180 lines
4.1 KiB
Rust
180 lines
4.1 KiB
Rust
use std::num::{One, Zero};
|
|
use std::rand::{Rand, Rng, RngUtil};
|
|
use std::cmp::ApproxEq;
|
|
use traits::workarounds::rlmul::{RMul, LMul};
|
|
use traits::dim::Dim;
|
|
use traits::inv::Inv;
|
|
use traits::transpose::Transpose;
|
|
use traits::rotation::Rotation;
|
|
use traits::delta_transform::{DeltaTransform, DeltaTransformVector};
|
|
use dim1::vec1::Vec1;
|
|
use dim2::mat2::Mat2;
|
|
use dim3::mat3::Mat3;
|
|
use dim3::vec3::{Vec3};
|
|
|
|
#[deriving(Eq, ToStr)]
|
|
pub struct Rotmat<M>
|
|
{
|
|
priv submat: M
|
|
}
|
|
|
|
impl<M: Copy> Rotmat<M>
|
|
{
|
|
fn submat(&self) -> M
|
|
{ self.submat }
|
|
}
|
|
|
|
pub fn rotmat2<N: Copy + Trigonometric + Neg<N>>(angle: N) -> Rotmat<Mat2<N>>
|
|
{
|
|
let coa = angle.cos();
|
|
let sia = angle.sin();
|
|
|
|
Rotmat
|
|
{ submat: Mat2::new(coa, -sia, sia, coa) }
|
|
}
|
|
|
|
pub fn rotmat3<N: Copy + Trigonometric + Neg<N> + One + Sub<N, N> + Add<N, N> +
|
|
Mul<N, N>>
|
|
(axis: &Vec3<N>, angle: N) -> Rotmat<Mat3<N>>
|
|
{
|
|
let _1 = One::one::<N>();
|
|
let ux = axis.x;
|
|
let uy = axis.y;
|
|
let uz = axis.z;
|
|
let sqx = ux * ux;
|
|
let sqy = uy * uy;
|
|
let sqz = uz * uz;
|
|
let cos = angle.cos();
|
|
let one_m_cos = _1 - cos;
|
|
let sin = angle.sin();
|
|
|
|
Rotmat {
|
|
submat: Mat3::new(
|
|
(sqx + (_1 - sqx) * cos),
|
|
(ux * uy * one_m_cos - uz * sin),
|
|
(ux * uz * one_m_cos + uy * sin),
|
|
|
|
(ux * uy * one_m_cos + uz * sin),
|
|
(sqy + (_1 - sqy) * cos),
|
|
(uy * uz * one_m_cos - ux * sin),
|
|
|
|
(ux * uz * one_m_cos - uy * sin),
|
|
(uy * uz * one_m_cos + ux * sin),
|
|
(sqz + (_1 - sqz) * cos))
|
|
}
|
|
}
|
|
|
|
impl<N: Div<N, N> + Trigonometric + Neg<N> + Mul<N, N> + Add<N, N> + Copy>
|
|
Rotation<Vec1<N>> for Rotmat<Mat2<N>>
|
|
{
|
|
fn rotation(&self) -> Vec1<N>
|
|
{ Vec1::new(-(self.submat.m12 / self.submat.m11).atan()) }
|
|
|
|
fn rotated(&self, rot: &Vec1<N>) -> Rotmat<Mat2<N>>
|
|
{ rotmat2(rot.x) * *self }
|
|
|
|
fn rotate(&mut self, rot: &Vec1<N>)
|
|
{ *self = self.rotated(rot) }
|
|
}
|
|
|
|
impl<N: Div<N, N> + Trigonometric + Neg<N> + Mul<N, N> + Add<N, N> + Copy +
|
|
One + Sub<N, N>>
|
|
Rotation<(Vec3<N>, N)> for Rotmat<Mat3<N>>
|
|
{
|
|
fn rotation(&self) -> (Vec3<N>, N)
|
|
{ fail!("Not yet implemented.") }
|
|
|
|
fn rotated(&self, &(axis, angle): &(Vec3<N>, N)) -> Rotmat<Mat3<N>>
|
|
{ rotmat3(&axis, angle) * *self }
|
|
|
|
fn rotate(&mut self, rot: &(Vec3<N>, N))
|
|
{ *self = self.rotated(rot) }
|
|
}
|
|
|
|
impl<N: Copy + Rand + Trigonometric + Neg<N>> Rand for Rotmat<Mat2<N>>
|
|
{
|
|
fn rand<R: Rng>(rng: &mut R) -> Rotmat<Mat2<N>>
|
|
{ rotmat2(rng.gen()) }
|
|
}
|
|
|
|
impl<N: Copy + Rand + Trigonometric + Neg<N> + One + Sub<N, N> + Add<N, N> +
|
|
Mul<N, N>>
|
|
Rand for Rotmat<Mat3<N>>
|
|
{
|
|
fn rand<R: Rng>(rng: &mut R) -> Rotmat<Mat3<N>>
|
|
{ rotmat3(&rng.gen(), rng.gen()) }
|
|
}
|
|
|
|
impl<M: Dim> Dim for Rotmat<M>
|
|
{
|
|
fn dim() -> uint
|
|
{ Dim::dim::<M>() }
|
|
}
|
|
|
|
impl<M: Copy + One + Zero> One for Rotmat<M>
|
|
{
|
|
fn one() -> Rotmat<M>
|
|
{ Rotmat { submat: One::one() } }
|
|
}
|
|
|
|
impl<M: Copy + Mul<M, M>> Mul<Rotmat<M>, Rotmat<M>> for Rotmat<M>
|
|
{
|
|
fn mul(&self, other: &Rotmat<M>) -> Rotmat<M>
|
|
{ Rotmat { submat: self.submat.mul(&other.submat) } }
|
|
}
|
|
|
|
impl<V, M: RMul<V>> RMul<V> for Rotmat<M>
|
|
{
|
|
fn rmul(&self, other: &V) -> V
|
|
{ self.submat.rmul(other) }
|
|
}
|
|
|
|
impl<V, M: LMul<V>> LMul<V> for Rotmat<M>
|
|
{
|
|
fn lmul(&self, other: &V) -> V
|
|
{ self.submat.lmul(other) }
|
|
}
|
|
|
|
impl<M: Copy> DeltaTransform<M> for Rotmat<M>
|
|
{
|
|
fn delta_transform(&self) -> M
|
|
{ self.submat }
|
|
}
|
|
|
|
impl<M: RMul<V> + Copy, V: Copy> DeltaTransformVector<V> for Rotmat<M>
|
|
{
|
|
fn delta_transform_vector(&self, v: &V) -> V
|
|
{ self.submat.rmul(v) }
|
|
}
|
|
|
|
impl<M: Copy + Transpose> Inv for Rotmat<M>
|
|
{
|
|
fn invert(&mut self)
|
|
{ self.transpose() }
|
|
|
|
fn inverse(&self) -> Rotmat<M>
|
|
{ self.transposed() }
|
|
}
|
|
|
|
impl<M: Copy + Transpose>
|
|
Transpose for Rotmat<M>
|
|
{
|
|
fn transposed(&self) -> Rotmat<M>
|
|
{ Rotmat { submat: self.submat.transposed() } }
|
|
|
|
fn transpose(&mut self)
|
|
{ self.submat.transpose() }
|
|
}
|
|
|
|
impl<N: ApproxEq<N>, M: ApproxEq<N>> ApproxEq<N> for Rotmat<M>
|
|
{
|
|
fn approx_epsilon() -> N
|
|
{ ApproxEq::approx_epsilon::<N, N>() }
|
|
|
|
fn approx_eq(&self, other: &Rotmat<M>) -> bool
|
|
{ self.submat.approx_eq(&other.submat) }
|
|
|
|
fn approx_eq_eps(&self, other: &Rotmat<M>, epsilon: &N) -> bool
|
|
{ self.submat.approx_eq_eps(&other.submat, epsilon) }
|
|
}
|