147 lines
3.6 KiB
Rust
147 lines
3.6 KiB
Rust
use std::num::{Zero, One};
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use vec::Vec3;
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use mat::{Mat1, Mat2, Mat3};
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use traits::inv::Inv;
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use traits::row::Row;
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// some specializations:
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impl<N: Num + Clone>
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Inv for Mat1<N> {
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#[inline]
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fn inverse(&self) -> Option<Mat1<N>> {
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let mut res : Mat1<N> = self.clone();
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if res.inplace_inverse() {
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Some(res)
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}
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else {
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None
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}
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}
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#[inline]
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fn inplace_inverse(&mut self) -> bool {
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if self.m11.is_zero() {
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false
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}
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else {
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let _1: N = One::one();
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self.m11 = _1 / self.m11;
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true
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}
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}
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}
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impl<N: Num + Clone>
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Inv for Mat2<N> {
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#[inline]
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fn inverse(&self) -> Option<Mat2<N>> {
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let mut res : Mat2<N> = self.clone();
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if res.inplace_inverse() {
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Some(res)
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}
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else {
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None
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}
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}
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#[inline]
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fn inplace_inverse(&mut self) -> bool {
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let det = self.m11 * self.m22 - self.m21 * self.m12;
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if det.is_zero() {
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false
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}
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else {
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*self = Mat2::new(
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self.m22 / det , -self.m12 / det,
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-self.m21 / det, self.m11 / det);
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true
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}
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}
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}
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impl<N: Num + Clone>
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Inv for Mat3<N> {
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#[inline]
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fn inverse(&self) -> Option<Mat3<N>> {
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let mut res = self.clone();
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if res.inplace_inverse() {
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Some(res)
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}
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else {
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None
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}
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}
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#[inline]
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fn inplace_inverse(&mut self) -> bool {
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let minor_m12_m23 = self.m22 * self.m33 - self.m32 * self.m23;
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let minor_m11_m23 = self.m21 * self.m33 - self.m31 * self.m23;
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let minor_m11_m22 = self.m21 * self.m32 - self.m31 * self.m22;
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let det = self.m11 * minor_m12_m23
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- self.m12 * minor_m11_m23
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+ self.m13 * minor_m11_m22;
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if det.is_zero() {
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false
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}
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else {
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*self = Mat3::new(
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(minor_m12_m23 / det),
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((self.m13 * self.m32 - self.m33 * self.m12) / det),
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((self.m12 * self.m23 - self.m22 * self.m13) / det),
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(-minor_m11_m23 / det),
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((self.m11 * self.m33 - self.m31 * self.m13) / det),
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((self.m13 * self.m21 - self.m23 * self.m11) / det),
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(minor_m11_m22 / det),
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((self.m12 * self.m31 - self.m32 * self.m11) / det),
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((self.m11 * self.m22 - self.m21 * self.m12) / det)
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);
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true
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}
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}
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}
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impl<N: Clone> Row<Vec3<N>> for Mat3<N> {
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#[inline]
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fn row(&self, i: uint) -> Vec3<N> {
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match i {
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0 => Vec3::new(self.m11.clone(), self.m12.clone(), self.m13.clone()),
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1 => Vec3::new(self.m21.clone(), self.m22.clone(), self.m23.clone()),
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2 => Vec3::new(self.m31.clone(), self.m32.clone(), self.m33.clone()),
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_ => fail!("Index out of range: 3d matrices do not have " + i.to_str() + " rows.")
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}
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}
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#[inline]
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fn set_row(&mut self, i: uint, r: Vec3<N>) {
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match i {
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0 => {
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self.m11 = r.x.clone();
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self.m12 = r.y.clone();
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self.m13 = r.z;
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},
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1 => {
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self.m21 = r.x.clone();
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self.m22 = r.y.clone();
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self.m23 = r.z;
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},
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2 => {
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self.m31 = r.x.clone();
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self.m32 = r.y.clone();
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self.m33 = r.z;
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},
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_ => fail!("Index out of range: 3d matrices do not have " + i.to_str() + " rows.")
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}
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}
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}
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