From 4addd531cffdd5fce9bcf66b72c8c29f1fa3fdf7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= <developer@crozet.re>
Date: Fri, 22 Nov 2013 09:46:48 +0100
Subject: [PATCH] Add incomplete implementation of 4D rotation.

---
 src/lib.rs         |  3 +++
 src/structs/iso.rs | 24 ++++++++++++------
 src/structs/rot.rs | 62 +++++++++++++++++++++++++++++++++++++++++++++-
 3 files changed, 81 insertions(+), 8 deletions(-)

diff --git a/src/lib.rs b/src/lib.rs
index 4b2d2ac7..11726249 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,6 +1,8 @@
 /*!
 # nalgebra
 
+[![Build Status](https://travis-ci.org/sebcrozet/nalgebra.png?branch=master)](https://travis-ci.org/sebcrozet/nalgebra)
+
 **nalgebra** is a linear algebra library written for Rust targeting:
 
 * general-purpose linear algebra (still misses a lot of features…).
@@ -106,6 +108,7 @@ Feel free to add your project to this list if you happen to use **nalgebra**!
 
 */
 #[link(name = "nalgebra"
+       , package_id = "nalgebra"
        , vers = "0.1"
        , author = "Sébastien Crozet"
        , uuid = "1e96070f-4778-4ec1-b080-bf69f7048216")];
diff --git a/src/structs/iso.rs b/src/structs/iso.rs
index c2fc5ceb..c73cbd25 100644
--- a/src/structs/iso.rs
+++ b/src/structs/iso.rs
@@ -4,13 +4,13 @@
 
 use std::num::{Zero, One};
 use std::rand::{Rand, Rng};
-use structs::mat::{Mat3, Mat4};
+use structs::mat::{Mat3, Mat4, Mat5};
 use traits::structure::{Cast, Dim, Col};
 use traits::operations::{Inv};
 use traits::geometry::{RotationMatrix, Rotation, Rotate, AbsoluteRotate, Transform, Transformation,
                        Translate, Translation, ToHomogeneous};
 
-use structs::vec::{Vec1, Vec2, Vec3, Vec4, Vec2MulRhs, Vec3MulRhs};
+use structs::vec::{Vec1, Vec2, Vec3, Vec4, Vec2MulRhs, Vec3MulRhs, Vec4MulRhs};
 use structs::rot::{Rot2, Rot3, Rot4};
 
 mod metal;
@@ -82,6 +82,18 @@ impl<N: Clone + Num + Algebraic> Iso3<N> {
     }
 }
 
+impl<N> Iso4<N> {
+    // XXX remove that when iso_impl works for Iso4
+    /// Creates a new isometry from a rotation matrix and a vector.
+    #[inline]
+    pub fn new_with_rotmat(translation: Vec4<N>, rotation: Rot4<N>) -> Iso4<N> {
+        Iso4 {
+            rotation:    rotation,
+            translation: translation
+        }
+    }
+}
+
 iso_impl!(Iso2, Rot2, Vec2, Vec1)
 double_dispatch_binop_decl_trait!(Iso2, Iso2MulRhs)
 mul_redispatch_impl!(Iso2, Iso2MulRhs)
@@ -124,25 +136,23 @@ iso_mul_iso_impl!(Iso3, Iso3MulRhs)
 iso_mul_vec_impl!(Iso3, Vec3, Iso3MulRhs)
 vec_mul_iso_impl!(Iso3, Vec3, Vec3MulRhs)
 
-/*
-iso_impl!(Iso4, Rot4, Vec4, Vec4)
+// iso_impl!(Iso4, Rot4, Vec4, Vec4)
 double_dispatch_binop_decl_trait!(Iso4, Iso4MulRhs)
 mul_redispatch_impl!(Iso4, Iso4MulRhs)
 // rotation_matrix_impl!(Iso4, Rot4, Vec4, Vec4)
 // rotation_impl!(Iso4, Rot4, Vec4)
 dim_impl!(Iso4, 4)
 one_impl!(Iso4)
-// absolute_rotate_impl!(Iso4, Vec4)
+absolute_rotate_impl!(Iso4, Vec4)
 // rand_impl!(Iso4)
 approx_eq_impl!(Iso4)
 to_homogeneous_impl!(Iso4, Mat5)
 inv_impl!(Iso4)
 transform_impl!(Iso4, Vec4)
 transformation_impl!(Iso4)
-// rotate_impl!(Iso4, Vec4)
+rotate_impl!(Iso4, Vec4)
 translation_impl!(Iso4, Vec4)
 translate_impl!(Iso4, Vec4)
 iso_mul_iso_impl!(Iso4, Iso4MulRhs)
 iso_mul_vec_impl!(Iso4, Vec4, Iso4MulRhs)
 vec_mul_iso_impl!(Iso4, Vec4, Vec4MulRhs)
-*/
diff --git a/src/structs/rot.rs b/src/structs/rot.rs
index 88595c00..e0684884 100644
--- a/src/structs/rot.rs
+++ b/src/structs/rot.rs
@@ -269,6 +269,28 @@ pub struct Rot4<N> {
     priv submat: Mat4<N>
 }
 
+// impl<N> Rot4<N> {
+//     pub fn new(left_iso: Quat<N>, right_iso: Quat<N>) -> Rot4<N> {
+//         assert!(left_iso.is_unit());
+//         assert!(right_iso.is_unright);
+// 
+//         let mat_left_iso = Mat4::new(
+//             left_iso.x, -left_iso.y, -left_iso.z, -left_iso.w,
+//             left_iso.y,  left_iso.x, -left_iso.w,  left_iso.z,
+//             left_iso.z,  left_iso.w,  left_iso.x, -left_iso.y,
+//             left_iso.w, -left_iso.z,  left_iso.y,  left_iso.x);
+//         let mat_right_iso = Mat4::new(
+//             right_iso.x, -right_iso.y, -right_iso.z, -right_iso.w,
+//             right_iso.y,  right_iso.x,  right_iso.w, -right_iso.z,
+//             right_iso.z, -right_iso.w,  right_iso.x,  right_iso.y,
+//             right_iso.w,  right_iso.z, -right_iso.y,  right_iso.x);
+// 
+//         Rot4 {
+//             submat: mat_left_iso * mat_right_iso
+//         }
+//     }
+// }
+
 impl<N: Signed> AbsoluteRotate<Vec4<N>> for Rot4<N> {
     #[inline]
     fn absolute_rotate(&self, v: &Vec4<N>) -> Vec4<N> {
@@ -287,6 +309,44 @@ impl<N: Signed> AbsoluteRotate<Vec4<N>> for Rot4<N> {
     }
 }
 
+impl<N: Trigonometric + Num + Clone>
+Rotation<Vec4<N>> for Rot4<N> {
+    #[inline]
+    fn rotation(&self) -> Vec4<N> {
+        fail!("Not yet implemented")
+    }
+
+    #[inline]
+    fn inv_rotation(&self) -> Vec4<N> {
+        fail!("Not yet implemented")
+    }
+
+    #[inline]
+    fn append_rotation(&mut self, _: &Vec4<N>) {
+        fail!("Not yet implemented")
+    }
+
+    #[inline]
+    fn append_rotation_cpy(_: &Rot4<N>, _: &Vec4<N>) -> Rot4<N> {
+        fail!("Not yet implemented")
+    }
+
+    #[inline]
+    fn prepend_rotation(&mut self, _: &Vec4<N>) {
+        fail!("Not yet implemented")
+    }
+
+    #[inline]
+    fn prepend_rotation_cpy(_: &Rot4<N>, _: &Vec4<N>) -> Rot4<N> {
+        fail!("Not yet implemented")
+    }
+
+    #[inline]
+    fn set_rotation(&mut self, _: Vec4<N>) {
+        fail!("Not yet implemented")
+    }
+}
+
 
 /*
  * Common implementations.
@@ -340,7 +400,7 @@ rot_mul_rot_impl!(Rot4, Rot4MulRhs)
 rot_mul_vec_impl!(Rot4, Vec4, Rot4MulRhs)
 vec_mul_rot_impl!(Rot4, Vec4, Vec4MulRhs)
 one_impl!(Rot4)
-// rotation_matrix_impl!(Rot4, Vec4, Vec4)
+rotation_matrix_impl!(Rot4, Vec4, Vec4)
 col_impl!(Rot4, Vec4)
 row_impl!(Rot4, Vec4)
 absolute_impl!(Rot4, Mat4)