M-Labs
/
nalgebra
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Add Rotation * Unit<Vector>

This commit is contained in:
sebcrozet 2018-09-24 21:31:54 +02:00 committed by Sébastien Crozet
parent 51a4e73386
commit f218186ec0
1 changed files with 15 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/geometry/rotation_ops.rs
View File

@ -10,6 +10,7 @@
* Matrix × Rotation * Matrix × Rotation
* Matrix ÷ Rotation * Matrix ÷ Rotation
* Rotation × Point * Rotation × Point
* Rotation × Unit<Vector>
* *
* *
* Rotation ×= Rotation * Rotation ×= Rotation
@ -21,7 +22,7 @@ use num::{One, Zero};
use alga::general::{ClosedAdd, ClosedMul}; use alga::general::{ClosedAdd, ClosedMul};
use base::{DefaultAllocator, Matrix, MatrixMN, Scalar}; use base::{DefaultAllocator, Matrix, MatrixMN, Scalar, Unit, Vector, VectorN};
use base::dimension::{Dim, DimName, U1}; use base::dimension::{Dim, DimName, U1};
use base::constraint::{AreMultipliable, ShapeConstraint}; use base::constraint::{AreMultipliable, ShapeConstraint};
use base::storage::Storage; use base::storage::Storage;
@ -118,6 +119,19 @@ md_impl_all!(
[ref ref] => self.matrix() * right; [ref ref] => self.matrix() * right;
); );
// Rotation × Unit<Vector>
md_impl_all!(
Mul, mul;
(D, D), (D, U1) for D: DimName, S: Storage<N, D>
where DefaultAllocator: Allocator<N, D>
where ShapeConstraint: AreMultipliable<D, D, D, U1>;
self: Rotation<N, D>, right: Unit<Vector<N, D, S>>, Output = Unit<VectorN<N, D>>;
[val val] => Unit::new_unchecked(self.unwrap() * right.unwrap());
[ref val] => Unit::new_unchecked(self.matrix() * right.unwrap());
[val ref] => Unit::new_unchecked(self.unwrap() * right.as_ref());
[ref ref] => Unit::new_unchecked(self.matrix() * right.as_ref());
);
// Rotation ×= Rotation // Rotation ×= Rotation
// FIXME: try not to call `inverse()` explicitly. // FIXME: try not to call `inverse()` explicitly.