
{
let mut res = self.submat.to_homogeneous();
// copy the translation
let dim = Dim::dim::<M2>();
res.set_column(dim - 1, copy self.subtrans);
res
}
}
impl<M: Column<V> + Dim, M2: FromHomogeneous<M>, V: Copy>
FromHomogeneous<M> for Transform<M2, V>
{
fn from_homogeneous(m: &M) -> Transform<M2, V>
{
Transform::new(FromHomogeneous::from_homogeneous(m),
m.column(Dim::dim::<M>() - 1))
}
}
impl<N: ApproxEq<N>, M:ApproxEq<N>, V:ApproxEq<N>>
ApproxEq<N> for Transform<M, V>
{

27
src/mat.rs
View File

@ -12,6 +12,10 @@ use traits::division_ring::DivisionRing;
use traits::transpose::Transpose;
use traits::rlmul::{RMul, LMul};
use traits::transformation::Transform;
use traits::homogeneous::{ToHomogeneous, FromHomogeneous};
use traits::indexable::Indexable;
use traits::column::Column;
use traits::iterable::{Iterable, IterableMut};
mod mat_impl;
@ -23,7 +27,7 @@ mat_impl!(Mat1, 1)
one_impl!(Mat1, [ _1 ])
zero_impl!(Mat1, [ _0 ])
dim_impl!(Mat1, 1)
mat_indexing_impl!(Mat1, 1)
mat_indexable_impl!(Mat1, 1)
mul_impl!(Mat1, 1)
rmul_impl!(Mat1, Vec1, 1)
lmul_impl!(Mat1, Vec1, 1)
@ -32,6 +36,9 @@ transform_impl!(Mat1, Vec1)
transpose_impl!(Mat1, 1)
approx_eq_impl!(Mat1)
rand_impl!(Mat1, rng, [ rng ])
to_homogeneous_impl!(Mat1, Mat2, 1)
from_homogeneous_impl!(Mat2, Mat1, 1)
column_impl!(Mat2, 2)
#[deriving(ToStr)]
pub struct Mat2<N>
@ -43,7 +50,7 @@ one_impl!(Mat2, [ _1 | _0 |
zero_impl!(Mat2, [ _0 | _0 |
_0 | _0 ])
dim_impl!(Mat2, 2)
mat_indexing_impl!(Mat2, 2)
mat_indexable_impl!(Mat2, 2)
mul_impl!(Mat2, 2)
rmul_impl!(Mat2, Vec2, 2)
lmul_impl!(Mat2, Vec2, 2)
@ -53,6 +60,8 @@ transpose_impl!(Mat2, 2)
approx_eq_impl!(Mat2)
rand_impl!(Mat2, rng, [ rng | rng |
rng | rng ])
to_homogeneous_impl!(Mat2, Mat3, 2)
from_homogeneous_impl!(Mat3, Mat2, 2)
#[deriving(ToStr)]
pub struct Mat3<N>
@ -66,7 +75,7 @@ zero_impl!(Mat3, [ _0 | _0 | _0 |
_0 | _0 | _0 |
_0 | _0 | _0 ])
dim_impl!(Mat3, 3)
mat_indexing_impl!(Mat3, 3)
mat_indexable_impl!(Mat3, 3)
mul_impl!(Mat3, 3)
rmul_impl!(Mat3, Vec3, 3)
lmul_impl!(Mat3, Vec3, 3)
@ -77,6 +86,8 @@ approx_eq_impl!(Mat3)
rand_impl!(Mat3, rng, [ rng | rng | rng |
rng | rng | rng |
rng | rng | rng])
to_homogeneous_impl!(Mat3, Mat4, 3)
from_homogeneous_impl!(Mat4, Mat3, 3)
#[deriving(ToStr)]
pub struct Mat4<N>
@ -96,7 +107,7 @@ zero_impl!(Mat4, [
_0 | _0 | _0 | _0
])
dim_impl!(Mat4, 4)
mat_indexing_impl!(Mat4, 4)
mat_indexable_impl!(Mat4, 4)
mul_impl!(Mat4, 4)
rmul_impl!(Mat4, Vec4, 4)
lmul_impl!(Mat4, Vec4, 4)
@ -110,6 +121,8 @@ rand_impl!(Mat4, rng, [
rng | rng | rng | rng |
rng | rng | rng | rng
])
to_homogeneous_impl!(Mat4, Mat5, 4)
from_homogeneous_impl!(Mat5, Mat4, 4)
#[deriving(ToStr)]
pub struct Mat5<N>
@ -131,7 +144,7 @@ zero_impl!(Mat5, [
_0 | _0 | _0 | _0 | _0
])
dim_impl!(Mat5, 5)
mat_indexing_impl!(Mat5, 5)
mat_indexable_impl!(Mat5, 5)
mul_impl!(Mat5, 5)
rmul_impl!(Mat5, Vec5, 5)
lmul_impl!(Mat5, Vec5, 5)
@ -146,6 +159,8 @@ rand_impl!(Mat5, rng, [
rng | rng | rng | rng | rng |
rng | rng | rng | rng | rng
])
to_homogeneous_impl!(Mat5, Mat6, 5)
from_homogeneous_impl!(Mat6, Mat5, 5)
#[deriving(ToStr)]
pub struct Mat6<N>
@ -169,7 +184,7 @@ zero_impl!(Mat6, [
_0 | _0 | _0 | _0 | _0 | _0
])
dim_impl!(Mat6, 6)
mat_indexing_impl!(Mat6, 6)
mat_indexable_impl!(Mat6, 6)
mul_impl!(Mat6, 6)
rmul_impl!(Mat6, Vec6, 6)
lmul_impl!(Mat6, Vec6, 6)

120
src/mat_impl.rs
View File

@ -7,6 +7,10 @@ macro_rules! mat_impl(
#[inline]
pub fn new(mij: [N, ..$dim * $dim]) -> $t<N>
{ $t { mij: mij } }
#[inline]
pub fn offset(&self, i: uint, j: uint) -> uint
{ i * $dim + j }
}
)
)
@ -54,24 +58,49 @@ macro_rules! dim_impl(
)
)
macro_rules! mat_indexing_impl(
macro_rules! mat_indexable_impl(
($t: ident, $dim: expr) => (
impl<N: Copy> $t<N>
impl<N: Copy> Indexable<(uint, uint), N> for $t<N>
{
#[inline]
pub fn offset(&self, i: uint, j: uint) -> uint
{ i * $dim + j }
pub fn at(&self, (i, j): (uint, uint)) -> N
{ copy self.mij[self.offset(i, j)] }
#[inline]
pub fn set(&mut self, i: uint, j: uint, t: &N)
pub fn set(&mut self, (i, j): (uint, uint), t: N)
{ self.mij[self.offset(i, j)] = t }
}
)
)
macro_rules! column_impl(
($t: ident, $dim: expr) => (
impl<N: Copy, V: Zero + Iterable<N> + IterableMut<N>> Column<V> for $t<N>
{
self.mij[self.offset(i, j)] = copy *t
fn set_column(&mut self, col: uint, v: V)
{
for v.iter().enumerate().advance |(i, e)|
{
if i == Dim::dim::<$t<N>>()
{ break }
self.at((i, col)) = copy *e;
}
}
#[inline]
pub fn at(&self, i: uint, j: uint) -> N
fn column(&self, col: uint) -> V
{
copy self.mij[self.offset(i, j)]
let mut res = Zero::zero::<V>();
for res.mut_iter().enumerate().advance |(i, e)|
{
if i >= Dim::dim::<$t<N>>()
{ break }
*e = self.at((i, col));
}
res
}
}
)
@ -93,9 +122,9 @@ macro_rules! mul_impl(
let mut acc = Zero::zero::<N>();
for iterate(0u, $dim) |k|
{ acc = acc + self.at(i, k) * other.at(k, j); }
{ acc = acc + self.at((i, k)) * other.at((k, j)); }
res.set(i, j, &acc);
res.set((i, j), acc);
}
}
@ -117,7 +146,7 @@ macro_rules! rmul_impl(
for iterate(0u, $dim) |i|
{
for iterate(0u, $dim) |j|
{ res.at[i] = res.at[i] + other.at[j] * self.at(i, j); }
{ res.at[i] = res.at[i] + other.at[j] * self.at((i, j)); }
}
res
@ -139,7 +168,7 @@ macro_rules! lmul_impl(
for iterate(0u, $dim) |i|
{
for iterate(0u, $dim) |j|
{ res.at[i] = res.at[i] + other.at[j] * self.at(j, i); }
{ res.at[i] = res.at[i] + other.at[j] * self.at((j, i)); }
}
res
@ -195,7 +224,7 @@ macro_rules! inv_impl(
while (n0 != $dim)
{
if self.at(n0, k) != _0N
if self.at((n0, k)) != _0N
{ break; }
n0 = n0 + 1;
@ -214,36 +243,36 @@ macro_rules! inv_impl(
}
}
let pivot = self.at(k, k);
let pivot = self.at((k, k));
for iterate(k, $dim) |j|
{
let selfval = &(self.at(k, j) / pivot);
self.set(k, j, selfval);
let selfval = self.at((k, j)) / pivot;
self.set((k, j), selfval);
}
for iterate(0u, $dim) |j|
{
let resval = &(res.at(k, j) / pivot);
res.set(k, j, resval);
let resval = res.at((k, j)) / pivot;
res.set((k, j), resval);
}
for iterate(0u, $dim) |l|
{
if l != k
{
let normalizer = self.at(l, k);
let normalizer = self.at((l, k));
for iterate(k, $dim) |j|
{
let selfval = &(self.at(l, j) - self.at(k, j) * normalizer);
self.set(l, j, selfval);
let selfval = self.at((l, j)) - self.at((k, j)) * normalizer;
self.set((l, j), selfval);
}
for iterate(0u, $dim) |j|
{
let resval = &(res.at(l, j) - res.at(k, j) * normalizer);
res.set(l, j, resval);
let resval = res.at((l, j)) - res.at((k, j)) * normalizer;
res.set((l, j), resval);
}
}
}
@ -323,3 +352,46 @@ macro_rules! rand_impl(
}
)
)
macro_rules! to_homogeneous_impl(
($t: ident, $t2: ident, $dim: expr) => (
impl<N: One + Zero + Copy> ToHomogeneous<$t2<N>> for $t<N>
{
fn to_homogeneous(&self) -> $t2<N>
{
let mut res: $t2<N> = One::one();
for iterate(0, $dim) |i|
{
for iterate(0, $dim) |j|
{ res.set((i, j), self.at((i, j))) }
}
res
}
}
)
)
macro_rules! from_homogeneous_impl(
($t: ident, $t2: ident, $dim2: expr) => (
impl<N: One + Zero + Copy> FromHomogeneous<$t2<N>> for $t<N>
{
fn from_homogeneous(m: &$t2<N>) -> $t<N>
{
let mut res: $t<N> = One::one();
for iterate(0, $dim2) |i|
{
for iterate(0, $dim2) |j|
{ res.set((i, j), m.at((i, j))) }
}
// FIXME: do we have to deal the lost components
// (like if the 1 is not a 1… do we have to divide?)
res
}
}
)
)

3
src/nalgebra.rc
View File

@ -34,6 +34,8 @@ pub mod adaptors
/// Useful linear-algebra related traits.
pub mod traits
{
pub mod indexable;
pub mod column;
pub mod iterable;
pub mod dot;
pub mod cross;
@ -51,6 +53,7 @@ pub mod traits
pub mod sub_dot;
pub mod rlmul;
pub mod scalar_op;
pub mod homogeneous;
}
#[cfg(test)]

5
src/traits/column.rs Normal file
View File

@ -0,0 +1,5 @@
pub trait Column<C>
{
fn set_column(&mut self, uint, C);
fn column(&self, uint) -> C;
}

9
src/traits/homogeneous.rs Normal file
View File

@ -0,0 +1,9 @@
pub trait ToHomogeneous<U>
{
fn to_homogeneous(&self) -> U;
}
pub trait FromHomogeneous<U>
{
fn from_homogeneous(&U) -> Self;
}

9
src/traits/indexable.rs Normal file
View File

@ -0,0 +1,9 @@
// FIXME: this trait should not be on nalgebra.
// however, it is needed because std::ops::Index is (strangely) to poor: it
// does not have a function to set values.
// Also, using Index with tuples crashes.
pub trait Indexable<Index, Res>
{
fn at(&self, Index) -> Res;
fn set(&mut self, Index, Res);
}

24
src/vec.rs
View File

@ -14,6 +14,8 @@ use traits::translation::{Translation, Translatable};
use traits::scalar_op::{ScalarMul, ScalarDiv, ScalarAdd, ScalarSub};
use traits::ring::Ring;
use traits::division_ring::DivisionRing;
use traits::homogeneous::{ToHomogeneous, FromHomogeneous};
use traits::indexable::Indexable;
mod vec_impl;
@ -24,6 +26,7 @@ pub struct Vec1<N>
new_impl!(Vec1, 1)
new_repeat_impl!(Vec1, elem, [elem])
indexable_impl!(Vec1)
dim_impl!(Vec1, 1)
eq_impl!(Vec1)
// (specialized) basis_impl!(Vec1, 1)
@ -41,12 +44,15 @@ translatable_impl!(Vec1)
norm_impl!(Vec1, 1)
approx_eq_impl!(Vec1)
zero_impl!(Vec1)
one_impl!(Vec1)
rand_impl!(Vec1, rng, [rng])
from_iterator_impl!(Vec1, iterator, [iterator])
from_any_iterator_impl!(Vec1, iterator, [iterator])
bounded_impl!(Vec1)
iterable_impl!(Vec1)
iterable_mut_impl!(Vec1)
to_homogeneous_impl!(Vec1, Vec2)
from_homogeneous_impl!(Vec2, Vec1, 2)
#[deriving(Ord, ToStr)]
pub struct Vec2<N>
@ -54,6 +60,7 @@ pub struct Vec2<N>
new_impl!(Vec2, 2)
new_repeat_impl!(Vec2, elem, [elem | elem])
indexable_impl!(Vec2)
dim_impl!(Vec2, 2)
eq_impl!(Vec2)
// (specialized) basis_impl!(Vec2, 2)
@ -71,12 +78,15 @@ translatable_impl!(Vec2)
norm_impl!(Vec2, 2)
approx_eq_impl!(Vec2)
zero_impl!(Vec2)
one_impl!(Vec2)
rand_impl!(Vec2, rng, [rng | rng])
from_iterator_impl!(Vec2, iterator, [iterator | iterator])
from_any_iterator_impl!(Vec2, iterator, [iterator | iterator])
bounded_impl!(Vec2)
iterable_impl!(Vec2)
iterable_mut_impl!(Vec2)
to_homogeneous_impl!(Vec2, Vec3)
from_homogeneous_impl!(Vec3, Vec2, 3)
#[deriving(Ord, ToStr)]
pub struct Vec3<N>
@ -84,6 +94,7 @@ pub struct Vec3<N>
new_impl!(Vec3, 3)
new_repeat_impl!(Vec3, elem, [elem | elem | elem])
indexable_impl!(Vec3)
dim_impl!(Vec3, 3)
eq_impl!(Vec3)
// (specialized) basis_impl!(Vec3, 3)
@ -101,12 +112,15 @@ translatable_impl!(Vec3)
norm_impl!(Vec3, 3)
approx_eq_impl!(Vec3)
zero_impl!(Vec3)
one_impl!(Vec3)
rand_impl!(Vec3, rng, [rng | rng | rng])
from_iterator_impl!(Vec3, iterator, [iterator | iterator | iterator])
from_any_iterator_impl!(Vec3, iterator, [iterator | iterator | iterator])
bounded_impl!(Vec3)
iterable_impl!(Vec3)
iterable_mut_impl!(Vec3)
to_homogeneous_impl!(Vec3, Vec4)
from_homogeneous_impl!(Vec4, Vec3, 4)
#[deriving(Ord, ToStr)]
pub struct Vec4<N>
@ -114,6 +128,7 @@ pub struct Vec4<N>
new_impl!(Vec4, 4)
new_repeat_impl!(Vec4, elem, [elem | elem | elem | elem])
indexable_impl!(Vec4)
dim_impl!(Vec4, 4)
eq_impl!(Vec4)
basis_impl!(Vec4, 4)
@ -131,12 +146,15 @@ translatable_impl!(Vec4)
norm_impl!(Vec4, 4)
approx_eq_impl!(Vec4)
zero_impl!(Vec4)
one_impl!(Vec4)
rand_impl!(Vec4, rng, [rng | rng | rng | rng])
from_iterator_impl!(Vec4, iterator, [iterator | iterator | iterator | iterator])
from_any_iterator_impl!(Vec4, iterator, [iterator | iterator | iterator | iterator])
bounded_impl!(Vec4)
iterable_impl!(Vec4)
iterable_mut_impl!(Vec4)
to_homogeneous_impl!(Vec4, Vec5)
from_homogeneous_impl!(Vec5, Vec4, 5)
#[deriving(Ord, ToStr)]
pub struct Vec5<N>
@ -144,6 +162,7 @@ pub struct Vec5<N>
new_impl!(Vec5, 5)
new_repeat_impl!(Vec5, elem, [elem | elem | elem | elem | elem])
indexable_impl!(Vec5)
dim_impl!(Vec5, 5)
eq_impl!(Vec5)
basis_impl!(Vec5, 5)
@ -161,12 +180,15 @@ translatable_impl!(Vec5)
norm_impl!(Vec5, 5)
approx_eq_impl!(Vec5)
zero_impl!(Vec5)
one_impl!(Vec5)
rand_impl!(Vec5, rng, [rng | rng | rng | rng | rng])
from_iterator_impl!(Vec5, iterator, [iterator | iterator | iterator | iterator | iterator])
from_any_iterator_impl!(Vec5, iterator, [iterator | iterator | iterator | iterator | iterator])
bounded_impl!(Vec5)
iterable_impl!(Vec5)
iterable_mut_impl!(Vec5)
to_homogeneous_impl!(Vec5, Vec6)
from_homogeneous_impl!(Vec6, Vec5, 6)
#[deriving(Ord, ToStr)]
pub struct Vec6<N>
@ -174,6 +196,7 @@ pub struct Vec6<N>
new_impl!(Vec6, 6)
new_repeat_impl!(Vec6, elem, [elem | elem | elem | elem | elem | elem])
indexable_impl!(Vec6)
dim_impl!(Vec6, 6)
eq_impl!(Vec6)
basis_impl!(Vec6, 6)
@ -191,6 +214,7 @@ translatable_impl!(Vec6)
norm_impl!(Vec6, 6)
approx_eq_impl!(Vec6)
zero_impl!(Vec6)
one_impl!(Vec6)
rand_impl!(Vec6, rng, [rng | rng | rng | rng | rng | rng])
from_iterator_impl!(Vec6, iterator, [iterator | iterator | iterator | iterator | iterator | iterator])
from_any_iterator_impl!(Vec6, iterator, [iterator | iterator | iterator | iterator | iterator | iterator])

64
src/vec_impl.rs
View File

@ -11,6 +11,21 @@ macro_rules! new_impl(
)
)
macro_rules! indexable_impl(
($t: ident) => (
impl<N: Copy> Indexable<uint, N> for $t<N>
{
#[inline]
pub fn at(&self, i: uint) -> N
{ copy self.at[i] }
#[inline]
pub fn set(&mut self, i: uint, val: N)
{ self.at[i] = val }
}
)
)
macro_rules! new_repeat_impl(
($t: ident, $param: ident, [ $($elem: ident)|+ ]) => (
impl<N: Copy> $t<N>
@ -381,6 +396,17 @@ macro_rules! zero_impl(
)
)
macro_rules! one_impl(
($t: ident) => (
impl<N: Copy + One> One for $t<N>
{
#[inline]
fn one() -> $t<N>
{ $t::new_repeat(One::one()) }
}
)
)
macro_rules! rand_impl(
($t: ident, $param: ident, [ $($elem: ident)|+ ]) => (
impl<N: Rand> Rand for $t<N>
@ -429,3 +455,41 @@ macro_rules! bounded_impl(
}
)
)
macro_rules! to_homogeneous_impl(
($t: ident, $t2: ident) =>
{
impl<N: Copy + One> ToHomogeneous<$t2<N>> for $t<N>
{
fn to_homogeneous(&self) -> $t2<N>
{
let mut res: $t2<N> = One::one();
for self.iter().zip(res.mut_iter()).advance |(in, out)|
{ *out = copy *in }
res
}
}
}
)
macro_rules! from_homogeneous_impl(
($t: ident, $t2: ident, $dim2: expr) =>
{
impl<N: Copy + Div<N, N> + One + Zero> FromHomogeneous<$t2<N>> for $t<N>
{
fn from_homogeneous(v: &$t2<N>) -> $t<N>
{
let mut res: $t<N> = Zero::zero();
for v.iter().zip(res.mut_iter()).advance |(in, out)|
{ *out = copy *in }
res.scalar_div(&v.at[$dim2 - 1]);
res
}
}
}
)