533 lines
19 KiB
Rust
533 lines
19 KiB
Rust
use num::{One, Zero};
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use std::ops::{Div, DivAssign, Mul, MulAssign};
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use simba::scalar::{ClosedAdd, ClosedMul};
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use simba::simd::SimdRealField;
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use crate::base::allocator::Allocator;
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use crate::base::dimension::{DimName, U1, U2, U3, U4};
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use crate::base::{DefaultAllocator, Unit, VectorN};
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use crate::Scalar;
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use crate::geometry::{
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AbstractRotation, Isometry, Point, Rotation, Translation, UnitComplex, UnitQuaternion,
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};
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// FIXME: there are several cloning of rotations that we could probably get rid of (but we didn't
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// yet because that would require to add a bound like `where for<'a, 'b> &'a R: Mul<&'b R, Output = R>`
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// which is quite ugly.
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/*
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*
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* In this file, we provide:
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* =========================
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*
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*
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* (Operators)
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*
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* Isometry × Isometry
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* Isometry × R
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*
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*
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* Isometry ÷ Isometry
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* Isometry ÷ R
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*
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* Isometry × Point
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* Isometry × Vector
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* Isometry × Unit<Vector>
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*
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*
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* Isometry × Translation
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* Translation × Isometry
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* Translation × R -> Isometry<R>
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*
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* NOTE: The following are provided explicitly because we can't have R × Isometry.
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* Rotation × Isometry<Rotation>
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* UnitQuaternion × Isometry<UnitQuaternion>
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*
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* Rotation ÷ Isometry<Rotation>
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* UnitQuaternion ÷ Isometry<UnitQuaternion>
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*
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* Rotation × Translation -> Isometry<Rotation>
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* UnitQuaternion × Translation -> Isometry<UnitQuaternion>
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*
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*
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* (Assignment Operators)
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*
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* Isometry ×= Translation
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*
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* Isometry ×= Isometry
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* Isometry ×= R
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*
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* Isometry ÷= Isometry
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* Isometry ÷= R
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*
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*/
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macro_rules! isometry_binop_impl(
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($Op: ident, $op: ident;
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$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
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$action: expr; $($lives: tt),*) => {
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impl<$($lives ,)* N: SimdRealField, D: DimName, R> $Op<$Rhs> for $Lhs
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where N::Element: SimdRealField,
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R: AbstractRotation<N, D>,
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DefaultAllocator: Allocator<N, D> {
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type Output = $Output;
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#[inline]
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fn $op($lhs, $rhs: $Rhs) -> Self::Output {
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$action
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}
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}
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}
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);
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macro_rules! isometry_binop_impl_all(
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($Op: ident, $op: ident;
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$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
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[val val] => $action_val_val: expr;
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[ref val] => $action_ref_val: expr;
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[val ref] => $action_val_ref: expr;
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[ref ref] => $action_ref_ref: expr;) => {
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isometry_binop_impl!(
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$Op, $op;
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$lhs: $Lhs, $rhs: $Rhs, Output = $Output;
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$action_val_val; );
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isometry_binop_impl!(
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$Op, $op;
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$lhs: &'a $Lhs, $rhs: $Rhs, Output = $Output;
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$action_ref_val; 'a);
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isometry_binop_impl!(
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$Op, $op;
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$lhs: $Lhs, $rhs: &'b $Rhs, Output = $Output;
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$action_val_ref; 'b);
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isometry_binop_impl!(
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$Op, $op;
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$lhs: &'a $Lhs, $rhs: &'b $Rhs, Output = $Output;
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$action_ref_ref; 'a, 'b);
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}
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);
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macro_rules! isometry_binop_assign_impl_all(
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($OpAssign: ident, $op_assign: ident;
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$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty;
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[val] => $action_val: expr;
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[ref] => $action_ref: expr;) => {
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impl<N: SimdRealField, D: DimName, R> $OpAssign<$Rhs> for $Lhs
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where N::Element: SimdRealField,
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R: AbstractRotation<N, D>,
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DefaultAllocator: Allocator<N, D> {
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#[inline]
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fn $op_assign(&mut $lhs, $rhs: $Rhs) {
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$action_val
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}
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}
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impl<'b, N: SimdRealField, D: DimName, R> $OpAssign<&'b $Rhs> for $Lhs
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where N::Element: SimdRealField,
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R: AbstractRotation<N, D>,
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DefaultAllocator: Allocator<N, D> {
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#[inline]
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fn $op_assign(&mut $lhs, $rhs: &'b $Rhs) {
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$action_ref
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}
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}
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}
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);
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// Isometry × Isometry
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// Isometry ÷ Isometry
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isometry_binop_impl_all!(
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Mul, mul;
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self: Isometry<N, D, R>, rhs: Isometry<N, D, R>, Output = Isometry<N, D, R>;
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[val val] => &self * &rhs;
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[ref val] => self * &rhs;
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[val ref] => &self * rhs;
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[ref ref] => {
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let shift = self.rotation.transform_vector(&rhs.translation.vector);
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Isometry::from_parts(Translation::from(&self.translation.vector + shift),
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self.rotation.clone() * rhs.rotation.clone()) // FIXME: too bad we have to clone.
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};
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);
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isometry_binop_impl_all!(
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Div, div;
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self: Isometry<N, D, R>, rhs: Isometry<N, D, R>, Output = Isometry<N, D, R>;
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[val val] => self * rhs.inverse();
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[ref val] => self * rhs.inverse();
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[val ref] => self * rhs.inverse();
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[ref ref] => self * rhs.inverse();
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);
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// Isometry ×= Translation
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isometry_binop_assign_impl_all!(
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MulAssign, mul_assign;
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self: Isometry<N, D, R>, rhs: Translation<N, D>;
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[val] => *self *= &rhs;
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[ref] => {
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let shift = self.rotation.transform_vector(&rhs.vector);
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self.translation.vector += shift;
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};
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);
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// Isometry ×= Isometry
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// Isometry ÷= Isometry
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isometry_binop_assign_impl_all!(
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MulAssign, mul_assign;
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self: Isometry<N, D, R>, rhs: Isometry<N, D, R>;
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[val] => *self *= &rhs;
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[ref] => {
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let shift = self.rotation.transform_vector(&rhs.translation.vector);
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self.translation.vector += shift;
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self.rotation *= rhs.rotation.clone();
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};
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);
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isometry_binop_assign_impl_all!(
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DivAssign, div_assign;
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self: Isometry<N, D, R>, rhs: Isometry<N, D, R>;
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[val] => *self /= &rhs;
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[ref] => *self *= rhs.inverse();
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);
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// Isometry ×= R
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// Isometry ÷= R
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md_assign_impl_all!(
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MulAssign, mul_assign where N: SimdRealField for N::Element: SimdRealField;
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(D, U1), (D, D) for D: DimName;
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self: Isometry<N, D, Rotation<N, D>>, rhs: Rotation<N, D>;
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[val] => self.rotation *= rhs;
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[ref] => self.rotation *= rhs.clone();
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);
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md_assign_impl_all!(
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DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
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(D, U1), (D, D) for D: DimName;
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self: Isometry<N, D, Rotation<N, D>>, rhs: Rotation<N, D>;
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// FIXME: don't invert explicitly?
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[val] => *self *= rhs.inverse();
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[ref] => *self *= rhs.inverse();
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);
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md_assign_impl_all!(
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MulAssign, mul_assign where N: SimdRealField for N::Element: SimdRealField;
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(U3, U3), (U3, U3) for;
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self: Isometry<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>;
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[val] => self.rotation *= rhs;
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[ref] => self.rotation *= rhs.clone();
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);
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md_assign_impl_all!(
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DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
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(U3, U3), (U3, U3) for;
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self: Isometry<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>;
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// FIXME: don't invert explicitly?
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[val] => *self *= rhs.inverse();
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[ref] => *self *= rhs.inverse();
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);
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md_assign_impl_all!(
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MulAssign, mul_assign where N: SimdRealField for N::Element: SimdRealField;
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(U2, U2), (U2, U2) for;
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self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
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[val] => self.rotation *= rhs;
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[ref] => self.rotation *= rhs.clone();
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);
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md_assign_impl_all!(
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DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
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(U2, U2), (U2, U2) for;
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self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
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// FIXME: don't invert explicitly?
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[val] => *self *= rhs.inverse();
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[ref] => *self *= rhs.inverse();
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);
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// Isometry × Point
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isometry_binop_impl_all!(
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Mul, mul;
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self: Isometry<N, D, R>, right: Point<N, D>, Output = Point<N, D>;
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[val val] => self.translation * self.rotation.transform_point(&right);
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[ref val] => &self.translation * self.rotation.transform_point(&right);
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[val ref] => self.translation * self.rotation.transform_point(right);
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[ref ref] => &self.translation * self.rotation.transform_point(right);
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);
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// Isometry × Vector
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isometry_binop_impl_all!(
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Mul, mul;
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// FIXME: because of `transform_vector`, we cant use a generic storage type for the rhs vector,
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// i.e., right: Vector<N, D, S> where S: Storage<N, D>.
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self: Isometry<N, D, R>, right: VectorN<N, D>, Output = VectorN<N, D>;
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[val val] => self.rotation.transform_vector(&right);
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[ref val] => self.rotation.transform_vector(&right);
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[val ref] => self.rotation.transform_vector(right);
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[ref ref] => self.rotation.transform_vector(right);
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);
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// Isometry × Unit<Vector>
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isometry_binop_impl_all!(
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Mul, mul;
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// FIXME: because of `transform_vector`, we cant use a generic storage type for the rhs vector,
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// i.e., right: Vector<N, D, S> where S: Storage<N, D>.
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self: Isometry<N, D, R>, right: Unit<VectorN<N, D>>, Output = Unit<VectorN<N, D>>;
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[val val] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
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[ref val] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
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[val ref] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
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[ref ref] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
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);
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// Isometry × Translation
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isometry_binop_impl_all!(
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Mul, mul;
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self: Isometry<N, D, R>, right: Translation<N, D>, Output = Isometry<N, D, R>;
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[val val] => &self * &right;
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[ref val] => self * &right;
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[val ref] => &self * right;
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[ref ref] => {
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let new_tr = &self.translation.vector + self.rotation.transform_vector(&right.vector);
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Isometry::from_parts(Translation::from(new_tr), self.rotation.clone())
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};
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);
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// Translation × Isometry
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isometry_binop_impl_all!(
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Mul, mul;
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self: Translation<N, D>, right: Isometry<N, D, R>, Output = Isometry<N, D, R>;
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[val val] => Isometry::from_parts(self * right.translation, right.rotation);
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[ref val] => Isometry::from_parts(self * &right.translation, right.rotation);
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[val ref] => Isometry::from_parts(self * &right.translation, right.rotation.clone());
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[ref ref] => Isometry::from_parts(self * &right.translation, right.rotation.clone());
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);
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macro_rules! isometry_from_composition_impl(
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($Op: ident, $op: ident;
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($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(for $Dims: ident: $DimsBound: ident),*;
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$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
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$action: expr; $($lives: tt),*) => {
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impl<$($lives ,)* N: SimdRealField $(, $Dims: $DimsBound)*> $Op<$Rhs> for $Lhs
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where N::Element: SimdRealField,
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DefaultAllocator: Allocator<N, $R1, $C1> +
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Allocator<N, $R2, $C2> {
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type Output = $Output;
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#[inline]
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fn $op($lhs, $rhs: $Rhs) -> Self::Output {
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$action
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}
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}
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}
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);
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macro_rules! isometry_from_composition_impl_all(
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($Op: ident, $op: ident;
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($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(for $Dims: ident: $DimsBound: ident),*;
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$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
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[val val] => $action_val_val: expr;
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[ref val] => $action_ref_val: expr;
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[val ref] => $action_val_ref: expr;
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[ref ref] => $action_ref_ref: expr;) => {
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isometry_from_composition_impl!(
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$Op, $op;
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($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
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$lhs: $Lhs, $rhs: $Rhs, Output = $Output;
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$action_val_val; );
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isometry_from_composition_impl!(
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$Op, $op;
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($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
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$lhs: &'a $Lhs, $rhs: $Rhs, Output = $Output;
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$action_ref_val; 'a);
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isometry_from_composition_impl!(
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$Op, $op;
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($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
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$lhs: $Lhs, $rhs: &'b $Rhs, Output = $Output;
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$action_val_ref; 'b);
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isometry_from_composition_impl!(
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$Op, $op;
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($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
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$lhs: &'a $Lhs, $rhs: &'b $Rhs, Output = $Output;
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$action_ref_ref; 'a, 'b);
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}
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);
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// Rotation × Translation
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isometry_from_composition_impl_all!(
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Mul, mul;
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(D, D), (D, U1) for D: DimName;
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self: Rotation<N, D>, right: Translation<N, D>, Output = Isometry<N, D, Rotation<N, D>>;
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[val val] => Isometry::from_parts(Translation::from(&self * right.vector), self);
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[ref val] => Isometry::from_parts(Translation::from(self * right.vector), self.clone());
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[val ref] => Isometry::from_parts(Translation::from(&self * &right.vector), self);
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[ref ref] => Isometry::from_parts(Translation::from(self * &right.vector), self.clone());
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);
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// UnitQuaternion × Translation
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isometry_from_composition_impl_all!(
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Mul, mul;
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(U4, U1), (U3, U1);
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self: UnitQuaternion<N>, right: Translation<N, U3>,
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Output = Isometry<N, U3, UnitQuaternion<N>>;
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[val val] => Isometry::from_parts(Translation::from(&self * right.vector), self);
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[ref val] => Isometry::from_parts(Translation::from( self * right.vector), self.clone());
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[val ref] => Isometry::from_parts(Translation::from(&self * &right.vector), self);
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[ref ref] => Isometry::from_parts(Translation::from( self * &right.vector), self.clone());
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);
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// Isometry × Rotation
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isometry_from_composition_impl_all!(
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Mul, mul;
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(D, D), (D, U1) for D: DimName;
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self: Isometry<N, D, Rotation<N, D>>, rhs: Rotation<N, D>,
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Output = Isometry<N, D, Rotation<N, D>>;
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[val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
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[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // FIXME: do not clone.
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[val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
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[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
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);
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// Rotation × Isometry
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isometry_from_composition_impl_all!(
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Mul, mul;
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(D, D), (D, U1) for D: DimName;
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self: Rotation<N, D>, right: Isometry<N, D, Rotation<N, D>>,
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Output = Isometry<N, D, Rotation<N, D>>;
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[val val] => &self * &right;
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[ref val] => self * &right;
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[val ref] => &self * right;
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[ref ref] => {
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let shift = self * &right.translation.vector;
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Isometry::from_parts(Translation::from(shift), self * &right.rotation)
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};
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);
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// Isometry ÷ Rotation
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isometry_from_composition_impl_all!(
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Div, div;
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(D, D), (D, U1) for D: DimName;
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self: Isometry<N, D, Rotation<N, D>>, rhs: Rotation<N, D>,
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Output = Isometry<N, D, Rotation<N, D>>;
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[val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
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[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // FIXME: do not clone.
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[val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
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[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
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);
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// Rotation ÷ Isometry
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isometry_from_composition_impl_all!(
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Div, div;
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(D, D), (D, U1) for D: DimName;
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self: Rotation<N, D>, right: Isometry<N, D, Rotation<N, D>>,
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Output = Isometry<N, D, Rotation<N, D>>;
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// FIXME: don't call inverse explicitly?
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[val val] => self * right.inverse();
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[ref val] => self * right.inverse();
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[val ref] => self * right.inverse();
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[ref ref] => self * right.inverse();
|
||
);
|
||
|
||
// Isometry × UnitQuaternion
|
||
isometry_from_composition_impl_all!(
|
||
Mul, mul;
|
||
(U4, U1), (U3, U1);
|
||
self: Isometry<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>,
|
||
Output = Isometry<N, U3, UnitQuaternion<N>>;
|
||
[val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
|
||
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // FIXME: do not clone.
|
||
[val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
|
||
[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
|
||
);
|
||
|
||
// UnitQuaternion × Isometry
|
||
isometry_from_composition_impl_all!(
|
||
Mul, mul;
|
||
(U4, U1), (U3, U1);
|
||
self: UnitQuaternion<N>, right: Isometry<N, U3, UnitQuaternion<N>>,
|
||
Output = Isometry<N, U3, UnitQuaternion<N>>;
|
||
[val val] => &self * &right;
|
||
[ref val] => self * &right;
|
||
[val ref] => &self * right;
|
||
[ref ref] => {
|
||
let shift = self * &right.translation.vector;
|
||
Isometry::from_parts(Translation::from(shift), self * &right.rotation)
|
||
};
|
||
);
|
||
|
||
// Isometry ÷ UnitQuaternion
|
||
isometry_from_composition_impl_all!(
|
||
Div, div;
|
||
(U4, U1), (U3, U1);
|
||
self: Isometry<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>,
|
||
Output = Isometry<N, U3, UnitQuaternion<N>>;
|
||
[val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
|
||
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // FIXME: do not clone.
|
||
[val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
|
||
[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
|
||
);
|
||
|
||
// UnitQuaternion ÷ Isometry
|
||
isometry_from_composition_impl_all!(
|
||
Div, div;
|
||
(U4, U1), (U3, U1);
|
||
self: UnitQuaternion<N>, right: Isometry<N, U3, UnitQuaternion<N>>,
|
||
Output = Isometry<N, U3, UnitQuaternion<N>>;
|
||
// FIXME: don't call inverse explicitly?
|
||
[val val] => self * right.inverse();
|
||
[ref val] => self * right.inverse();
|
||
[val ref] => self * right.inverse();
|
||
[ref ref] => self * right.inverse();
|
||
);
|
||
|
||
// Translation × Rotation
|
||
isometry_from_composition_impl_all!(
|
||
Mul, mul;
|
||
(D, D), (D, U1) for D: DimName;
|
||
self: Translation<N, D>, right: Rotation<N, D>, Output = Isometry<N, D, Rotation<N, D>>;
|
||
[val val] => Isometry::from_parts(self, right);
|
||
[ref val] => Isometry::from_parts(self.clone(), right);
|
||
[val ref] => Isometry::from_parts(self, right.clone());
|
||
[ref ref] => Isometry::from_parts(self.clone(), right.clone());
|
||
);
|
||
|
||
// Translation × UnitQuaternion
|
||
isometry_from_composition_impl_all!(
|
||
Mul, mul;
|
||
(U4, U1), (U3, U1);
|
||
self: Translation<N, U3>, right: UnitQuaternion<N>, Output = Isometry<N, U3, UnitQuaternion<N>>;
|
||
[val val] => Isometry::from_parts(self, right);
|
||
[ref val] => Isometry::from_parts(self.clone(), right);
|
||
[val ref] => Isometry::from_parts(self, right.clone());
|
||
[ref ref] => Isometry::from_parts(self.clone(), right.clone());
|
||
);
|
||
|
||
// Isometry × UnitComplex
|
||
isometry_from_composition_impl_all!(
|
||
Mul, mul;
|
||
(U2, U1), (U2, U1);
|
||
self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
|
||
Output = Isometry<N, U2, UnitComplex<N>>;
|
||
[val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
|
||
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // FIXME: do not clone.
|
||
[val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
|
||
[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
|
||
);
|
||
|
||
// Isometry ÷ UnitComplex
|
||
isometry_from_composition_impl_all!(
|
||
Div, div;
|
||
(U2, U1), (U2, U1);
|
||
self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
|
||
Output = Isometry<N, U2, UnitComplex<N>>;
|
||
[val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
|
||
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // FIXME: do not clone.
|
||
[val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
|
||
[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
|
||
);
|