//! Isometric transformations.

#[allow(missing_doc)];

use std::num::{Zero, One};
use std::rand::{Rand, Rng};
use structs::mat::{Mat3, Mat4, Mat5};
use traits::structure::{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, Vec4MulRhs};
use structs::rot::{Rot2, Rot3, Rot4};

mod metal;
mod iso_macros;

/// Two dimensional isometry.
///
/// This is the composition of a rotation followed by a translation.
/// Isometries conserve angles and distances, hence do not allow shearing nor scaling.
#[deriving(Eq, Encodable, Decodable, Clone, DeepClone, ToStr)]
pub struct Iso2<N> {
    /// The rotation applicable by this isometry.
    rotation:    Rot2<N>,
    /// The translation applicable by this isometry.
    translation: Vec2<N>
}

/// Three dimensional isometry.
///
/// This is the composition of a rotation followed by a translation.
/// Isometries conserve angles and distances, hence do not allow shearing nor scaling.
#[deriving(Eq, Encodable, Decodable, Clone, DeepClone, ToStr)]
pub struct Iso3<N> {
    /// The rotation applicable by this isometry.
    rotation:    Rot3<N>,
    /// The translation applicable by this isometry.
    translation: Vec3<N>
}

/// Four dimensional isometry.
///
/// Isometries conserve angles and distances, hence do not allow shearing nor scaling.
#[deriving(Eq, Encodable, Decodable, Clone, DeepClone, ToStr)]
pub struct Iso4<N> {
    /// The rotation applicable by this isometry.
    rotation:    Rot4<N>,
    /// The translation applicable by this isometry.
    translation: Vec4<N>
}

iso_impl!(Iso2, Rot2, Vec2)
double_dispatch_binop_decl_trait!(Iso2, Iso2MulRhs)
mul_redispatch_impl!(Iso2, Iso2MulRhs)
rotation_matrix_impl!(Iso2, Rot2, Vec2, Vec1)
rotation_impl!(Iso2, Rot2, Vec1)
dim_impl!(Iso2, 2)
one_impl!(Iso2)
absolute_rotate_impl!(Iso2, Vec2)
rand_impl!(Iso2)
approx_eq_impl!(Iso2)
to_homogeneous_impl!(Iso2, Mat3)
inv_impl!(Iso2)
transform_impl!(Iso2, Vec2)
transformation_impl!(Iso2)
rotate_impl!(Iso2, Vec2)
translation_impl!(Iso2, Vec2)
translate_impl!(Iso2, Vec2)
iso_mul_iso_impl!(Iso2, Iso2MulRhs)
iso_mul_vec_impl!(Iso2, Vec2, Iso2MulRhs)
vec_mul_iso_impl!(Iso2, Vec2, Vec2MulRhs)

iso_impl!(Iso3, Rot3, Vec3)
double_dispatch_binop_decl_trait!(Iso3, Iso3MulRhs)
mul_redispatch_impl!(Iso3, Iso3MulRhs)
rotation_matrix_impl!(Iso3, Rot3, Vec3, Vec3)
rotation_impl!(Iso3, Rot3, Vec3)
dim_impl!(Iso3, 3)
one_impl!(Iso3)
absolute_rotate_impl!(Iso3, Vec3)
rand_impl!(Iso3)
approx_eq_impl!(Iso3)
to_homogeneous_impl!(Iso3, Mat4)
inv_impl!(Iso3)
transform_impl!(Iso3, Vec3)
transformation_impl!(Iso3)
rotate_impl!(Iso3, Vec3)
translation_impl!(Iso3, Vec3)
translate_impl!(Iso3, Vec3)
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)
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)
// 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)
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)