forked from M-Labs/nalgebra
650 lines
29 KiB
Rust
650 lines
29 KiB
Rust
use num::{One, Zero};
|
||
use std::ops::{Div, DivAssign, Index, IndexMut, Mul, MulAssign};
|
||
|
||
use simba::scalar::{ClosedAdd, ClosedMul, RealField, SubsetOf};
|
||
|
||
use crate::base::allocator::Allocator;
|
||
use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
|
||
use crate::base::{Const, DefaultAllocator, OMatrix, SVector, Scalar};
|
||
|
||
use crate::geometry::{
|
||
Isometry, Point, Rotation, Similarity, SubTCategoryOf, SuperTCategoryOf, TAffine, TCategory,
|
||
TCategoryMul, TGeneral, TProjective, Transform, Translation, UnitQuaternion,
|
||
};
|
||
|
||
/*
|
||
*
|
||
* In the following, we provide:
|
||
* =========================
|
||
*
|
||
* Index<(usize, usize)>
|
||
* IndexMut<(usize, usize)> (where TCategory == TGeneral)
|
||
*
|
||
* (Operators)
|
||
*
|
||
* Transform × Isometry
|
||
* Transform × Rotation
|
||
* Transform × Similarity
|
||
* Transform × Transform
|
||
* Transform × UnitQuaternion
|
||
* TODO: Transform × UnitComplex
|
||
* Transform × Translation
|
||
* Transform × Vector
|
||
* Transform × Point
|
||
*
|
||
* Isometry × Transform
|
||
* Rotation × Transform
|
||
* Similarity × Transform
|
||
* Translation × Transform
|
||
* UnitQuaternion × Transform
|
||
* TODO: UnitComplex × Transform
|
||
*
|
||
* TODO: Transform ÷ Isometry
|
||
* Transform ÷ Rotation
|
||
* TODO: Transform ÷ Similarity
|
||
* Transform ÷ Transform
|
||
* Transform ÷ UnitQuaternion
|
||
* Transform ÷ Translation
|
||
*
|
||
* TODO: Isometry ÷ Transform
|
||
* Rotation ÷ Transform
|
||
* TODO: Similarity ÷ Transform
|
||
* Translation ÷ Transform
|
||
* UnitQuaternion ÷ Transform
|
||
* TODO: UnitComplex ÷ Transform
|
||
*
|
||
*
|
||
* (Assignment Operators)
|
||
*
|
||
*
|
||
* Transform ×= Transform
|
||
* Transform ×= Similarity
|
||
* Transform ×= Isometry
|
||
* Transform ×= Rotation
|
||
* Transform ×= UnitQuaternion
|
||
* TODO: Transform ×= UnitComplex
|
||
* Transform ×= Translation
|
||
*
|
||
* Transform ÷= Transform
|
||
* TODO: Transform ÷= Similarity
|
||
* TODO: Transform ÷= Isometry
|
||
* Transform ÷= Rotation
|
||
* Transform ÷= UnitQuaternion
|
||
* TODO: Transform ÷= UnitComplex
|
||
*
|
||
*/
|
||
|
||
/*
|
||
*
|
||
* Indexing.
|
||
*
|
||
*/
|
||
impl<T: RealField, C: TCategory, const D: usize> Index<(usize, usize)> for Transform<T, C, D>
|
||
where
|
||
Const<D>: DimNameAdd<U1>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
|
||
{
|
||
type Output = T;
|
||
|
||
#[inline]
|
||
fn index(&self, ij: (usize, usize)) -> &T {
|
||
self.matrix().index(ij)
|
||
}
|
||
}
|
||
|
||
// Only general transformations are mutably indexable.
|
||
impl<T: RealField, const D: usize> IndexMut<(usize, usize)> for Transform<T, TGeneral, D>
|
||
where
|
||
Const<D>: DimNameAdd<U1>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
|
||
{
|
||
#[inline]
|
||
fn index_mut(&mut self, ij: (usize, usize)) -> &mut T {
|
||
self.matrix_mut().index_mut(ij)
|
||
}
|
||
}
|
||
|
||
// Transform × Vector
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategory,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: SVector<T, D>, Output = SVector<T, D>;
|
||
[val val] => &self * &rhs;
|
||
[ref val] => self * &rhs;
|
||
[val ref] => &self * rhs;
|
||
[ref ref] => {
|
||
let transform = self.matrix().fixed_slice::<D, D>(0, 0);
|
||
|
||
if C::has_normalizer() {
|
||
let normalizer = self.matrix().fixed_slice::<1, D>(D, 0);
|
||
let n = normalizer.tr_dot(&rhs);
|
||
|
||
if !n.is_zero() {
|
||
return transform * (rhs / n);
|
||
}
|
||
}
|
||
|
||
transform * rhs
|
||
};
|
||
);
|
||
|
||
// Transform × Point
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategory,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Point<T, D>, Output = Point<T, D>;
|
||
[val val] => &self * &rhs;
|
||
[ref val] => self * &rhs;
|
||
[val ref] => &self * rhs;
|
||
[ref ref] => {
|
||
let transform = self.matrix().fixed_slice::<D, D>(0, 0);
|
||
let translation = self.matrix().fixed_slice::<D, 1>(0, D);
|
||
|
||
if C::has_normalizer() {
|
||
let normalizer = self.matrix().fixed_slice::<1, D>(D, 0);
|
||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||
let n = normalizer.tr_dot(&rhs.coords) + unsafe { *self.matrix().get_unchecked((D, D)) };
|
||
|
||
if !n.is_zero() {
|
||
return (transform * rhs + translation) / n;
|
||
}
|
||
}
|
||
|
||
transform * rhs + translation
|
||
};
|
||
);
|
||
|
||
// Transform × Transform
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
const D;
|
||
for CA, CB;
|
||
where Const<D>: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: TCategory,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, CA, D>, rhs: Transform<T, CB, D>, Output = Transform<T, CA::Representative, D>;
|
||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.into_inner());
|
||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.into_inner());
|
||
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.matrix());
|
||
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.matrix());
|
||
);
|
||
|
||
// Transform × Rotation
|
||
md_impl_all!(
|
||
Mul, mul
|
||
where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Rotation<T, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
);
|
||
|
||
// Rotation × Transform
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(Const<D>, Const<D>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Rotation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
[val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
[ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
);
|
||
|
||
// Transform × UnitQuaternion
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(U4, U4), (U4, U1)
|
||
const;
|
||
for C;
|
||
where C: TCategoryMul<TAffine>;
|
||
self: Transform<T, C, 3>, rhs: UnitQuaternion<T>, Output = Transform<T, C::Representative, 3>;
|
||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
);
|
||
|
||
// UnitQuaternion × Transform
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(U4, U1), (U4, U4)
|
||
const;
|
||
for C;
|
||
where C: TCategoryMul<TAffine>;
|
||
self: UnitQuaternion<T>, rhs: Transform<T, C, 3>, Output = Transform<T, C::Representative, 3>;
|
||
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
[val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
[ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
);
|
||
|
||
// Transform × Isometry
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
const D;
|
||
for C, R;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Isometry<T, R, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
);
|
||
|
||
// Isometry × Transform
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
const D;
|
||
for C, R;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Isometry<T, R, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
[val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
[ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
);
|
||
|
||
// Transform × Similarity
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
const D;
|
||
for C, R;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Similarity<T, R, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
);
|
||
|
||
// Similarity × Transform
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
const D;
|
||
for C, R;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Similarity<T, R, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
[val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
[ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
);
|
||
|
||
/*
|
||
*
|
||
* TODO: don't explicitly build the homogeneous translation matrix.
|
||
* Directly apply the translation, just as in `Matrix::{append,prepend}_translation`. This has not
|
||
* been done yet because of the `DimNameDiff` requirement (which is not automatically deduced from
|
||
* `DimNameAdd` requirement).
|
||
*
|
||
*/
|
||
// Transform × Translation
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Translation<T, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
);
|
||
|
||
// Translation × Transform
|
||
md_impl_all!(
|
||
Mul, mul where T: RealField;
|
||
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Translation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
[val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
[ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
);
|
||
|
||
// Transform ÷ Transform
|
||
md_impl_all!(
|
||
Div, div where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
const D;
|
||
for CA, CB;
|
||
where Const<D>: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: SubTCategoryOf<TProjective>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, CA, D>, rhs: Transform<T, CB, D>, Output = Transform<T, CA::Representative, D>;
|
||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.clone().inverse() };
|
||
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.clone().inverse() };
|
||
);
|
||
|
||
// Transform ÷ Rotation
|
||
md_impl_all!(
|
||
Div, div where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Rotation<T, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
);
|
||
|
||
// Rotation ÷ Transform
|
||
md_impl_all!(
|
||
Div, div where T: RealField;
|
||
(Const<D>, Const<D>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Rotation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
);
|
||
|
||
// Transform ÷ UnitQuaternion
|
||
md_impl_all!(
|
||
Div, div where T: RealField;
|
||
(U4, U4), (U4, U1)
|
||
const;
|
||
for C;
|
||
where C: TCategoryMul<TAffine>;
|
||
self: Transform<T, C, 3>, rhs: UnitQuaternion<T>, Output = Transform<T, C::Representative, 3>;
|
||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
);
|
||
|
||
// UnitQuaternion ÷ Transform
|
||
md_impl_all!(
|
||
Div, div where T: RealField;
|
||
(U4, U1), (U4, U4)
|
||
const;
|
||
for C;
|
||
where C: TCategoryMul<TAffine>;
|
||
self: UnitQuaternion<T>, rhs: Transform<T, C, 3>, Output = Transform<T, C::Representative, 3>;
|
||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
);
|
||
|
||
// // Transform ÷ Isometry
|
||
// md_impl_all!(
|
||
// Div, div where T: RealField;
|
||
// (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
// for Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >
|
||
// where SB::Alloc: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1> >;
|
||
// self: Transform<T, C, D>, rhs: Isometry<T, R, D>, Output = Transform<T, C::Representative, D>;
|
||
// [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.inverse().to_homogeneous());
|
||
// [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.inverse().to_homogeneous());
|
||
// [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.inverse().to_homogeneous());
|
||
// [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.inverse().to_homogeneous());
|
||
// );
|
||
|
||
// // Isometry ÷ Transform
|
||
// md_impl_all!(
|
||
// Div, div where T: RealField;
|
||
// (Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
// for Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >
|
||
// where SA::Alloc: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1> >;
|
||
// self: Isometry<T, R, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
|
||
// [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
// [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
// [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
// [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
// );
|
||
|
||
// // Transform ÷ Similarity
|
||
// md_impl_all!(
|
||
// Div, div where T: RealField;
|
||
// (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
// for Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >
|
||
// where SB::Alloc: Allocator<T, D, D >
|
||
// where SB::Alloc: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1> >;
|
||
// self: Transform<T, C, D>, rhs: Similarity<T, R, D>, Output = Transform<T, C::Representative, D>;
|
||
// [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
// [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
// [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||
// [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||
// );
|
||
|
||
// // Similarity ÷ Transform
|
||
// md_impl_all!(
|
||
// Div, div where T: RealField;
|
||
// (Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
// for Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >
|
||
// where SA::Alloc: Allocator<T, D, D >
|
||
// where SA::Alloc: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1> >;
|
||
// self: Similarity<T, R, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
|
||
// [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
// [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||
// [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
// [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
|
||
// );
|
||
|
||
// Transform ÷ Translation
|
||
md_impl_all!(
|
||
Div, div where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Translation<T, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||
);
|
||
|
||
// Translation ÷ Transform
|
||
md_impl_all!(
|
||
Div, div where T: RealField;
|
||
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Translation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
|
||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||
);
|
||
|
||
// Transform ×= Transform
|
||
md_assign_impl_all!(
|
||
MulAssign, mul_assign where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
const D;
|
||
for CA, CB;
|
||
where Const<D>: DimNameAdd<U1>, CA: TCategory, CB: SubTCategoryOf<CA>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, CA, D>, rhs: Transform<T, CB, D>;
|
||
[val] => *self.matrix_mut_unchecked() *= rhs.into_inner();
|
||
[ref] => *self.matrix_mut_unchecked() *= rhs.matrix();
|
||
);
|
||
|
||
// Transform ×= Similarity
|
||
md_assign_impl_all!(
|
||
MulAssign, mul_assign where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
const D;
|
||
for C, R;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Similarity<T, R, D>;
|
||
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||
);
|
||
|
||
// Transform ×= Isometry
|
||
md_assign_impl_all!(
|
||
MulAssign, mul_assign where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
const D;
|
||
for C, R;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Isometry<T, R, D>;
|
||
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||
);
|
||
|
||
/*
|
||
*
|
||
* TODO: don't explicitly build the homogeneous translation matrix.
|
||
* Directly apply the translation, just as in `Matrix::{append,prepend}_translation`. This has not
|
||
* been done yet because of the `DimNameDiff` requirement (which is not automatically deduced from
|
||
* `DimNameAdd` requirement).
|
||
*
|
||
*/
|
||
// Transform ×= Translation
|
||
md_assign_impl_all!(
|
||
MulAssign, mul_assign where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategory,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Translation<T, D>;
|
||
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||
);
|
||
|
||
// Transform ×= Rotation
|
||
md_assign_impl_all!(
|
||
MulAssign, mul_assign where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategory,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Rotation<T, D>;
|
||
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||
);
|
||
|
||
// Transform ×= UnitQuaternion
|
||
md_assign_impl_all!(
|
||
MulAssign, mul_assign where T: RealField;
|
||
(U4, U4), (U4, U1)
|
||
const;
|
||
for C;
|
||
where C: TCategory;
|
||
self: Transform<T, C, 3>, rhs: UnitQuaternion<T>;
|
||
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||
);
|
||
|
||
// Transform ÷= Transform
|
||
md_assign_impl_all!(
|
||
DivAssign, div_assign where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||
const D;
|
||
for CA, CB;
|
||
where Const<D>: DimNameAdd<U1>, CA: SuperTCategoryOf<CB>, CB: SubTCategoryOf<TProjective>,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, CA, D>, rhs: Transform<T, CB, D>;
|
||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.clone().inverse() };
|
||
);
|
||
|
||
// // Transform ÷= Similarity
|
||
// md_assign_impl_all!(
|
||
// DivAssign, div_assign;
|
||
// (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
// for Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >;
|
||
// self: Transform<T, C, D>, rhs: Similarity<T, R, D>;
|
||
// [val] => *self *= rhs.inverse();
|
||
// [ref] => *self *= rhs.inverse();
|
||
// );
|
||
//
|
||
//
|
||
// // Transform ÷= Isometry
|
||
// md_assign_impl_all!(
|
||
// DivAssign, div_assign;
|
||
// (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
// for Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >;
|
||
// self: Transform<T, C, D>, rhs: Isometry<T, R, D>;
|
||
// [val] => *self *= rhs.inverse();
|
||
// [ref] => *self *= rhs.inverse();
|
||
// );
|
||
|
||
// Transform ÷= Translation
|
||
md_assign_impl_all!(
|
||
DivAssign, div_assign where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategory,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Translation<T, D>;
|
||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||
);
|
||
|
||
// Transform ÷= Rotation
|
||
md_assign_impl_all!(
|
||
DivAssign, div_assign where T: RealField;
|
||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
|
||
const D;
|
||
for C;
|
||
where Const<D>: DimNameAdd<U1>, C: TCategory,
|
||
DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
|
||
self: Transform<T, C, D>, rhs: Rotation<T, D>;
|
||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||
);
|
||
|
||
// Transform ÷= UnitQuaternion
|
||
md_assign_impl_all!(
|
||
DivAssign, div_assign where T: RealField;
|
||
(U4, U4), (U4, U1)
|
||
const;
|
||
for C;
|
||
where C: TCategory;
|
||
self: Transform<T, C, 3>, rhs: UnitQuaternion<T>;
|
||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||
);
|