137 lines
3.3 KiB
Rust
137 lines
3.3 KiB
Rust
use crate::allocator::Allocator;
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use crate::geometry::{Rotation, UnitComplex, UnitQuaternion};
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use crate::{DefaultAllocator, DimName, Point, RealField, Scalar, VectorN, U2, U3};
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use simba::scalar::ClosedMul;
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pub trait AbstractRotation<N: Scalar, D: DimName>: PartialEq + ClosedMul + Clone {
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fn identity() -> Self;
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fn inverse(&self) -> Self;
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fn inverse_mut(&mut self);
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fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>
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where DefaultAllocator: Allocator<N, D>;
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fn transform_point(&self, p: &Point<N, D>) -> Point<N, D>
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where DefaultAllocator: Allocator<N, D>;
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fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>
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where DefaultAllocator: Allocator<N, D>;
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fn inverse_transform_point(&self, p: &Point<N, D>) -> Point<N, D>
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where DefaultAllocator: Allocator<N, D>;
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}
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impl<N: RealField, D: DimName> AbstractRotation<N, D> for Rotation<N, D>
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where DefaultAllocator: Allocator<N, D, D>
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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: &VectorN<N, D>) -> VectorN<N, D>
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where DefaultAllocator: Allocator<N, 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<N, D>) -> Point<N, D>
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where DefaultAllocator: Allocator<N, 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: &VectorN<N, D>) -> VectorN<N, D>
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where DefaultAllocator: Allocator<N, 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_point(&self, p: &Point<N, D>) -> Point<N, D>
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where DefaultAllocator: Allocator<N, D> {
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self.inverse_transform_point(p)
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}
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}
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impl<N: RealField> AbstractRotation<N, U3> for UnitQuaternion<N> {
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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: &VectorN<N, U3>) -> VectorN<N, U3> {
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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<N, U3>) -> Point<N, U3> {
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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: &VectorN<N, U3>) -> VectorN<N, U3> {
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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<N, U3>) -> Point<N, U3> {
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self.inverse_transform_point(p)
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}
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}
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impl<N: RealField> AbstractRotation<N, U2> for UnitComplex<N> {
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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: &VectorN<N, U2>) -> VectorN<N, U2> {
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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<N, U2>) -> Point<N, U2> {
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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: &VectorN<N, U2>) -> VectorN<N, U2> {
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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<N, U2>) -> Point<N, U2> {
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self.inverse_transform_point(p)
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}
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}
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