forked from M-Labs/nalgebra
147 lines
5.0 KiB
Rust
147 lines
5.0 KiB
Rust
//! Isometric transformations.
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#[allow(missing_doc)];
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use std::num::{Zero, One};
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use std::rand::{Rand, Rng};
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use structs::mat::{Mat3, Mat4, Mat5};
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use traits::structure::{Cast, Dim, Col};
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use traits::operations::{Inv};
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use traits::geometry::{RotationMatrix, Rotation, Rotate, AbsoluteRotate, Transform, Transformation,
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Translate, Translation, ToHomogeneous};
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use structs::vec::{Vec1, Vec2, Vec3, Vec4, Vec2MulRhs, Vec3MulRhs, Vec4MulRhs};
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use structs::rot::{Rot2, Rot3, Rot4};
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mod metal;
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mod iso_macros;
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/// Two dimensional isometry.
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///
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/// This is the composition of a rotation followed by a translation.
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/// Isometries conserve angles and distances, hence do not allow shearing nor scaling.
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#[deriving(Eq, Encodable, Decodable, Clone, DeepClone, ToStr)]
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pub struct Iso2<N> {
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/// The rotation applicable by this isometry.
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rotation: Rot2<N>,
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/// The translation applicable by this isometry.
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translation: Vec2<N>
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}
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/// Three dimensional isometry.
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///
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/// This is the composition of a rotation followed by a translation.
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/// Isometries conserve angles and distances, hence do not allow shearing nor scaling.
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#[deriving(Eq, Encodable, Decodable, Clone, DeepClone, ToStr)]
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pub struct Iso3<N> {
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/// The rotation applicable by this isometry.
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rotation: Rot3<N>,
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/// The translation applicable by this isometry.
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translation: Vec3<N>
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}
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/// Four dimensional isometry.
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///
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/// Isometries conserve angles and distances, hence do not allow shearing nor scaling.
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#[deriving(Eq, Encodable, Decodable, Clone, DeepClone, ToStr)]
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pub struct Iso4<N> {
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/// The rotation applicable by this isometry.
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rotation: Rot4<N>,
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/// The translation applicable by this isometry.
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translation: Vec4<N>
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}
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impl<N: Clone + Num + Algebraic> Iso3<N> {
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/// Reorient and translate this transformation such that its local `x` axis points to a given
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/// direction. Note that the usually known `look_at` function does the same thing but with the
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/// `z` axis. See `look_at_z` for that.
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///
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/// # Arguments
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/// * eye - The new translation of the transformation.
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/// * at - The point to look at. `at - eye` is the direction the matrix `x` axis will be
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/// aligned with.
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/// * up - Vector pointing up. The only requirement of this parameter is to not be colinear
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/// with `at`. Non-colinearity is not checked.
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pub fn look_at(&mut self, eye: &Vec3<N>, at: &Vec3<N>, up: &Vec3<N>) {
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self.rotation.look_at(&(*at - *eye), up);
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self.translation = eye.clone();
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}
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/// Reorient and translate this transformation such that its local `z` axis points to a given
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/// direction.
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///
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/// # Arguments
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/// * eye - The new translation of the transformation.
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/// * at - The point to look at. `at - eye` is the direction the matrix `x` axis will be
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/// aligned with
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/// * up - Vector pointing `up`. The only requirement of this parameter is to not be colinear
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/// with `at`. Non-colinearity is not checked.
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pub fn look_at_z(&mut self, eye: &Vec3<N>, at: &Vec3<N>, up: &Vec3<N>) {
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self.rotation.look_at_z(&(*at - *eye), up);
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self.translation = eye.clone();
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}
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}
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iso_impl!(Iso2, Rot2, Vec2)
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double_dispatch_binop_decl_trait!(Iso2, Iso2MulRhs)
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mul_redispatch_impl!(Iso2, Iso2MulRhs)
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rotation_matrix_impl!(Iso2, Rot2, Vec2, Vec1)
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rotation_impl!(Iso2, Rot2, Vec1)
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dim_impl!(Iso2, 2)
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one_impl!(Iso2)
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absolute_rotate_impl!(Iso2, Vec2)
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rand_impl!(Iso2)
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approx_eq_impl!(Iso2)
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to_homogeneous_impl!(Iso2, Mat3)
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inv_impl!(Iso2)
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transform_impl!(Iso2, Vec2)
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transformation_impl!(Iso2)
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rotate_impl!(Iso2, Vec2)
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translation_impl!(Iso2, Vec2)
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translate_impl!(Iso2, Vec2)
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iso_mul_iso_impl!(Iso2, Iso2MulRhs)
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iso_mul_vec_impl!(Iso2, Vec2, Iso2MulRhs)
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vec_mul_iso_impl!(Iso2, Vec2, Vec2MulRhs)
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iso_impl!(Iso3, Rot3, Vec3)
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double_dispatch_binop_decl_trait!(Iso3, Iso3MulRhs)
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mul_redispatch_impl!(Iso3, Iso3MulRhs)
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rotation_matrix_impl!(Iso3, Rot3, Vec3, Vec3)
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rotation_impl!(Iso3, Rot3, Vec3)
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dim_impl!(Iso3, 3)
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one_impl!(Iso3)
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absolute_rotate_impl!(Iso3, Vec3)
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rand_impl!(Iso3)
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approx_eq_impl!(Iso3)
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to_homogeneous_impl!(Iso3, Mat4)
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inv_impl!(Iso3)
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transform_impl!(Iso3, Vec3)
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transformation_impl!(Iso3)
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rotate_impl!(Iso3, Vec3)
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translation_impl!(Iso3, Vec3)
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translate_impl!(Iso3, Vec3)
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iso_mul_iso_impl!(Iso3, Iso3MulRhs)
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iso_mul_vec_impl!(Iso3, Vec3, Iso3MulRhs)
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vec_mul_iso_impl!(Iso3, Vec3, Vec3MulRhs)
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iso_impl!(Iso4, Rot4, Vec4)
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double_dispatch_binop_decl_trait!(Iso4, Iso4MulRhs)
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mul_redispatch_impl!(Iso4, Iso4MulRhs)
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// rotation_matrix_impl!(Iso4, Rot4, Vec4, Vec4)
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// rotation_impl!(Iso4, Rot4, Vec4)
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dim_impl!(Iso4, 4)
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one_impl!(Iso4)
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// absolute_rotate_impl!(Iso4, Vec4)
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// rand_impl!(Iso4)
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approx_eq_impl!(Iso4)
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to_homogeneous_impl!(Iso4, Mat5)
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inv_impl!(Iso4)
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transform_impl!(Iso4, Vec4)
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transformation_impl!(Iso4)
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// rotate_impl!(Iso4, Vec4)
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translation_impl!(Iso4, Vec4)
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translate_impl!(Iso4, Vec4)
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iso_mul_iso_impl!(Iso4, Iso4MulRhs)
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iso_mul_vec_impl!(Iso4, Vec4, Iso4MulRhs)
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vec_mul_iso_impl!(Iso4, Vec4, Vec4MulRhs)
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