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Add multiplications between Iso, Rot, and Sim.

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This commit is contained in:
Sébastien Crozet 2016-03-28 17:05:44 +02:00
parent 5b7af11555
commit 91e14670ed
3 changed files with 75 additions and 64 deletions
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17
src/structs/iso_macros.rs
View File

@ -111,13 +111,8 @@ macro_rules! iso_mul_pnt_impl(
}
}
impl<N: BaseNum> Mul<$t<N>> for $tv<N> {
type Output = $tv<N>;
#[inline]
fn mul(self, right: $t<N>) -> $tv<N> {
(self + right.translation) * right.rotation
}
}
// NOTE: there is no viable pre-multiplication definition because of the translation
// component.
)
);
@ -131,14 +126,6 @@ macro_rules! iso_mul_vec_impl(
self.rotation * right
}
}
impl<N: BaseNum> Mul<$t<N>> for $tv<N> {
type Output = $tv<N>;
#[inline]
fn mul(self, right: $t<N>) -> $tv<N> {
self * right.rotation
}
}
)
);

16
src/structs/sim_macros.rs
View File

@ -189,17 +189,13 @@ macro_rules! sim_mul_pnt_vec_impl(
#[inline]
fn mul(self, right: $tv<N>) -> $tv<N> {
(self.isometry * right) * self.scale
self.isometry * (right * self.scale)
}
}
impl<N: BaseNum> Mul<$t<N>> for $tv<N> {
type Output = $tv<N>;
#[inline]
fn mul(self, right: $t<N>) -> $tv<N> {
(self * right.scale) * right.isometry
}
}
// NOTE: there is no viable pre-multiplication definition because of the translation
// component.
)
);
@ -208,12 +204,12 @@ macro_rules! sim_transform_impl(
impl<N: BaseNum> Transform<$tp<N>> for $t<N> {
#[inline]
fn transform(&self, p: &$tp<N>) -> $tp<N> {
self.isometry.transform(p) * self.scale
self.isometry.transform(&(*p * self.scale))
}
#[inline]
fn inv_transform(&self, p: &$tp<N>) -> $tp<N> {
self.isometry.inv_transform(&(*p / self.scale))
self.isometry.inv_transform(p) / self.scale
}
}
)

106
tests/transforms.rs
View File

@ -2,21 +2,8 @@ extern crate nalgebra as na;
extern crate rand;
use rand::random;
use na::{Pnt2, Pnt3, Vec3, Vec1, Rot2, Rot3, Persp3, PerspMat3, Ortho3, OrthoMat3, Iso2, Iso3,
Sim2, Sim3, BaseFloat, Transform};
macro_rules! test_transform_inv_transform_impl(
($t: ty, $p: ty) => (
for _ in 0usize .. 10000 {
let randmat: $t = random();
let expected: $p = random();
let computed = randmat.inv_transform(&randmat.transform(&expected));
assert!(na::approx_eq(&computed, &expected));
}
);
);
use na::{Pnt2, Pnt3, Vec2, Vec3, Vec1, Rot2, Rot3, Persp3, PerspMat3, Ortho3, OrthoMat3, Iso2,
Iso3, Sim2, Sim3, BaseFloat, Transform};
#[test]
fn test_rotation2() {
@ -211,32 +198,73 @@ fn test_ortho() {
assert!(na::approx_eq(&pm.zfar(), &61.0));
}
#[test]
fn test_transform_inv_transform_rot2() {
test_transform_inv_transform_impl!(Rot2<f32>, Pnt2<f32>);
}
macro_rules! test_transform_inv_transform_impl(
($fnname: ident, $t: ty, $p: ty) => (
#[test]
fn $fnname() {
for _ in 0usize .. 10000 {
let randmat: $t = random();
let expected: $p = random();
let computed = randmat.inv_transform(&randmat.transform(&expected));
println!("computed: {}, expected: {}", computed, expected);
assert!(na::approx_eq(&computed, &expected));
}
}
);
);
#[test]
fn test_transform_inv_transform_rot3() {
test_transform_inv_transform_impl!(Rot3<f32>, Pnt3<f32>);
}
test_transform_inv_transform_impl!(test_transform_inv_transform_rot2, Rot2<f64>, Pnt2<f64>);
test_transform_inv_transform_impl!(test_transform_inv_transform_rot3, Rot3<f64>, Pnt3<f64>);
test_transform_inv_transform_impl!(test_transform_inv_transform_iso2, Iso2<f64>, Pnt2<f64>);
test_transform_inv_transform_impl!(test_transform_inv_transform_iso3, Iso3<f64>, Pnt3<f64>);
test_transform_inv_transform_impl!(test_transform_inv_transform_sim2, Sim2<f64>, Pnt2<f64>);
test_transform_inv_transform_impl!(test_transform_inv_transform_sim3, Sim3<f64>, Pnt3<f64>);
#[test]
fn test_transform_inv_transform_iso2() {
test_transform_inv_transform_impl!(Iso2<f32>, Pnt2<f32>);
}
macro_rules! test_transform_mul_assoc(
($fnname: ident, $t1: ty, $t2: ty, $p: ty) => (
#[test]
fn $fnname() {
for _ in 0usize .. 10000 {
let t1: $t1 = random();
let t2: $t2 = random();
let p: $p = random();
#[test]
fn test_transform_inv_transform_iso3() {
test_transform_inv_transform_impl!(Iso3<f32>, Pnt3<f32>);
}
let t1p = t1 * p;
let t2p = t2 * p;
let t1t2 = t1 * t2;
let t2t1 = t2 * t1;
assert!(na::approx_eq(&(t1t2 * p), &(t1 * t2p)));
assert!(na::approx_eq(&(t2t1 * p), &(t2 * t1p)));
}
}
);
);
#[test]
fn test_transform_inv_transform_sim2() {
test_transform_inv_transform_impl!(Sim2<f32>, Pnt2<f32>);
}
test_transform_mul_assoc!(test_transform_inv_transform_sim3_sim3_pnt3, Sim3<f64>, Sim3<f64>, Pnt3<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_sim3_iso3_pnt3, Sim3<f64>, Iso3<f64>, Pnt3<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_sim3_rot3_pnt3, Sim3<f64>, Rot3<f64>, Pnt3<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_iso3_iso3_pnt3, Iso3<f64>, Iso3<f64>, Pnt3<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_iso3_rot3_pnt3, Iso3<f64>, Rot3<f64>, Pnt3<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_rot3_rot3_pnt3, Rot3<f64>, Rot3<f64>, Pnt3<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_sim3_sim3_vec3, Sim3<f64>, Sim3<f64>, Vec3<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_sim3_iso3_vec3, Sim3<f64>, Iso3<f64>, Vec3<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_sim3_rot3_vec3, Sim3<f64>, Rot3<f64>, Vec3<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_iso3_iso3_vec3, Iso3<f64>, Iso3<f64>, Vec3<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_iso3_rot3_vec3, Iso3<f64>, Rot3<f64>, Vec3<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_rot3_rot3_vec3, Rot3<f64>, Rot3<f64>, Vec3<f64>);
#[test]
fn test_transform_inv_transform_sim3() {
test_transform_inv_transform_impl!(Sim3<f32>, Pnt3<f32>);
}
test_transform_mul_assoc!(test_transform_inv_transform_sim2_sim2_pnt2, Sim2<f64>, Sim2<f64>, Pnt2<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_sim2_iso2_pnt2, Sim2<f64>, Iso2<f64>, Pnt2<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_sim2_rot2_pnt2, Sim2<f64>, Rot2<f64>, Pnt2<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_iso2_iso2_pnt2, Iso2<f64>, Iso2<f64>, Pnt2<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_iso2_rot2_pnt2, Iso2<f64>, Rot2<f64>, Pnt2<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_rot2_rot2_pnt2, Rot2<f64>, Rot2<f64>, Pnt2<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_sim2_sim2_vec2, Sim2<f64>, Sim2<f64>, Vec2<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_sim2_iso2_vec2, Sim2<f64>, Iso2<f64>, Vec2<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_sim2_rot2_vec2, Sim2<f64>, Rot2<f64>, Vec2<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_iso2_iso2_vec2, Iso2<f64>, Iso2<f64>, Vec2<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_iso2_rot2_vec2, Iso2<f64>, Rot2<f64>, Vec2<f64>);
test_transform_mul_assoc!(test_transform_inv_transform_rot2_rot2_vec2, Rot2<f64>, Rot2<f64>, Vec2<f64>);