143 lines
4.0 KiB
Rust
143 lines
4.0 KiB
Rust
use num::{Zero, One};
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use std::fmt;
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use approx::ApproxEq;
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use alga::general::{Real, ClosedNeg};
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use core::{Scalar, ColumnVector, OwnedSquareMatrix};
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use core::dimension::{DimName, DimNameSum, DimNameAdd, U1};
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use core::storage::{Storage, StorageMut, Owned};
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use core::allocator::Allocator;
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/// A translation with an owned vector storage.
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pub type OwnedTranslation<N, D, S> = TranslationBase<N, D, Owned<N, D, U1, <S as Storage<N, D, U1>>::Alloc>>;
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/// A translation.
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#[repr(C)]
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#[derive(Hash, Debug, Clone, Copy)]
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pub struct TranslationBase<N: Scalar, D: DimName, S/*: Storage<N, D, U1>*/> {
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pub vector: ColumnVector<N, D, S>
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}
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impl<N, D: DimName, S> TranslationBase<N, D, S>
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where N: Scalar,
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S: Storage<N, D, U1> {
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/// Creates a new translation from the given vector.
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#[inline]
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pub fn from_vector(vector: ColumnVector<N, D, S>) -> TranslationBase<N, D, S> {
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TranslationBase {
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vector: vector
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}
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}
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/// Inverts `self`.
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#[inline]
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pub fn inverse(&self) -> OwnedTranslation<N, D, S>
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where N: ClosedNeg {
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TranslationBase::from_vector(-&self.vector)
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}
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/// Converts this translation into its equivalent homogeneous transformation matrix.
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#[inline]
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pub fn to_homogeneous(&self) -> OwnedSquareMatrix<N, DimNameSum<D, U1>, S::Alloc>
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where N: Zero + One,
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D: DimNameAdd<U1>,
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S::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>> {
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let mut res = OwnedSquareMatrix::<N, _, S::Alloc>::identity();
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res.fixed_slice_mut::<D, U1>(0, D::dim()).copy_from(&self.vector);
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res
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}
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}
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impl<N, D: DimName, S> TranslationBase<N, D, S>
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where N: Scalar + ClosedNeg,
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S: StorageMut<N, D, U1> {
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/// Inverts `self` in-place.
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#[inline]
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pub fn inverse_mut(&mut self) {
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self.vector.neg_mut()
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}
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}
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impl<N, D: DimName, S> Eq for TranslationBase<N, D, S>
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where N: Scalar + Eq,
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S: Storage<N, D, U1> {
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}
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impl<N, D: DimName, S> PartialEq for TranslationBase<N, D, S>
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where N: Scalar + PartialEq,
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S: Storage<N, D, U1> {
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#[inline]
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fn eq(&self, right: &TranslationBase<N, D, S>) -> bool {
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self.vector == right.vector
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}
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}
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impl<N, D: DimName, S> ApproxEq for TranslationBase<N, D, S>
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where N: Scalar + ApproxEq,
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S: Storage<N, D, U1>,
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N::Epsilon: Copy {
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type Epsilon = N::Epsilon;
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#[inline]
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fn default_epsilon() -> Self::Epsilon {
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N::default_epsilon()
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}
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#[inline]
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fn default_max_relative() -> Self::Epsilon {
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N::default_max_relative()
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}
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#[inline]
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fn default_max_ulps() -> u32 {
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N::default_max_ulps()
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}
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#[inline]
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fn relative_eq(&self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon) -> bool {
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self.vector.relative_eq(&other.vector, epsilon, max_relative)
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}
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#[inline]
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fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
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self.vector.ulps_eq(&other.vector, epsilon, max_ulps)
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}
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}
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/*
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*
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* Display
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*
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*/
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impl<N, D: DimName, S> fmt::Display for TranslationBase<N, D, S>
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where N: Real + fmt::Display,
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S: Storage<N, D, U1>,
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S::Alloc: Allocator<usize, D, U1> {
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fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
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let precision = f.precision().unwrap_or(3);
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try!(writeln!(f, "TranslationBase {{"));
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try!(write!(f, "{:.*}", precision, self.vector));
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writeln!(f, "}}")
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}
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}
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// // /*
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// // *
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// // * Absolute
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// // *
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// // */
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// // impl<N: Absolute> Absolute for $t<N> {
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// // type AbsoluteValue = $submatrix<N::AbsoluteValue>;
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// //
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// // #[inline]
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// // fn abs(m: &$t<N>) -> $submatrix<N::AbsoluteValue> {
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// // Absolute::abs(&m.submatrix)
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// // }
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// // }
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// */
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