From 98cf1a8d17dfa319105b70ef20af2433d00b6953 Mon Sep 17 00:00:00 2001
From: sebcrozet <developer@crozet.re>
Date: Thu, 20 Sep 2018 22:12:26 +0200
Subject: [PATCH] Implement more gtx functions.

---
 nalgebra-glm/src/gtx_rotate_vector.rs |  30 +++---
 nalgebra-glm/src/gtx_transform2.rs    | 136 ++++++++++++++++++++++++--
 nalgebra-glm/src/gtx_transform2d.rs   |  45 ++++++++-
 nalgebra-glm/src/gtx_vector_angle.rs  |  21 +++-
 4 files changed, 203 insertions(+), 29 deletions(-)

diff --git a/nalgebra-glm/src/gtx_rotate_vector.rs b/nalgebra-glm/src/gtx_rotate_vector.rs
index 2202ba00..666190f7 100644
--- a/nalgebra-glm/src/gtx_rotate_vector.rs
+++ b/nalgebra-glm/src/gtx_rotate_vector.rs
@@ -1,43 +1,49 @@
-use na::{Real, U2, U3, U4};
+use na::{Real, U2, U3, U4, Rotation3, Vector3, Unit, UnitComplex};
 
-pub fn orientation<N: Real>(Normal: &Vec<N, U3>, Up: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    unimplemented!()
+use aliases::{Vec, Mat};
+
+pub fn orientation<N: Real>(normal: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    if let Some(r) = Rotation3::rotation_between(normal, up) {
+        r.to_homogeneous()
+    } else {
+        Mat::<N, U4, U4>::identity()
+    }
 }
 
 pub fn rotate2<N: Real>(v: &Vec<N, U2>, angle: N) -> Vec<N, U2> {
-    unimplemented!()
+    UnitComplex::new(angle) * v
 }
 
 pub fn rotate<N: Real>(v: &Vec<N, U3>, angle: N, normal: &Vec<N, U3>) -> Vec<N, U3> {
-    unimplemented!()
+    Rotation3::from_axis_angle(&Unit::new_normalize(*normal), angle) * v
 }
 
 pub fn rotate4<N: Real>(v: &Vec<N, U4>, angle: N, normal: &Vec<N, U3>) -> Vec<N, U4> {
-    unimplemented!()
+    Rotation3::from_axis_angle(&Unit::new_normalize(*normal), angle).to_homogeneous() * v
 }
 
 pub fn rotateX<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
-    unimplemented!()
+    Rotation3::from_axis_angle(&Vector3::x_axis(), angle) * v
 }
 
 pub fn rotateX4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
-    unimplemented!()
+    Rotation3::from_axis_angle(&Vector3::x_axis(), angle).to_homogeneous() * v
 }
 
 pub fn rotateY<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
-    unimplemented!()
+    Rotation3::from_axis_angle(&Vector3::y_axis(), angle) * v
 }
 
 pub fn rotateY4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
-    unimplemented!()
+    Rotation3::from_axis_angle(&Vector3::y_axis(), angle).to_homogeneous() * v
 }
 
 pub fn rotateZ<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
-    unimplemented!()
+    Rotation3::from_axis_angle(&Vector3::z_axis(), angle) * v
 }
 
 pub fn rotateZ4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
-    unimplemented!()
+    Rotation3::from_axis_angle(&Vector3::z_axis(), angle).to_homogeneous() * v
 }
 
 pub fn slerp<N: Real>(x: &Vec<N, U3>, y: &Vec<N, U3>, a: N) -> Vec<N, U3> {
diff --git a/nalgebra-glm/src/gtx_transform2.rs b/nalgebra-glm/src/gtx_transform2.rs
index 0b1789a3..3d3477cd 100644
--- a/nalgebra-glm/src/gtx_transform2.rs
+++ b/nalgebra-glm/src/gtx_transform2.rs
@@ -1,9 +1,127 @@
-pub fn mat< 3, 3, T, Q > 	proj2D (mat< 3, 3, T, Q > const &m, vec< 3, T, Q > const &normal)
-pub fn mat< 4, 4, T, Q > 	proj3D (mat< 4, 4, T, Q > const &m, vec< 3, T, Q > const &normal)
-pub fn mat< 4, 4, T, Q > 	scaleBias (T scale, T bias)
-pub fn mat< 4, 4, T, Q > 	scaleBias (mat< 4, 4, T, Q > const &m, T scale, T bias)
-pub fn mat< 3, 3, T, Q > 	shearX2D (mat< 3, 3, T, Q > const &m, T y)
-pub fn mat< 4, 4, T, Q > 	shearX3D (mat< 4, 4, T, Q > const &m, T y, T z)
-pub fn mat< 3, 3, T, Q > 	shearY2D (mat< 3, 3, T, Q > const &m, T x)
-pub fn mat< 4, 4, T, Q > 	shearY3D (mat< 4, 4, T, Q > const &m, T x, T z)
-pub fn mat< 4, 4, T, Q > 	shearZ3D (mat< 4, 4, T, Q > const &m, T x, T y)
\ No newline at end of file
+use na::{self, U2, U3, U4, Matrix3, Matrix4};
+
+use traits::Number;
+use aliases::{Mat, Vec};
+
+pub fn proj2D<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3, U3> {
+    let mut res = Matrix3::identity();
+
+    {
+        let mut part = res.fixed_slice_mut::<U2, U2>(0, 0);
+        part -= normal * normal.transpose();
+    }
+
+    res
+}
+
+pub fn proj3D<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    let mut res = Matrix4::identity();
+
+    {
+        let mut part = res.fixed_slice_mut::<U3, U3>(0, 0);
+        part -= normal * normal.transpose();
+    }
+
+    res
+}
+
+pub fn reflect2D<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3, U3> {
+    let mut res = Matrix3::identity();
+
+    {
+        let mut part = res.fixed_slice_mut::<U2, U2>(0, 0);
+        part -= (normal * N::from_f64(2.0).unwrap()) * normal.transpose();
+    }
+
+    res
+}
+
+pub fn reflect3D<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    let mut res = Matrix4::identity();
+
+    {
+        let mut part = res.fixed_slice_mut::<U3, U3>(0, 0);
+        part -= (normal * N::from_f64(2.0).unwrap()) * normal.transpose();
+    }
+
+    res
+}
+
+pub fn scaleBias<N: Number>(scale: N, bias: N) -> Mat<N, U4, U4> {
+    let _0 = N::zero();
+    let _1 = N::one();
+
+    Matrix4::new(
+        scale, _0, _0, bias,
+        _0, scale, _0, bias,
+        _0, _0, scale, bias,
+        _0, _0, _0, _1,
+    )
+}
+
+pub fn scaleBias2<N: Number>(m: &Mat<N, U4, U4>, scale: N, bias: N) -> Mat<N, U4, U4> {
+    m * scaleBias(scale, bias)
+}
+
+pub fn shearX2D<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
+    let _0 = N::zero();
+    let _1 = N::one();
+
+    let shear = Matrix3::new(
+        _1,  y, _0,
+        _0, _1, _0,
+        _0, _0, _1
+    );
+    m * shear
+}
+
+pub fn shearX3D<N: Number>(m: &Mat<N, U4, U4>, y: N, z: N) -> Mat<N, U4, U4> {
+    let _0 = N::zero();
+    let _1 = N::one();
+    let shear = Matrix4::new(
+        _1, _0, _0, _0,
+         y, _1, _0, _0,
+         z, _0, _1, _0,
+        _0, _0, _0, _1,
+    );
+
+    m * shear
+}
+
+pub fn shearY2D<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
+    let _0 = N::zero();
+    let _1 = N::one();
+
+    let shear = Matrix3::new(
+        _1, _0, _0,
+        x, _1, _0,
+        _0, _0, _1
+    );
+    m * shear
+}
+
+pub fn shearY3D<N: Number>(m: &Mat<N, U4, U4>, x: N, z: N) -> Mat<N, U4, U4> {
+    let _0 = N::zero();
+    let _1 = N::one();
+    let shear = Matrix4::new(
+        _1,  x, _0, _0,
+        _0, _1, _0, _0,
+        _0,  z, _1, _0,
+        _0, _0, _0, _1,
+    );
+
+    m * shear
+}
+
+pub fn shearZ3D<N: Number>(m: &Mat<N, U4, U4>, x: N, y: N) -> Mat<N, U4, U4> {
+    let _0 = N::zero();
+    let _1 = N::one();
+    let shear = Matrix4::new(
+        _1, _0,  x, _0,
+        _0, _1,  y, _0,
+        _0, _0, _1, _0,
+        _0, _0, _0, _1,
+    );
+
+    m * shear
+}
diff --git a/nalgebra-glm/src/gtx_transform2d.rs b/nalgebra-glm/src/gtx_transform2d.rs
index 4330564a..b04a8275 100644
--- a/nalgebra-glm/src/gtx_transform2d.rs
+++ b/nalgebra-glm/src/gtx_transform2d.rs
@@ -1,5 +1,40 @@
-pub fn mat< 3, 3, T, Q > 	rotate (mat< 3, 3, T, Q > const &m, T angle)
-pub fn mat< 3, 3, T, Q > 	scale (mat< 3, 3, T, Q > const &m, vec< 2, T, Q > const &v)
-pub fn mat< 3, 3, T, Q > 	shearX (mat< 3, 3, T, Q > const &m, T y)
-pub fn mat< 3, 3, T, Q > 	shearY (mat< 3, 3, T, Q > const &m, T x)
-pub fn mat< 3, 3, T, Q > 	translate (mat< 3, 3, T, Q > const &m, vec< 2, T, Q > const &v)
\ No newline at end of file
+use na::{Real, U2, U3, UnitComplex, Matrix3};
+
+use traits::Number;
+use aliases::{Mat, Vec};
+
+pub fn rotate<N: Real>(m: &Mat<N, U3, U3>, angle: N) -> Mat<N, U3, U3> {
+    m * UnitComplex::new(angle).to_homogeneous()
+}
+
+pub fn scale<N: Number>(m: &Mat<N, U3, U3>, v: &Vec<N, U2>) -> Mat<N, U3, U3> {
+    m.prepend_nonuniform_scaling(v)
+}
+
+pub fn shearX<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
+    let _0 = N::zero();
+    let _1 = N::one();
+
+    let shear = Matrix3::new(
+        _1,  y, _0,
+        _0, _1, _0,
+        _0, _0, _1
+    );
+    m * shear
+}
+
+pub fn shearY<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
+    let _0 = N::zero();
+    let _1 = N::one();
+
+    let shear = Matrix3::new(
+        _1, _0, _0,
+         x, _1, _0,
+        _0, _0, _1
+    );
+    m * shear
+}
+
+pub fn translate<N: Number>(m: &Mat<N, U3, U3>, v: &Vec<N, U2>) -> Mat<N, U3, U3> {
+    m.prepend_translation(v)
+}
diff --git a/nalgebra-glm/src/gtx_vector_angle.rs b/nalgebra-glm/src/gtx_vector_angle.rs
index da0d5a44..74e7ca38 100644
--- a/nalgebra-glm/src/gtx_vector_angle.rs
+++ b/nalgebra-glm/src/gtx_vector_angle.rs
@@ -1,3 +1,18 @@
-pub fn T 	angle (vec< L, T, Q > const &x, vec< L, T, Q > const &y)
-pub fn T 	orientedAngle (vec< 2, T, Q > const &x, vec< 2, T, Q > const &y)
-pub fn T 	orientedAngle (vec< 3, T, Q > const &x, vec< 3, T, Q > const &y, vec< 3, T, Q > const &ref)
\ No newline at end of file
+use na::{self, DefaultAllocator, Real, U2, U3};
+
+use traits::{Dimension, Alloc};
+use aliases::Vec;
+
+
+pub fn angle<N: Real, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
+    where DefaultAllocator: Alloc<N, D> {
+    x.angle(y)
+}
+
+pub fn oriented_angle<N: Real>(x: &Vec<N, U2>, y: &Vec<N, U2>) -> N {
+    unimplemented!()
+}
+
+pub fn oriented_angle_ref<N: Real>(x: &Vec<N, U3>, y: &Vec<N, U3>, refv: &Vec<N, U3>) -> N {
+    unimplemented!()
+}