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Changed the representation of rotations for 3D matrix.

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This commit is contained in:
Sébastien Crozet 2013-06-29 15:32:56 +00:00
parent 429bcbf9c3
commit 50d424a901
1 changed files with 16 additions and 14 deletions
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30
src/adaptors/rotmat.rs
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@ -1,7 +1,6 @@
use std::num::{One, Zero};
use std::rand::{Rand, Rng, RngUtil};
use std::cmp::ApproxEq;
use traits::ring::Ring;
use traits::division_ring::DivisionRing;
use traits::rlmul::{RMul, LMul};
use traits::dim::Dim;
@ -11,6 +10,7 @@ use traits::rotation::{Rotation, Rotate, Rotatable};
use traits::transformation::{Transform}; // FIXME: implement Transformation and Transformable
use traits::homogeneous::ToHomogeneous;
use traits::indexable::Indexable;
use traits::norm::Norm;
use vec::Vec1;
use mat::{Mat2, Mat3};
use vec::Vec3;
@ -28,9 +28,11 @@ pub fn rotmat2<N: Copy + Trigonometric + Neg<N>>(angle: N) -> Rotmat<Mat2<N>>
{ submat: Mat2::new( [ copy coa, -sia, copy sia, copy coa ] ) }
}
pub fn rotmat3<N: Copy + Trigonometric + Ring>
(axis: &Vec3<N>, angle: N) -> Rotmat<Mat3<N>>
pub fn rotmat3<N: Copy + Trigonometric + DivisionRing + Algebraic>
(axisangle: Vec3<N>) -> Rotmat<Mat3<N>>
{
let mut axis = axisangle;
let angle = axis.normalize();
let _1 = One::one::<N>();
let ux = copy axis.at[0];
let uy = copy axis.at[1];
@ -82,29 +84,29 @@ Rotatable<Vec1<N>, Rotmat<Mat2<N>>> for Rotmat<Mat2<N>>
{ rotmat2(copy rot.at[0]) * *self }
}
impl<N: Copy + Trigonometric + DivisionRing>
Rotation<(Vec3<N>, N)> for Rotmat<Mat3<N>>
impl<N: Copy + Trigonometric + DivisionRing + Algebraic>
Rotation<Vec3<N>> for Rotmat<Mat3<N>>
{
#[inline]
fn rotation(&self) -> (Vec3<N>, N)
fn rotation(&self) -> Vec3<N>
{ fail!("Not yet implemented.") }
#[inline]
fn inv_rotation(&self) -> (Vec3<N>, N)
fn inv_rotation(&self) -> Vec3<N>
{ fail!("Not yet implemented.") }
#[inline]
fn rotate_by(&mut self, rot: &(Vec3<N>, N))
fn rotate_by(&mut self, rot: &Vec3<N>)
{ *self = self.rotated(rot) }
}
impl<N: Copy + Trigonometric + DivisionRing>
Rotatable<(Vec3<N>, N), Rotmat<Mat3<N>>> for Rotmat<Mat3<N>>
impl<N: Copy + Trigonometric + DivisionRing + Algebraic>
Rotatable<Vec3<N>, Rotmat<Mat3<N>>> for Rotmat<Mat3<N>>
{
#[inline]
fn rotated(&self, &(axis, angle): &(Vec3<N>, N)) -> Rotmat<Mat3<N>>
{ rotmat3(&axis, angle) * *self }
fn rotated(&self, axisangle: &Vec3<N>) -> Rotmat<Mat3<N>>
{ rotmat3(copy *axisangle) * *self }
}
impl<N: Copy + Rand + Trigonometric + Neg<N>> Rand for Rotmat<Mat2<N>>
@ -136,12 +138,12 @@ impl<M: RMul<V> + LMul<V>, V> Transform<V> for Rotmat<M>
{ self.inv_rotate(v) }
}
impl<N: Copy + Rand + Trigonometric + Ring>
impl<N: Copy + Rand + Trigonometric + DivisionRing + Algebraic>
Rand for Rotmat<Mat3<N>>
{
#[inline]
fn rand<R: Rng>(rng: &mut R) -> Rotmat<Mat3<N>>
{ rotmat3(&rng.gen(), rng.gen()) }
{ rotmat3(rng.gen()) }
}
impl<M: Dim> Dim for Rotmat<M>