152 lines
3.8 KiB
Rust
152 lines
3.8 KiB
Rust
use crate::geometry::{Rotation, UnitComplex, UnitQuaternion};
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use crate::{Const, OVector, Point, SVector, Scalar, SimdRealField, Unit};
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use simba::scalar::ClosedMul;
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/// Trait implemented by rotations that can be used inside of an `Isometry` or `Similarity`.
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pub trait AbstractRotation<T: Scalar, const D: usize>: PartialEq + ClosedMul + Clone {
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/// The rotation identity.
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fn identity() -> Self;
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/// The rotation inverse.
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fn inverse(&self) -> Self;
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/// Change `self` to its inverse.
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fn inverse_mut(&mut self);
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/// Apply the rotation to the given vector.
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fn transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D>;
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/// Apply the rotation to the given point.
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fn transform_point(&self, p: &Point<T, D>) -> Point<T, D>;
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/// Apply the inverse rotation to the given vector.
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fn inverse_transform_vector(&self, v: &OVector<T, Const<D>>) -> OVector<T, Const<D>>;
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/// Apply the inverse rotation to the given unit vector.
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fn inverse_transform_unit_vector(&self, v: &Unit<SVector<T, D>>) -> Unit<SVector<T, D>> {
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Unit::new_unchecked(self.inverse_transform_vector(&**v))
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}
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/// Apply the inverse rotation to the given point.
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fn inverse_transform_point(&self, p: &Point<T, D>) -> Point<T, D>;
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}
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impl<T: SimdRealField, const D: usize> AbstractRotation<T, D> for Rotation<T, D>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn identity() -> Self {
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Self::identity()
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}
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#[inline]
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fn inverse(&self) -> Self {
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self.inverse()
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}
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#[inline]
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fn inverse_mut(&mut self) {
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self.inverse_mut()
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}
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#[inline]
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fn transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D> {
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self * v
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}
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#[inline]
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fn transform_point(&self, p: &Point<T, D>) -> Point<T, D> {
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self * p
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}
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#[inline]
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fn inverse_transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D> {
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self.inverse_transform_vector(v)
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}
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#[inline]
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fn inverse_transform_unit_vector(&self, v: &Unit<SVector<T, D>>) -> Unit<SVector<T, D>> {
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self.inverse_transform_unit_vector(v)
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}
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#[inline]
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fn inverse_transform_point(&self, p: &Point<T, D>) -> Point<T, D> {
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self.inverse_transform_point(p)
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}
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}
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impl<T: SimdRealField> AbstractRotation<T, 3> for UnitQuaternion<T>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn identity() -> Self {
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Self::identity()
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}
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#[inline]
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fn inverse(&self) -> Self {
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self.inverse()
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}
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#[inline]
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fn inverse_mut(&mut self) {
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self.inverse_mut()
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}
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#[inline]
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fn transform_vector(&self, v: &SVector<T, 3>) -> SVector<T, 3> {
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self * v
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}
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#[inline]
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fn transform_point(&self, p: &Point<T, 3>) -> Point<T, 3> {
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self * p
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}
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#[inline]
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fn inverse_transform_vector(&self, v: &SVector<T, 3>) -> SVector<T, 3> {
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self.inverse_transform_vector(v)
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}
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#[inline]
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fn inverse_transform_point(&self, p: &Point<T, 3>) -> Point<T, 3> {
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self.inverse_transform_point(p)
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}
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}
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impl<T: SimdRealField> AbstractRotation<T, 2> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn identity() -> Self {
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Self::identity()
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}
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#[inline]
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fn inverse(&self) -> Self {
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self.inverse()
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}
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#[inline]
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fn inverse_mut(&mut self) {
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self.inverse_mut()
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}
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#[inline]
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fn transform_vector(&self, v: &SVector<T, 2>) -> SVector<T, 2> {
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self * v
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}
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#[inline]
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fn transform_point(&self, p: &Point<T, 2>) -> Point<T, 2> {
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self * p
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}
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#[inline]
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fn inverse_transform_vector(&self, v: &SVector<T, 2>) -> SVector<T, 2> {
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self.inverse_transform_vector(v)
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}
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#[inline]
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fn inverse_transform_point(&self, p: &Point<T, 2>) -> Point<T, 2> {
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self.inverse_transform_point(p)
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}
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}
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