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Make MatrixN::{transform_vector, transform_point} inherent methods. 

Addresses https://github.com/rustsim/nalgebra/issues/372
This commit is contained in:
sebcrozet 2018-10-29 12:48:53 +01:00 committed by Sébastien Crozet
parent d35c29b589
commit fc782f3644
1 changed files with 23 additions and 1 deletions
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24
src/base/cg.rs
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@ -314,11 +314,12 @@ impl<N: Scalar + Ring, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S>
}
}
impl<N: Real, D: DimNameSub<U1>> Transformation<Point<N, DimNameDiff<D, U1>>> for MatrixN<N, D>
impl<N: Real, D: DimNameSub<U1>, S: Storage<N, D, D>> SquareMatrix<N, D, S>
where DefaultAllocator: Allocator<N, D, D>
+ Allocator<N, DimNameDiff<D, U1>>
+ Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>>
{
/// Transforms the given vector, assuming the matirx `self` uses homogeneous coordinates.
#[inline]
fn transform_vector(
&self,
@ -336,6 +337,7 @@ where DefaultAllocator: Allocator<N, D, D>
transform * v
}
/// Transforms the given point, assuming the matrix `self` uses homogeneous coordinates.
#[inline]
fn transform_point(&self, pt: &Point<N, DimNameDiff<D, U1>>) -> Point<N, DimNameDiff<D, U1>> {
let transform = self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0);
@ -351,3 +353,23 @@ where DefaultAllocator: Allocator<N, D, D>
transform * pt + translation
}
}
impl<N: Real, D: DimNameSub<U1>> Transformation<Point<N, DimNameDiff<D, U1>>> for MatrixN<N, D>
where DefaultAllocator: Allocator<N, D, D>
+ Allocator<N, DimNameDiff<D, U1>>
+ Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>>
{
#[inline]
fn transform_vector(
&self,
v: &VectorN<N, DimNameDiff<D, U1>>,
) -> VectorN<N, DimNameDiff<D, U1>>
{
self.transform_vector(v)
}
#[inline]
fn transform_point(&self, pt: &Point<N, DimNameDiff<D, U1>>) -> Point<N, DimNameDiff<D, U1>> {
self.transform_point(pt)
}
}