forked from M-Labs/nalgebra
436 lines
15 KiB
Rust
436 lines
15 KiB
Rust
use std::ops::{Mul, MulAssign, Div, DivAssign};
|
||
|
||
use alga::general::Real;
|
||
use alga::linear::Rotation;
|
||
|
||
use core::ColumnVector;
|
||
use core::dimension::{DimName, U1, U3, U4};
|
||
use core::storage::OwnedStorage;
|
||
use core::allocator::OwnedAllocator;
|
||
|
||
use geometry::{PointBase, RotationBase, IsometryBase, TranslationBase, UnitQuaternionBase};
|
||
|
||
// FIXME: there are several cloning of rotations that we could probably get rid of (but we didn't
|
||
// yet because that would require to add a bound like `where for<'a, 'b> &'a R: Mul<&'b R, Output = R>`
|
||
// which is quite ugly.
|
||
|
||
/*
|
||
*
|
||
* In this file, we provide:
|
||
* =========================
|
||
*
|
||
*
|
||
* (Operators)
|
||
*
|
||
* IsometryBase × IsometryBase
|
||
* IsometryBase × R
|
||
*
|
||
*
|
||
* IsometryBase ÷ IsometryBase
|
||
* IsometryBase ÷ R
|
||
*
|
||
* IsometryBase × PointBase
|
||
* IsometryBase × ColumnVector
|
||
*
|
||
*
|
||
* IsometryBase × TranslationBase
|
||
* TranslationBase × IsometryBase
|
||
* TranslationBase × R -> IsometryBase<R>
|
||
*
|
||
* NOTE: The following are provided explicitly because we can't have R × IsometryBase.
|
||
* RotationBase × IsometryBase<RotationBase>
|
||
* UnitQuaternion × IsometryBase<UnitQuaternion>
|
||
*
|
||
* RotationBase ÷ IsometryBase<RotationBase>
|
||
* UnitQuaternion ÷ IsometryBase<UnitQuaternion>
|
||
*
|
||
* RotationBase × TranslationBase -> IsometryBase<RotationBase>
|
||
* UnitQuaternion × TranslationBase -> IsometryBase<UnitQuaternion>
|
||
*
|
||
*
|
||
* (Assignment Operators)
|
||
*
|
||
* IsometryBase ×= TranslationBase
|
||
*
|
||
* IsometryBase ×= IsometryBase
|
||
* IsometryBase ×= R
|
||
*
|
||
* IsometryBase ÷= IsometryBase
|
||
* IsometryBase ÷= R
|
||
*
|
||
*/
|
||
|
||
|
||
macro_rules! isometry_binop_impl(
|
||
($Op: ident, $op: ident;
|
||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
|
||
$action: expr; $($lives: tt),*) => {
|
||
impl<$($lives ,)* N, D: DimName, S, R> $Op<$Rhs> for $Lhs
|
||
where N: Real,
|
||
S: OwnedStorage<N, D, U1>,
|
||
R: Rotation<PointBase<N, D, S>>,
|
||
S::Alloc: OwnedAllocator<N, D, U1, S> {
|
||
type Output = $Output;
|
||
|
||
#[inline]
|
||
fn $op($lhs, $rhs: $Rhs) -> Self::Output {
|
||
$action
|
||
}
|
||
}
|
||
}
|
||
);
|
||
|
||
macro_rules! isometry_binop_impl_all(
|
||
($Op: ident, $op: ident;
|
||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
|
||
[val val] => $action_val_val: expr;
|
||
[ref val] => $action_ref_val: expr;
|
||
[val ref] => $action_val_ref: expr;
|
||
[ref ref] => $action_ref_ref: expr;) => {
|
||
isometry_binop_impl!(
|
||
$Op, $op;
|
||
$lhs: $Lhs, $rhs: $Rhs, Output = $Output;
|
||
$action_val_val; );
|
||
|
||
isometry_binop_impl!(
|
||
$Op, $op;
|
||
$lhs: &'a $Lhs, $rhs: $Rhs, Output = $Output;
|
||
$action_ref_val; 'a);
|
||
|
||
isometry_binop_impl!(
|
||
$Op, $op;
|
||
$lhs: $Lhs, $rhs: &'b $Rhs, Output = $Output;
|
||
$action_val_ref; 'b);
|
||
|
||
isometry_binop_impl!(
|
||
$Op, $op;
|
||
$lhs: &'a $Lhs, $rhs: &'b $Rhs, Output = $Output;
|
||
$action_ref_ref; 'a, 'b);
|
||
}
|
||
);
|
||
|
||
macro_rules! isometry_binop_assign_impl_all(
|
||
($OpAssign: ident, $op_assign: ident;
|
||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty;
|
||
[val] => $action_val: expr;
|
||
[ref] => $action_ref: expr;) => {
|
||
impl<N, D: DimName, S, R> $OpAssign<$Rhs> for $Lhs
|
||
where N: Real,
|
||
S: OwnedStorage<N, D, U1>,
|
||
R: Rotation<PointBase<N, D, S>>,
|
||
S::Alloc: OwnedAllocator<N, D, U1, S> {
|
||
#[inline]
|
||
fn $op_assign(&mut $lhs, $rhs: $Rhs) {
|
||
$action_val
|
||
}
|
||
}
|
||
|
||
impl<'b, N, D: DimName, S, R> $OpAssign<&'b $Rhs> for $Lhs
|
||
where N: Real,
|
||
S: OwnedStorage<N, D, U1>,
|
||
R: Rotation<PointBase<N, D, S>>,
|
||
S::Alloc: OwnedAllocator<N, D, U1, S> {
|
||
#[inline]
|
||
fn $op_assign(&mut $lhs, $rhs: &'b $Rhs) {
|
||
$action_ref
|
||
}
|
||
}
|
||
}
|
||
);
|
||
|
||
// IsometryBase × IsometryBase
|
||
// IsometryBase ÷ IsometryBase
|
||
isometry_binop_impl_all!(
|
||
Mul, mul;
|
||
self: IsometryBase<N, D, S, R>, rhs: IsometryBase<N, D, S, R>, Output = IsometryBase<N, D, S, R>;
|
||
[val val] => &self * &rhs;
|
||
[ref val] => self * &rhs;
|
||
[val ref] => &self * rhs;
|
||
[ref ref] => {
|
||
let shift = self.rotation.transform_vector(&rhs.translation.vector);
|
||
|
||
IsometryBase::from_parts(TranslationBase::from_vector(&self.translation.vector + shift),
|
||
self.rotation.clone() * rhs.rotation.clone()) // FIXME: too bad we have to clone.
|
||
};
|
||
);
|
||
|
||
|
||
isometry_binop_impl_all!(
|
||
Div, div;
|
||
self: IsometryBase<N, D, S, R>, rhs: IsometryBase<N, D, S, R>, Output = IsometryBase<N, D, S, R>;
|
||
[val val] => self * rhs.inverse();
|
||
[ref val] => self * rhs.inverse();
|
||
[val ref] => self * rhs.inverse();
|
||
[ref ref] => self * rhs.inverse();
|
||
);
|
||
|
||
|
||
// IsometryBase ×= TranslationBase
|
||
isometry_binop_assign_impl_all!(
|
||
MulAssign, mul_assign;
|
||
self: IsometryBase<N, D, S, R>, rhs: TranslationBase<N, D, S>;
|
||
[val] => *self *= &rhs;
|
||
[ref] => {
|
||
let shift = self.rotation.transform_vector(&rhs.vector);
|
||
self.translation.vector += shift;
|
||
};
|
||
);
|
||
|
||
// IsometryBase ×= IsometryBase
|
||
// IsometryBase ÷= IsometryBase
|
||
isometry_binop_assign_impl_all!(
|
||
MulAssign, mul_assign;
|
||
self: IsometryBase<N, D, S, R>, rhs: IsometryBase<N, D, S, R>;
|
||
[val] => *self *= &rhs;
|
||
[ref] => {
|
||
let shift = self.rotation.transform_vector(&rhs.translation.vector);
|
||
self.translation.vector += shift;
|
||
self.rotation *= rhs.rotation.clone();
|
||
};
|
||
);
|
||
|
||
isometry_binop_assign_impl_all!(
|
||
DivAssign, div_assign;
|
||
self: IsometryBase<N, D, S, R>, rhs: IsometryBase<N, D, S, R>;
|
||
[val] => *self /= &rhs;
|
||
[ref] => *self *= rhs.inverse();
|
||
);
|
||
|
||
// IsometryBase ×= R
|
||
// IsometryBase ÷= R
|
||
isometry_binop_assign_impl_all!(
|
||
MulAssign, mul_assign;
|
||
self: IsometryBase<N, D, S, R>, rhs: R;
|
||
[val] => self.rotation *= rhs;
|
||
[ref] => self.rotation *= rhs.clone();
|
||
);
|
||
|
||
isometry_binop_assign_impl_all!(
|
||
DivAssign, div_assign;
|
||
self: IsometryBase<N, D, S, R>, rhs: R;
|
||
// FIXME: don't invert explicitly?
|
||
[val] => *self *= rhs.inverse();
|
||
[ref] => *self *= rhs.inverse();
|
||
);
|
||
|
||
|
||
// IsometryBase × R
|
||
// IsometryBase ÷ R
|
||
isometry_binop_impl_all!(
|
||
Mul, mul;
|
||
self: IsometryBase<N, D, S, R>, rhs: R, Output = IsometryBase<N, D, S, R>;
|
||
[val val] => IsometryBase::from_parts(self.translation, self.rotation * rhs);
|
||
[ref val] => IsometryBase::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // FIXME: do not clone.
|
||
[val ref] => IsometryBase::from_parts(self.translation, self.rotation * rhs.clone());
|
||
[ref ref] => IsometryBase::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
|
||
);
|
||
|
||
|
||
isometry_binop_impl_all!(
|
||
Div, div;
|
||
self: IsometryBase<N, D, S, R>, rhs: R, Output = IsometryBase<N, D, S, R>;
|
||
[val val] => IsometryBase::from_parts(self.translation, self.rotation / rhs);
|
||
[ref val] => IsometryBase::from_parts(self.translation.clone(), self.rotation.clone() / rhs);
|
||
[val ref] => IsometryBase::from_parts(self.translation, self.rotation / rhs.clone());
|
||
[ref ref] => IsometryBase::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
|
||
);
|
||
|
||
|
||
// IsometryBase × PointBase
|
||
isometry_binop_impl_all!(
|
||
Mul, mul;
|
||
self: IsometryBase<N, D, S, R>, right: PointBase<N, D, S>, Output = PointBase<N, D, S>;
|
||
[val val] => self.translation * self.rotation.transform_point(&right);
|
||
[ref val] => &self.translation * self.rotation.transform_point(&right);
|
||
[val ref] => self.translation * self.rotation.transform_point(right);
|
||
[ref ref] => &self.translation * self.rotation.transform_point(right);
|
||
);
|
||
|
||
|
||
// IsometryBase × Vector
|
||
isometry_binop_impl_all!(
|
||
Mul, mul;
|
||
self: IsometryBase<N, D, S, R>, right: ColumnVector<N, D, S>, Output = ColumnVector<N, D, S>;
|
||
[val val] => self.rotation.transform_vector(&right);
|
||
[ref val] => self.rotation.transform_vector(&right);
|
||
[val ref] => self.rotation.transform_vector(right);
|
||
[ref ref] => self.rotation.transform_vector(right);
|
||
);
|
||
|
||
|
||
// IsometryBase × TranslationBase
|
||
isometry_binop_impl_all!(
|
||
Mul, mul;
|
||
self: IsometryBase<N, D, S, R>, right: TranslationBase<N, D, S>, Output = IsometryBase<N, D, S, R>;
|
||
[val val] => &self * &right;
|
||
[ref val] => self * &right;
|
||
[val ref] => &self * right;
|
||
[ref ref] => {
|
||
let new_tr = &self.translation.vector + self.rotation.transform_vector(&right.vector);
|
||
IsometryBase::from_parts(TranslationBase::from_vector(new_tr), self.rotation.clone())
|
||
};
|
||
);
|
||
|
||
// TranslationBase × IsometryBase
|
||
isometry_binop_impl_all!(
|
||
Mul, mul;
|
||
self: TranslationBase<N, D, S>, right: IsometryBase<N, D, S, R>, Output = IsometryBase<N, D, S, R>;
|
||
[val val] => IsometryBase::from_parts(self * right.translation, right.rotation);
|
||
[ref val] => IsometryBase::from_parts(self * &right.translation, right.rotation);
|
||
[val ref] => IsometryBase::from_parts(self * &right.translation, right.rotation.clone());
|
||
[ref ref] => IsometryBase::from_parts(self * &right.translation, right.rotation.clone());
|
||
);
|
||
|
||
|
||
// TranslationBase × R
|
||
isometry_binop_impl_all!(
|
||
Mul, mul;
|
||
self: TranslationBase<N, D, S>, right: R, Output = IsometryBase<N, D, S, R>;
|
||
[val val] => IsometryBase::from_parts(self, right);
|
||
[ref val] => IsometryBase::from_parts(self.clone(), right);
|
||
[val ref] => IsometryBase::from_parts(self, right.clone());
|
||
[ref ref] => IsometryBase::from_parts(self.clone(), right.clone());
|
||
);
|
||
|
||
|
||
|
||
|
||
macro_rules! isometry_from_composition_impl(
|
||
($Op: ident, $op: ident;
|
||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(for $Dims: ident: $DimsBound: ident),*;
|
||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
|
||
$action: expr; $($lives: tt),*) => {
|
||
impl<$($lives ,)* N $(, $Dims: $DimsBound)*, SA, SB> $Op<$Rhs> for $Lhs
|
||
where N: Real,
|
||
SA: OwnedStorage<N, $R1, $C1>,
|
||
SB: OwnedStorage<N, $R2, $C2, Alloc = SA::Alloc>,
|
||
SA::Alloc: OwnedAllocator<N, $R1, $C1, SA>,
|
||
SB::Alloc: OwnedAllocator<N, $R2, $C2, SB> {
|
||
type Output = $Output;
|
||
|
||
#[inline]
|
||
fn $op($lhs, $rhs: $Rhs) -> Self::Output {
|
||
$action
|
||
}
|
||
}
|
||
}
|
||
);
|
||
|
||
macro_rules! isometry_from_composition_impl_all(
|
||
($Op: ident, $op: ident;
|
||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(for $Dims: ident: $DimsBound: ident),*;
|
||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
|
||
[val val] => $action_val_val: expr;
|
||
[ref val] => $action_ref_val: expr;
|
||
[val ref] => $action_val_ref: expr;
|
||
[ref ref] => $action_ref_ref: expr;) => {
|
||
|
||
isometry_from_composition_impl!(
|
||
$Op, $op;
|
||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||
$lhs: $Lhs, $rhs: $Rhs, Output = $Output;
|
||
$action_val_val; );
|
||
|
||
isometry_from_composition_impl!(
|
||
$Op, $op;
|
||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||
$lhs: &'a $Lhs, $rhs: $Rhs, Output = $Output;
|
||
$action_ref_val; 'a);
|
||
|
||
isometry_from_composition_impl!(
|
||
$Op, $op;
|
||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||
$lhs: $Lhs, $rhs: &'b $Rhs, Output = $Output;
|
||
$action_val_ref; 'b);
|
||
|
||
isometry_from_composition_impl!(
|
||
$Op, $op;
|
||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||
$lhs: &'a $Lhs, $rhs: &'b $Rhs, Output = $Output;
|
||
$action_ref_ref; 'a, 'b);
|
||
}
|
||
);
|
||
|
||
|
||
// RotationBase × TranslationBase
|
||
isometry_from_composition_impl_all!(
|
||
Mul, mul;
|
||
(D, D), (D, U1) for D: DimName;
|
||
self: RotationBase<N, D, SA>, right: TranslationBase<N, D, SB>, Output = IsometryBase<N, D, SB, RotationBase<N, D, SA>>;
|
||
[val val] => IsometryBase::from_parts(TranslationBase::from_vector(&self * right.vector), self);
|
||
[ref val] => IsometryBase::from_parts(TranslationBase::from_vector(self * right.vector), self.clone());
|
||
[val ref] => IsometryBase::from_parts(TranslationBase::from_vector(&self * &right.vector), self);
|
||
[ref ref] => IsometryBase::from_parts(TranslationBase::from_vector(self * &right.vector), self.clone());
|
||
);
|
||
|
||
|
||
// UnitQuaternionBase × TranslationBase
|
||
isometry_from_composition_impl_all!(
|
||
Mul, mul;
|
||
(U4, U1), (U3, U1);
|
||
self: UnitQuaternionBase<N, SA>, right: TranslationBase<N, U3, SB>,
|
||
Output = IsometryBase<N, U3, SB, UnitQuaternionBase<N, SA>>;
|
||
[val val] => IsometryBase::from_parts(TranslationBase::from_vector(&self * right.vector), self);
|
||
[ref val] => IsometryBase::from_parts(TranslationBase::from_vector( self * right.vector), self.clone());
|
||
[val ref] => IsometryBase::from_parts(TranslationBase::from_vector(&self * &right.vector), self);
|
||
[ref ref] => IsometryBase::from_parts(TranslationBase::from_vector( self * &right.vector), self.clone());
|
||
);
|
||
|
||
// RotationBase × IsometryBase
|
||
isometry_from_composition_impl_all!(
|
||
Mul, mul;
|
||
(D, D), (D, U1) for D: DimName;
|
||
self: RotationBase<N, D, SA>, right: IsometryBase<N, D, SB, RotationBase<N, D, SA>>,
|
||
Output = IsometryBase<N, D, SB, RotationBase<N, D, SA>>;
|
||
[val val] => &self * &right;
|
||
[ref val] => self * &right;
|
||
[val ref] => &self * right;
|
||
[ref ref] => {
|
||
let shift = self * &right.translation.vector;
|
||
IsometryBase::from_parts(TranslationBase::from_vector(shift), self * &right.rotation)
|
||
};
|
||
);
|
||
|
||
// RotationBase ÷ IsometryBase
|
||
isometry_from_composition_impl_all!(
|
||
Div, div;
|
||
(D, D), (D, U1) for D: DimName;
|
||
self: RotationBase<N, D, SA>, right: IsometryBase<N, D, SB, RotationBase<N, D, SA>>,
|
||
Output = IsometryBase<N, D, SB, RotationBase<N, D, SA>>;
|
||
// FIXME: don't call iverse explicitly?
|
||
[val val] => self * right.inverse();
|
||
[ref val] => self * right.inverse();
|
||
[val ref] => self * right.inverse();
|
||
[ref ref] => self * right.inverse();
|
||
);
|
||
|
||
|
||
// UnitQuaternion × IsometryBase
|
||
isometry_from_composition_impl_all!(
|
||
Mul, mul;
|
||
(U4, U1), (U3, U1);
|
||
self: UnitQuaternionBase<N, SA>, right: IsometryBase<N, U3, SB, UnitQuaternionBase<N, SA>>,
|
||
Output = IsometryBase<N, U3, SB, UnitQuaternionBase<N, SA>>;
|
||
[val val] => &self * &right;
|
||
[ref val] => self * &right;
|
||
[val ref] => &self * right;
|
||
[ref ref] => {
|
||
let shift = self * &right.translation.vector;
|
||
IsometryBase::from_parts(TranslationBase::from_vector(shift), self * &right.rotation)
|
||
};
|
||
);
|
||
|
||
|
||
// UnitQuaternion ÷ IsometryBase
|
||
isometry_from_composition_impl_all!(
|
||
Div, div;
|
||
(U4, U1), (U3, U1);
|
||
self: UnitQuaternionBase<N, SA>, right: IsometryBase<N, U3, SB, UnitQuaternionBase<N, SA>>,
|
||
Output = IsometryBase<N, U3, SB, UnitQuaternionBase<N, SA>>;
|
||
// FIXME: don't call inverse explicitly?
|
||
[val val] => self * right.inverse();
|
||
[ref val] => self * right.inverse();
|
||
[val ref] => self * right.inverse();
|
||
[ref ref] => self * right.inverse();
|
||
);
|