nalgebra/src/geometry/similarity_alga.rs

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use alga::general::{AbstractMagma, AbstractGroup, AbstractLoop, AbstractMonoid, AbstractQuasigroup,
AbstractSemigroup, Real, Inverse, Multiplicative, Identity};
use alga::linear::{Transformation, AffineTransformation, Rotation, ProjectiveTransformation};
use alga::linear::Similarity as AlgaSimilarity;
use core::{DefaultAllocator, VectorN};
use core::dimension::DimName;
use core::allocator::Allocator;
use geometry::{Similarity, Translation, Point};
/*
*
* Algebraic structures.
*
*/
impl<N: Real, D: DimName, R> Identity<Multiplicative> for Similarity<N, D, R>
where R: Rotation<Point<N, D>>,
DefaultAllocator: Allocator<N, D> {
#[inline]
fn identity() -> Self {
Self::identity()
}
}
impl<N: Real, D: DimName, R> Inverse<Multiplicative> for Similarity<N, D, R>
where R: Rotation<Point<N, D>>,
DefaultAllocator: Allocator<N, D> {
#[inline]
fn inverse(&self) -> Self {
self.inverse()
}
#[inline]
fn inverse_mut(&mut self) {
self.inverse_mut()
}
}
impl<N: Real, D: DimName, R> AbstractMagma<Multiplicative> for Similarity<N, D, R>
where R: Rotation<Point<N, D>>,
DefaultAllocator: Allocator<N, D> {
#[inline]
fn operate(&self, rhs: &Self) -> Self {
self * rhs
}
}
macro_rules! impl_multiplicative_structures(
($($marker: ident<$operator: ident>),* $(,)*) => {$(
impl<N: Real, D: DimName, R> $marker<$operator> for Similarity<N, D, R>
where R: Rotation<Point<N, D>>,
DefaultAllocator: Allocator<N, D> { }
)*}
);
impl_multiplicative_structures!(
AbstractSemigroup<Multiplicative>,
AbstractMonoid<Multiplicative>,
AbstractQuasigroup<Multiplicative>,
AbstractLoop<Multiplicative>,
AbstractGroup<Multiplicative>
);
/*
*
* Transformation groups.
*
*/
impl<N: Real, D: DimName, R> Transformation<Point<N, D>> for Similarity<N, D, R>
where R: Rotation<Point<N, D>>,
DefaultAllocator: Allocator<N, D> {
#[inline]
fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
self * pt
}
#[inline]
fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
self * v
}
}
impl<N: Real, D: DimName, R> ProjectiveTransformation<Point<N, D>> for Similarity<N, D, R>
where R: Rotation<Point<N, D>>,
DefaultAllocator: Allocator<N, D> {
#[inline]
fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
self.isometry.inverse_transform_point(pt) / self.scaling()
}
#[inline]
fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
self.isometry.inverse_transform_vector(v) / self.scaling()
}
}
impl<N: Real, D: DimName, R> AffineTransformation<Point<N, D>> for Similarity<N, D, R>
where R: Rotation<Point<N, D>>,
DefaultAllocator: Allocator<N, D> {
type NonUniformScaling = N;
type Rotation = R;
type Translation = Translation<N, D>;
#[inline]
fn decompose(&self) -> (Translation<N, D>, R, N, R) {
(self.isometry.translation.clone(), self.isometry.rotation.clone(), self.scaling(), R::identity())
}
#[inline]
fn append_translation(&self, t: &Self::Translation) -> Self {
t * self
}
#[inline]
fn prepend_translation(&self, t: &Self::Translation) -> Self {
self * t
}
#[inline]
fn append_rotation(&self, r: &Self::Rotation) -> Self {
Similarity::from_isometry(self.isometry.append_rotation(r), self.scaling())
}
#[inline]
fn prepend_rotation(&self, r: &Self::Rotation) -> Self {
self * r
}
#[inline]
fn append_scaling(&self, s: &Self::NonUniformScaling) -> Self {
self.append_scaling(*s)
}
#[inline]
fn prepend_scaling(&self, s: &Self::NonUniformScaling) -> Self {
self.prepend_scaling(*s)
}
#[inline]
fn append_rotation_wrt_point(&self, r: &Self::Rotation, p: &Point<N, D>) -> Option<Self> {
let mut res = self.clone();
res.append_rotation_wrt_point_mut(r, p);
Some(res)
}
}
impl<N: Real, D: DimName, R> AlgaSimilarity<Point<N, D>> for Similarity<N, D, R>
where R: Rotation<Point<N, D>>,
DefaultAllocator: Allocator<N, D> {
type Scaling = N;
#[inline]
fn translation(&self) -> Translation<N, D> {
self.isometry.translation()
}
#[inline]
fn rotation(&self) -> R {
self.isometry.rotation()
}
#[inline]
fn scaling(&self) -> N {
self.scaling()
}
}