add new operators
This commit is contained in:
Terence
parent
ecda74f6b2
commit
ac92e68486
|
|
@ -242,6 +242,66 @@ dual_quaternion_op_impl!(
|
|||
self: DualQuaternion<N>, rhs: DualQuaternion<N>, Output = DualQuaternion<N>;
|
||||
&self * &rhs; );
|
||||
|
||||
// DualQuaternion × UnitDualQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
self: &'a DualQuaternion<N>, rhs: &'b UnitDualQuaternion<N>, Output = DualQuaternion<N>;
|
||||
self * rhs.dual_quaternion();
|
||||
'a, 'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
self: &'a DualQuaternion<N>, rhs: UnitDualQuaternion<N>, Output = DualQuaternion<N>;
|
||||
self * rhs.dual_quaternion();
|
||||
'a);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
self: DualQuaternion<N>, rhs: &'b UnitDualQuaternion<N>, Output = DualQuaternion<N>;
|
||||
self * rhs.dual_quaternion();
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
self: DualQuaternion<N>, rhs: UnitDualQuaternion<N>, Output = DualQuaternion<N>;
|
||||
self * rhs.dual_quaternion(););
|
||||
|
||||
// DualQuaternion ÷ UnitDualQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: &'a DualQuaternion<N>, rhs: &'b UnitDualQuaternion<N>, Output = DualQuaternion<N>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * rhs.inverse().dual_quaternion() };
|
||||
'a, 'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: &'a DualQuaternion<N>, rhs: UnitDualQuaternion<N>, Output = DualQuaternion<N>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * rhs.inverse().dual_quaternion() };
|
||||
'a);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: DualQuaternion<N>, rhs: &'b UnitDualQuaternion<N>, Output = DualQuaternion<N>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * rhs.inverse().dual_quaternion() };
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
self: DualQuaternion<N>, rhs: UnitDualQuaternion<N>, Output = DualQuaternion<N>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
{ self * rhs.inverse().dual_quaternion() };);
|
||||
|
||||
// UnitDualQuaternion × UnitDualQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
|
|
@ -298,6 +358,38 @@ dual_quaternion_op_impl!(
|
|||
self: UnitDualQuaternion<N>, rhs: UnitDualQuaternion<N>, Output = UnitDualQuaternion<N>;
|
||||
&self / &rhs; );
|
||||
|
||||
// UnitDualQuaternion × DualQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
self: &'a UnitDualQuaternion<N>, rhs: &'b DualQuaternion<N>,
|
||||
Output = DualQuaternion<N> => U1, U4;
|
||||
self.dual_quaternion() * rhs;
|
||||
'a, 'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
self: &'a UnitDualQuaternion<N>, rhs: DualQuaternion<N>,
|
||||
Output = DualQuaternion<N> => U3, U3;
|
||||
self.dual_quaternion() * rhs;
|
||||
'a);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: &'b DualQuaternion<N>,
|
||||
Output = DualQuaternion<N> => U3, U3;
|
||||
self.dual_quaternion() * rhs;
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitDualQuaternion<N>, rhs: DualQuaternion<N>,
|
||||
Output = DualQuaternion<N> => U3, U3;
|
||||
self.dual_quaternion() * rhs;);
|
||||
|
||||
// UnitDualQuaternion × UnitQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
|
|
@ -917,8 +1009,44 @@ dual_quaternion_op_impl!(
|
|||
MulAssign, mul_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: DualQuaternion<N>, rhs: DualQuaternion<N>;
|
||||
*self *= &rhs;);
|
||||
|
||||
// DualQuaternion ×= UnitDualQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: DualQuaternion<N>, rhs: &'b UnitDualQuaternion<N>;
|
||||
{
|
||||
let res = &*self * rhs;
|
||||
self.real.coords.copy_from(&res.real.coords);
|
||||
self.dual.coords.copy_from(&res.dual.coords);
|
||||
};
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: DualQuaternion<N>, rhs: UnitDualQuaternion<N>;
|
||||
*self *= &rhs; );
|
||||
|
||||
// DualQuaternion ÷= UnitDualQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
DivAssign, div_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: DualQuaternion<N>, rhs: &'b UnitDualQuaternion<N>;
|
||||
{
|
||||
let res = &*self / rhs;
|
||||
self.real.coords.copy_from(&res.real.coords);
|
||||
self.dual.coords.copy_from(&res.dual.coords);
|
||||
};
|
||||
'b);
|
||||
|
||||
dual_quaternion_op_impl!(
|
||||
DivAssign, div_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: DualQuaternion<N>, rhs: UnitDualQuaternion<N>;
|
||||
*self /= &rhs; );
|
||||
|
||||
// UnitDualQuaternion ×= UnitDualQuaternion
|
||||
dual_quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
#![cfg(feature = "arbitrary")]
|
||||
#![allow(non_snake_case)]
|
||||
|
||||
use na::{Isometry3, Point3, Translation3, UnitDualQuaternion, UnitQuaternion, Vector3};
|
||||
use na::{DualQuaternion, Isometry3, Point3, Translation3, UnitDualQuaternion, UnitQuaternion, Vector3};
|
||||
|
||||
quickcheck!(
|
||||
fn isometry_equivalence(iso: Isometry3<f64>, p: Point3<f64>, v: Vector3<f64>) -> bool {
|
||||
|
|
@ -68,61 +68,86 @@ quickcheck!(
|
|||
|
||||
#[cfg_attr(rustfmt, rustfmt_skip)]
|
||||
fn all_op_exist(
|
||||
dq: UnitDualQuaternion<f64>,
|
||||
dq: DualQuaternion<f64>,
|
||||
udq: UnitDualQuaternion<f64>,
|
||||
uq: UnitQuaternion<f64>,
|
||||
s: f64,
|
||||
t: Translation3<f64>,
|
||||
v: Vector3<f64>,
|
||||
p: Point3<f64>
|
||||
) -> bool {
|
||||
let iMi = dq * dq;
|
||||
let iMuq = dq * uq;
|
||||
let iDi = dq / dq;
|
||||
let iDuq = dq / uq;
|
||||
let dqMs: DualQuaternion<_> = dq * s;
|
||||
|
||||
let iMp = dq * p;
|
||||
let iMv = dq * v;
|
||||
let dqMdq: DualQuaternion<_> = dq * dq;
|
||||
let dqMudq: DualQuaternion<_> = dq * udq;
|
||||
let udqMdq: DualQuaternion<_> = udq * dq;
|
||||
|
||||
let iMt = dq * t;
|
||||
let tMi = t * dq;
|
||||
let iMi: UnitDualQuaternion<_> = udq * udq;
|
||||
let iMuq: UnitDualQuaternion<_> = udq * uq;
|
||||
let iDi: UnitDualQuaternion<_> = udq / udq;
|
||||
let iDuq: UnitDualQuaternion<_> = udq / uq;
|
||||
|
||||
let tMuq = t * uq;
|
||||
let iMp: Point3<_> = udq * p;
|
||||
let iMv: Vector3<_> = udq * v;
|
||||
|
||||
let uqMi = uq * dq;
|
||||
let uqDi = uq / dq;
|
||||
let iMt: UnitDualQuaternion<_> = udq * t;
|
||||
let tMi: UnitDualQuaternion<_> = t * udq;
|
||||
|
||||
let uqMt = uq * t;
|
||||
let uqMi: UnitDualQuaternion<_> = uq * udq;
|
||||
let uqDi: UnitDualQuaternion<_> = uq / udq;
|
||||
|
||||
let mut iMt1 = dq;
|
||||
let mut iMt2 = dq;
|
||||
let mut dqMs1 = dq;
|
||||
|
||||
let mut iMi1 = dq;
|
||||
let mut iMi2 = dq;
|
||||
let mut dqMdq1 = dq;
|
||||
let mut dqMdq2 = dq;
|
||||
|
||||
let mut iMuq1 = dq;
|
||||
let mut iMuq2 = dq;
|
||||
let mut dqMudq1 = dq;
|
||||
let mut dqMudq2 = dq;
|
||||
|
||||
let mut iDi1 = dq;
|
||||
let mut iDi2 = dq;
|
||||
let mut iMt1 = udq;
|
||||
let mut iMt2 = udq;
|
||||
|
||||
let mut iDuq1 = dq;
|
||||
let mut iDuq2 = dq;
|
||||
let mut iMi1 = udq;
|
||||
let mut iMi2 = udq;
|
||||
|
||||
let mut iMuq1 = udq;
|
||||
let mut iMuq2 = udq;
|
||||
|
||||
let mut iDi1 = udq;
|
||||
let mut iDi2 = udq;
|
||||
|
||||
let mut iDuq1 = udq;
|
||||
let mut iDuq2 = udq;
|
||||
|
||||
dqMs1 *= s;
|
||||
|
||||
dqMdq1 *= dq;
|
||||
dqMdq2 *= &dq;
|
||||
|
||||
dqMudq1 *= udq;
|
||||
dqMudq2 *= &udq;
|
||||
|
||||
iMt1 *= t;
|
||||
iMt2 *= &t;
|
||||
|
||||
iMi1 *= dq;
|
||||
iMi2 *= &dq;
|
||||
iMi1 *= udq;
|
||||
iMi2 *= &udq;
|
||||
|
||||
iMuq1 *= uq;
|
||||
iMuq2 *= &uq;
|
||||
|
||||
iDi1 /= dq;
|
||||
iDi2 /= &dq;
|
||||
iDi1 /= udq;
|
||||
iDi2 /= &udq;
|
||||
|
||||
iDuq1 /= uq;
|
||||
iDuq2 /= &uq;
|
||||
|
||||
iMt == iMt1
|
||||
dqMs == dqMs1
|
||||
&& dqMdq == dqMdq1
|
||||
&& dqMdq == dqMdq2
|
||||
&& dqMudq == dqMudq1
|
||||
&& dqMudq == dqMudq2
|
||||
&& iMt == iMt1
|
||||
&& iMt == iMt2
|
||||
&& iMi == iMi1
|
||||
&& iMi == iMi2
|
||||
|
|
@ -132,41 +157,45 @@ quickcheck!(
|
|||
&& iDi == iDi2
|
||||
&& iDuq == iDuq1
|
||||
&& iDuq == iDuq2
|
||||
&& iMi == &dq * &dq
|
||||
&& iMi == dq * &dq
|
||||
&& iMi == &dq * dq
|
||||
&& iMuq == &dq * &uq
|
||||
&& iMuq == dq * &uq
|
||||
&& iMuq == &dq * uq
|
||||
&& iDi == &dq / &dq
|
||||
&& iDi == dq / &dq
|
||||
&& iDi == &dq / dq
|
||||
&& iDuq == &dq / &uq
|
||||
&& iDuq == dq / &uq
|
||||
&& iDuq == &dq / uq
|
||||
&& iMp == &dq * &p
|
||||
&& iMp == dq * &p
|
||||
&& iMp == &dq * p
|
||||
&& iMv == &dq * &v
|
||||
&& iMv == dq * &v
|
||||
&& iMv == &dq * v
|
||||
&& iMt == &dq * &t
|
||||
&& iMt == dq * &t
|
||||
&& iMt == &dq * t
|
||||
&& tMi == &t * &dq
|
||||
&& tMi == t * &dq
|
||||
&& tMi == &t * dq
|
||||
&& tMuq == &t * &uq
|
||||
&& tMuq == t * &uq
|
||||
&& tMuq == &t * uq
|
||||
&& uqMi == &uq * &dq
|
||||
&& uqMi == uq * &dq
|
||||
&& uqMi == &uq * dq
|
||||
&& uqDi == &uq / &dq
|
||||
&& uqDi == uq / &dq
|
||||
&& uqDi == &uq / dq
|
||||
&& uqMt == &uq * &t
|
||||
&& uqMt == uq * &t
|
||||
&& uqMt == &uq * t
|
||||
&& dqMs == &dq * s
|
||||
&& dqMdq == &dq * &dq
|
||||
&& dqMdq == dq * &dq
|
||||
&& dqMdq == &dq * dq
|
||||
&& dqMudq == &dq * &udq
|
||||
&& dqMudq == dq * &udq
|
||||
&& dqMudq == &dq * udq
|
||||
&& udqMdq == &udq * &dq
|
||||
&& udqMdq == udq * &dq
|
||||
&& udqMdq == &udq * dq
|
||||
&& iMi == &udq * &udq
|
||||
&& iMi == udq * &udq
|
||||
&& iMi == &udq * udq
|
||||
&& iMuq == &udq * &uq
|
||||
&& iMuq == udq * &uq
|
||||
&& iMuq == &udq * uq
|
||||
&& iDi == &udq / &udq
|
||||
&& iDi == udq / &udq
|
||||
&& iDi == &udq / udq
|
||||
&& iDuq == &udq / &uq
|
||||
&& iDuq == udq / &uq
|
||||
&& iDuq == &udq / uq
|
||||
&& iMp == &udq * &p
|
||||
&& iMp == udq * &p
|
||||
&& iMp == &udq * p
|
||||
&& iMv == &udq * &v
|
||||
&& iMv == udq * &v
|
||||
&& iMv == &udq * v
|
||||
&& iMt == &udq * &t
|
||||
&& iMt == udq * &t
|
||||
&& iMt == &udq * t
|
||||
&& tMi == &t * &udq
|
||||
&& tMi == t * &udq
|
||||
&& tMi == &t * udq
|
||||
&& uqMi == &uq * &udq
|
||||
&& uqMi == uq * &udq
|
||||
&& uqMi == &uq * udq
|
||||
&& uqDi == &uq / &udq
|
||||
&& uqDi == uq / &udq
|
||||
&& uqDi == &uq / udq
|
||||
}
|
||||
);
|
||||
|
|
|
|||
Loading…
Reference in New Issue