2013-10-06 22:54:09 +08:00
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#[macro_escape];
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macro_rules! iso_impl(
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($t: ident, $submat: ident, $subvec: ident) => (
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impl<N> $t<N> {
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/// Creates a new isometry from a rotation matrix and a vector.
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#[inline]
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pub fn new(translation: $subvec<N>, rotation: $submat<N>) -> $t<N> {
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$t {
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rotation: rotation,
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translation: translation
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}
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}
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}
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)
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)
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macro_rules! rotation_matrix_impl(
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($t: ident, $trot: ident, $tlv: ident, $tav: ident) => (
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2013-10-10 04:59:44 +08:00
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impl<N: Cast<f32> + Algebraic + Trigonometric + Num + Clone>
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2013-10-06 22:54:09 +08:00
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RotationMatrix<$tlv<N>, $tav<N>, $trot<N>> for $t<N> {
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#[inline]
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fn to_rot_mat(&self) -> $trot<N> {
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self.rotation.clone()
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}
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}
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)
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)
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macro_rules! dim_impl(
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($t: ident, $dim: expr) => (
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impl<N> Dim for $t<N> {
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#[inline]
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fn dim(_: Option<$t<N>>) -> uint {
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$dim
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}
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}
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)
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)
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macro_rules! one_impl(
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($t: ident) => (
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impl<N: One + Zero + Clone> One for $t<N> {
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#[inline]
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fn one() -> $t<N> {
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$t::new(Zero::zero(), One::one())
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}
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}
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)
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)
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macro_rules! iso_mul_iso_impl(
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($t: ident, $tmul: ident) => (
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impl<N: Num + Clone> $tmul<N, $t<N>> for $t<N> {
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#[inline]
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fn binop(left: &$t<N>, right: &$t<N>) -> $t<N> {
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$t::new(left.translation + left.rotation * right.translation, left.rotation * right.rotation)
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}
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}
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)
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)
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macro_rules! iso_mul_vec_impl(
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($t: ident, $tv: ident, $tmul: ident) => (
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impl<N: Num + Clone> $tmul<N, $tv<N>> for $tv<N> {
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#[inline]
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fn binop(left: &$t<N>, right: &$tv<N>) -> $tv<N> {
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left.translation + left.rotation * *right
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}
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}
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)
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)
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macro_rules! vec_mul_iso_impl(
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($t: ident, $tv: ident, $tmul: ident) => (
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impl<N: Clone + Num> $tmul<N, $tv<N>> for $t<N> {
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#[inline]
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fn binop(left: &$tv<N>, right: &$t<N>) -> $tv<N> {
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(left + right.translation) * right.rotation
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}
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}
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)
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)
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macro_rules! translation_impl(
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($t: ident, $tv: ident) => (
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impl<N: Neg<N> + Add<N, N> + Clone> Translation<$tv<N>> for $t<N> {
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#[inline]
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fn translation(&self) -> $tv<N> {
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self.translation.clone()
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}
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#[inline]
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fn inv_translation(&self) -> $tv<N> {
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-self.translation
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}
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#[inline]
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fn translate_by(&mut self, t: &$tv<N>) {
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self.translation = self.translation + *t
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}
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#[inline]
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fn translated(&self, t: &$tv<N>) -> $t<N> {
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$t::new(self.translation + *t, self.rotation.clone())
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}
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#[inline]
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fn set_translation(&mut self, t: $tv<N>) {
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self.translation = t
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}
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}
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)
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)
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macro_rules! translate_impl(
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($t: ident, $tv: ident) => (
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impl<N: Clone + Add<N, N> + Sub<N, N>> Translate<$tv<N>> for $t<N> {
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#[inline]
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fn translate(&self, v: &$tv<N>) -> $tv<N> {
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v + self.translation
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}
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#[inline]
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fn inv_translate(&self, v: &$tv<N>) -> $tv<N> {
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v - self.translation
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}
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}
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)
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)
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macro_rules! rotation_impl(
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($t: ident, $trot: ident, $tav: ident) => (
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2013-10-10 04:59:44 +08:00
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impl<N: Cast<f32> + Num + Trigonometric + Algebraic + Clone> Rotation<$tav<N>> for $t<N> {
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2013-10-06 22:54:09 +08:00
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#[inline]
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fn rotation(&self) -> $tav<N> {
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self.rotation.rotation()
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}
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#[inline]
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fn inv_rotation(&self) -> $tav<N> {
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self.rotation.inv_rotation()
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}
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#[inline]
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fn rotate_by(&mut self, rot: &$tav<N>) {
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// FIXME: this does not seem opitmal
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let mut delta: $trot<N> = One::one();
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delta.rotate_by(rot);
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self.rotation.rotate_by(rot);
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self.translation = delta * self.translation;
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}
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#[inline]
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fn rotated(&self, rot: &$tav<N>) -> $t<N> {
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// FIXME: this does not seem opitmal
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let _1: $trot<N> = One::one();
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let delta = _1.rotated(rot);
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$t::new(delta * self.translation, self.rotation.rotated(rot))
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}
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#[inline]
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fn set_rotation(&mut self, rot: $tav<N>) {
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// FIXME: should the translation be changed too?
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self.rotation.set_rotation(rot)
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}
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}
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)
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)
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macro_rules! rotate_impl(
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($t: ident, $tv: ident) => (
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impl<N: Num + Clone> Rotate<$tv<N>> for $t<N> {
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#[inline]
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fn rotate(&self, v: &$tv<N>) -> $tv<N> {
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self.rotation.rotate(v)
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}
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#[inline]
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fn inv_rotate(&self, v: &$tv<N>) -> $tv<N> {
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self.rotation.inv_rotate(v)
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}
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}
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)
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)
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macro_rules! transformation_impl(
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($t: ident) => (
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impl<N: Num + Clone> Transformation<$t<N>> for $t<N> {
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fn transformation(&self) -> $t<N> {
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self.clone()
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}
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fn inv_transformation(&self) -> $t<N> {
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// inversion will never fails
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self.inverted().unwrap()
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}
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fn transform_by(&mut self, other: &$t<N>) {
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*self = other * *self
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}
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fn transformed(&self, t: &$t<N>) -> $t<N> {
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t * *self
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}
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fn set_transformation(&mut self, t: $t<N>) {
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*self = t
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}
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}
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)
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)
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macro_rules! transform_impl(
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($t: ident, $tv: ident) => (
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impl<N: Num + Clone> Transform<$tv<N>> for $t<N> {
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#[inline]
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fn transform(&self, v: &$tv<N>) -> $tv<N> {
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self.rotation.transform(v) + self.translation
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}
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#[inline]
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fn inv_transform(&self, v: &$tv<N>) -> $tv<N> {
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self.rotation.inv_transform(&(v - self.translation))
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}
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}
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)
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)
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macro_rules! inv_impl(
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($t: ident) => (
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impl<N: Clone + Num> Inv for $t<N> {
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#[inline]
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fn invert(&mut self) -> bool {
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self.rotation.invert();
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self.translation = self.rotation * -self.translation;
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// always succeed
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true
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}
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#[inline]
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fn inverted(&self) -> Option<$t<N>> {
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let mut res = self.clone();
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res.invert();
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// always succeed
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Some(res)
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}
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}
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)
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)
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macro_rules! to_homogeneous_impl(
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($t: ident, $th: ident) => (
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impl<N: One + Zero + Clone> ToHomogeneous<$th<N>> for $t<N> {
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fn to_homogeneous(&self) -> $th<N> {
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let mut res = self.rotation.to_homogeneous();
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// copy the translation
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let dim = Dim::dim(None::<$th<N>>);
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res.set_col(dim - 1, self.translation.to_homogeneous());
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res
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}
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}
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)
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)
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macro_rules! approx_eq_impl(
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($t: ident) => (
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impl<N: ApproxEq<N>> ApproxEq<N> for $t<N> {
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#[inline]
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fn approx_epsilon() -> N {
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fail!("approx_epsilon is broken since rust revision 8693943676487c01fa09f5f3daf0df6a1f71e24d.")
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// ApproxEq::<N>::approx_epsilon()
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}
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#[inline]
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fn approx_eq(&self, other: &$t<N>) -> bool {
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self.rotation.approx_eq(&other.rotation) &&
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self.translation.approx_eq(&other.translation)
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}
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#[inline]
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fn approx_eq_eps(&self, other: &$t<N>, epsilon: &N) -> bool {
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self.rotation.approx_eq_eps(&other.rotation, epsilon) &&
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self.translation.approx_eq_eps(&other.translation, epsilon)
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}
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}
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)
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)
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macro_rules! rand_impl(
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($t: ident) => (
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impl<N: Rand + Clone + Trigonometric + Algebraic + Num> Rand for $t<N> {
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#[inline]
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fn rand<R: Rng>(rng: &mut R) -> $t<N> {
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$t::new(rng.gen(), rng.gen())
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}
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}
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)
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)
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macro_rules! absolute_rotate_impl(
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($t: ident, $tv: ident) => (
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impl<N: Signed> AbsoluteRotate<$tv<N>> for $t<N> {
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#[inline]
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fn absolute_rotate(&self, v: &$tv<N>) -> $tv<N> {
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self.rotation.absolute_rotate(v)
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}
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}
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)
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)
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