2012-11-01 14:06:12 +00:00
|
|
|
use cast::transmute;
|
2012-09-29 10:25:49 +00:00
|
|
|
use cmp::Eq;
|
2012-11-01 01:34:38 +00:00
|
|
|
use num::from_int;
|
2012-11-01 14:06:12 +00:00
|
|
|
use ptr::to_unsafe_ptr;
|
|
|
|
use vec::raw::buf_as_slice;
|
|
|
|
use std::cmp::FuzzyEq;
|
2012-11-01 01:34:38 +00:00
|
|
|
|
|
|
|
use math::*;
|
|
|
|
use num_util::*;
|
|
|
|
use quaternion::{Quat, ToQuat};
|
2012-10-29 14:11:27 +00:00
|
|
|
use vector::{Vec2, Vec3, Vec4};
|
2012-09-07 10:48:47 +00:00
|
|
|
|
|
|
|
//
|
|
|
|
// NxN Matrix
|
|
|
|
//
|
2012-09-29 08:41:48 +00:00
|
|
|
pub trait Matrix<T, V> {
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn rows() -> uint;
|
|
|
|
pure fn cols() -> uint;
|
|
|
|
pure fn is_col_major() -> bool;
|
|
|
|
|
2012-10-01 06:23:49 +00:00
|
|
|
pure fn col(i: uint) -> V;
|
2012-11-01 14:06:12 +00:00
|
|
|
pure fn row(i: uint) -> V;
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-10-30 04:35:02 +00:00
|
|
|
pure fn mul_t(value: T) -> self;
|
2012-10-01 06:23:49 +00:00
|
|
|
pure fn mul_v(other: &V) -> V;
|
|
|
|
pure fn add_m(other: &self) -> self;
|
|
|
|
pure fn sub_m(other: &self) -> self;
|
|
|
|
pure fn mul_m(other: &self) -> self;
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-10-01 06:23:49 +00:00
|
|
|
// pure fn invert(other: &self) -> self;
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn transpose() -> self;
|
|
|
|
|
|
|
|
pure fn is_identity() -> bool;
|
|
|
|
pure fn is_symmetric() -> bool;
|
|
|
|
pure fn is_diagonal() -> bool;
|
|
|
|
pure fn is_rotated() -> bool;
|
|
|
|
}
|
|
|
|
|
|
|
|
//
|
|
|
|
// 3x3 Matrix
|
|
|
|
//
|
2012-11-01 01:34:38 +00:00
|
|
|
pub trait Matrix3<T> {
|
|
|
|
pure fn scale(vec: &Vec3<T>) -> self;
|
|
|
|
pure fn to_Mat4() -> Mat4<T>;
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
//
|
|
|
|
// 4x4 Matrix
|
|
|
|
//
|
2012-11-01 01:34:38 +00:00
|
|
|
pub trait Matrix4<T> {
|
|
|
|
pure fn scale(vec: &Vec3<T>) -> self;
|
|
|
|
pure fn translate(vec: &Vec3<T>) -> self;
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
// Mat2: A 2x2, column major matrix
|
|
|
|
//
|
2012-11-01 14:06:12 +00:00
|
|
|
pub struct Mat2<T> { x: Vec2<T>, y: Vec2<T> }
|
2012-09-08 06:08:36 +00:00
|
|
|
|
2012-10-29 14:11:27 +00:00
|
|
|
pub mod Mat2 {
|
2012-11-01 07:41:42 +00:00
|
|
|
|
|
|
|
#[inline(always)]
|
2012-11-01 14:19:43 +00:00
|
|
|
pub pure fn new<T>(c0r0: T, c0r1: T,
|
|
|
|
c1r0: T, c1r1: T) -> Mat2<T> {
|
|
|
|
Mat2::from_cols(Vec2::new(move c0r0, move c0r1),
|
|
|
|
Vec2::new(move c1r0, move c1r1))
|
2012-11-01 07:41:42 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
#[inline(always)]
|
2012-11-01 14:19:43 +00:00
|
|
|
pub pure fn from_cols<T>(c0: Vec2<T>, c1: Vec2<T>) -> Mat2<T> {
|
|
|
|
Mat2 { x: move c0,
|
|
|
|
y: move c1 }
|
2012-11-01 07:41:42 +00:00
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 07:41:42 +00:00
|
|
|
pub pure fn zero<T:Copy Num>() -> Mat2<T> {
|
2012-11-01 14:06:12 +00:00
|
|
|
Mat2 { x: Vec2::zero(),
|
|
|
|
y: Vec2::zero() }
|
2012-11-01 01:34:38 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
#[inline(always)]
|
2012-11-01 07:41:42 +00:00
|
|
|
pub pure fn identity<T:Copy Num>() -> Mat2<T> {
|
2012-11-01 14:06:12 +00:00
|
|
|
Mat2 { x: Vec2::unit_x(),
|
|
|
|
y: Vec2::unit_y() }
|
2012-11-01 01:34:38 +00:00
|
|
|
}
|
2012-10-29 14:11:27 +00:00
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy Num Sqrt FuzzyEq> Mat2<T>: Matrix<T, Vec2<T>> {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn rows() -> uint { 2 }
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn cols() -> uint { 2 }
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_col_major() -> bool { true }
|
|
|
|
|
2012-11-01 14:06:12 +00:00
|
|
|
#[inline(always)]
|
|
|
|
pure fn col(i: uint) -> Vec2<T> { self[i] }
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn row(i: uint) -> Vec2<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Vec2::new(self[0][i],
|
|
|
|
self[1][i])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn mul_t(value: T) -> Mat2<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat2::from_cols(self[0].mul_t(value),
|
|
|
|
self[1].mul_t(value))
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn mul_v(other: &Vec2<T>) -> Vec2<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Vec2::new(self[0][0] * other[0] + self[1][0] * other[1],
|
|
|
|
self[0][1] * other[0] + self[1][1] * other[1])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn add_m(other: &Mat2<T>) -> Mat2<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat2::from_cols(self[0].add_v(&other[0]),
|
|
|
|
self[1].add_v(&other[1]))
|
2012-09-08 01:54:32 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn sub_m(other: &Mat2<T>) -> Mat2<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat2::from_cols(self[0].sub_v(&other[0]),
|
|
|
|
self[1].sub_v(&other[1]))
|
2012-09-08 01:54:32 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn mul_m(other: &Mat2<T>) -> Mat2<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Mat2::new(self[0][0] * other[0][0] + self[1][0] * other[0][1],
|
|
|
|
self[0][1] * other[0][0] + self[1][1] * other[0][1],
|
|
|
|
|
|
|
|
self[0][0] * other[1][0] + self[1][0] * other[1][1],
|
|
|
|
self[0][1] * other[1][0] + self[1][1] * other[1][1])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
// TODO - inversion is harrrd D:
|
2012-10-30 02:55:20 +00:00
|
|
|
// #[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
// pure fn invert(other: &Mat2<T>) -> Mat2<T> {}
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn transpose() -> Mat2<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Mat2::new(self[0][0], self[1][0],
|
|
|
|
self[0][1], self[1][1])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_identity() -> bool {
|
2012-11-01 01:34:38 +00:00
|
|
|
self.fuzzy_eq(&Mat2::identity())
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_symmetric() -> bool {
|
|
|
|
self[0][1].fuzzy_eq(&self[1][0]) &&
|
|
|
|
self[1][0].fuzzy_eq(&self[0][1])
|
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_diagonal() -> bool {
|
2012-11-01 01:34:38 +00:00
|
|
|
self[0][1].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[1][0].fuzzy_eq(&from_int(0))
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_rotated() -> bool {
|
2012-11-01 01:34:38 +00:00
|
|
|
!self.fuzzy_eq(&Mat2::identity())
|
2012-09-29 10:25:49 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy> Mat2<T>: Index<uint, Vec2<T>> {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn index(i: uint) -> Vec2<T> {
|
2012-11-01 14:06:12 +00:00
|
|
|
unsafe { do buf_as_slice(
|
|
|
|
transmute::<*Mat2<T>, *Vec2<T>>(
|
|
|
|
to_unsafe_ptr(&self)), 2) |slice| { slice[i] }
|
|
|
|
}
|
2012-09-29 10:37:46 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy Neg<T>> Mat2<T>: Neg<Mat2<T>> {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn neg() -> Mat2<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat2::from_cols(-self[0], -self[1])
|
2012-09-29 10:25:49 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
// TODO: make work for T:Integer
|
|
|
|
pub impl<T:Copy FuzzyEq> Mat2<T>: Eq {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn eq(other: &Mat2<T>) -> bool {
|
2012-09-29 10:25:49 +00:00
|
|
|
self.fuzzy_eq(other)
|
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn ne(other: &Mat2<T>) -> bool {
|
2012-09-29 10:25:49 +00:00
|
|
|
!(self == *other)
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
impl<T:Copy Eq> Mat2<T>: ExactEq {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn exact_eq(other: &Mat2<T>) -> bool {
|
2012-10-30 02:45:18 +00:00
|
|
|
self[0].exact_eq(&other[0]) &&
|
|
|
|
self[1].exact_eq(&other[1])
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy FuzzyEq> Mat2<T>: FuzzyEq {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn fuzzy_eq(other: &Mat2<T>) -> bool {
|
2012-09-29 10:25:49 +00:00
|
|
|
self[0].fuzzy_eq(&other[0]) &&
|
|
|
|
self[1].fuzzy_eq(&other[1])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
// Mat3: A 3x3, column major matrix
|
|
|
|
//
|
2012-11-01 14:06:12 +00:00
|
|
|
pub struct Mat3<T> { x: Vec3<T>, y: Vec3<T>, z: Vec3<T> }
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-10-29 14:11:27 +00:00
|
|
|
pub mod Mat3 {
|
2012-11-01 07:41:42 +00:00
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 14:19:43 +00:00
|
|
|
pub pure fn new<T>(c0r0:T, c0r1:T, c0r2:T,
|
|
|
|
c1r0:T, c1r1:T, c1r2:T,
|
|
|
|
c2r0:T, c2r1:T, c2r2:T) -> Mat3<T> {
|
|
|
|
Mat3::from_cols(Vec3::new(move c0r0, move c0r1, move c0r2),
|
|
|
|
Vec3::new(move c1r0, move c1r1, move c1r2),
|
|
|
|
Vec3::new(move c2r0, move c2r1, move c2r2))
|
2012-11-01 07:41:42 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
#[inline(always)]
|
2012-11-01 14:19:43 +00:00
|
|
|
pub pure fn from_cols<T>(c0: Vec3<T>, c1: Vec3<T>, c2: Vec3<T>) -> Mat3<T> {
|
|
|
|
Mat3 { x: move c0,
|
|
|
|
y: move c1,
|
|
|
|
z: move c2 }
|
2012-11-01 07:41:42 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
#[inline(always)]
|
|
|
|
pub pure fn zero<T:Num>() -> Mat3<T> {
|
2012-11-01 14:06:12 +00:00
|
|
|
Mat3 { x: Vec3::zero(),
|
|
|
|
y: Vec3::zero(),
|
|
|
|
z: Vec3::zero() }
|
2012-11-01 01:34:38 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
#[inline(always)]
|
2012-11-01 07:41:42 +00:00
|
|
|
pub pure fn identity<T:Num>() -> Mat3<T> {
|
2012-11-01 14:06:12 +00:00
|
|
|
Mat3 { x: Vec3::unit_x(),
|
|
|
|
y: Vec3::unit_y(),
|
|
|
|
z: Vec3::unit_z() }
|
2012-11-01 01:34:38 +00:00
|
|
|
}
|
2012-10-29 14:11:27 +00:00
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy Num Sqrt FuzzyEq> Mat3<T>: Matrix<T, Vec3<T>> {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn rows() -> uint { 3 }
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn cols() -> uint { 3 }
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_col_major() -> bool { true }
|
|
|
|
|
2012-11-01 14:06:12 +00:00
|
|
|
#[inline(always)]
|
|
|
|
pure fn col(i: uint) -> Vec3<T> { self[i] }
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn row(i: uint) -> Vec3<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Vec3::new(self[0][i],
|
|
|
|
self[1][i],
|
|
|
|
self[2][i])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn mul_t(value: T) -> Mat3<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat3::from_cols(self[0].mul_t(value),
|
|
|
|
self[1].mul_t(value),
|
|
|
|
self[2].mul_t(value))
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn mul_v(other: &Vec3<T>) -> Vec3<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Vec3::new(self[0][0] * other[0] + self[1][0] * other[1] + self[2][0] * other[2],
|
|
|
|
self[0][1] * other[0] + self[1][1] * other[1] + self[2][1] * other[2],
|
|
|
|
self[0][2] * other[0] + self[1][2] * other[1] + self[2][2] * other[2])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn add_m(other: &Mat3<T>) -> Mat3<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat3::from_cols(self[0].add_v(&other[0]),
|
|
|
|
self[1].add_v(&other[1]),
|
|
|
|
self[2].add_v(&other[2]))
|
2012-09-08 01:54:32 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn sub_m(other: &Mat3<T>) -> Mat3<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat3::from_cols(self[0].sub_v(&other[0]),
|
|
|
|
self[1].sub_v(&other[1]),
|
|
|
|
self[2].sub_v(&other[2]))
|
2012-09-08 01:54:32 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn mul_m(other: &Mat3<T>) -> Mat3<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Mat3::new(self[0][0] * other[0][0] + self[1][0] * other[0][1] + self[2][0] * other[0][2],
|
|
|
|
self[0][1] * other[0][0] + self[1][1] * other[0][1] + self[2][1] * other[0][2],
|
|
|
|
self[0][2] * other[0][0] + self[1][2] * other[0][1] + self[2][2] * other[0][2],
|
|
|
|
|
|
|
|
self[0][0] * other[1][0] + self[1][0] * other[1][1] + self[2][0] * other[1][2],
|
|
|
|
self[0][1] * other[1][0] + self[1][1] * other[1][1] + self[2][1] * other[1][2],
|
|
|
|
self[0][2] * other[1][0] + self[1][2] * other[1][1] + self[2][2] * other[1][2],
|
|
|
|
|
|
|
|
self[0][0] * other[2][0] + self[1][0] * other[2][1] + self[2][0] * other[2][2],
|
|
|
|
self[0][1] * other[2][0] + self[1][1] * other[2][1] + self[2][1] * other[2][2],
|
|
|
|
self[0][2] * other[2][0] + self[1][2] * other[2][1] + self[2][2] * other[2][2])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
// TODO - inversion is harrrd D:
|
2012-10-30 02:55:20 +00:00
|
|
|
// #[inline(always)]
|
2012-10-01 06:23:49 +00:00
|
|
|
// pure fn invert(other: &Mat3) -> Mat3 {}
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn transpose() -> Mat3<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Mat3::new(self[0][0], self[1][0], self[2][0],
|
|
|
|
self[0][1], self[1][1], self[2][1],
|
|
|
|
self[0][2], self[1][2], self[2][2])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_identity() -> bool {
|
2012-11-01 01:34:38 +00:00
|
|
|
self.fuzzy_eq(&Mat3::identity())
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_symmetric() -> bool {
|
|
|
|
self[0][1].fuzzy_eq(&self[1][0]) &&
|
|
|
|
self[0][2].fuzzy_eq(&self[2][0]) &&
|
|
|
|
|
|
|
|
self[1][0].fuzzy_eq(&self[0][1]) &&
|
|
|
|
self[1][2].fuzzy_eq(&self[2][1]) &&
|
|
|
|
|
|
|
|
self[2][0].fuzzy_eq(&self[0][2]) &&
|
|
|
|
self[2][1].fuzzy_eq(&self[1][2])
|
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_diagonal() -> bool {
|
2012-11-01 01:34:38 +00:00
|
|
|
self[0][1].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[0][2].fuzzy_eq(&from_int(0)) &&
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
self[1][0].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[1][2].fuzzy_eq(&from_int(0)) &&
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
self[2][0].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[2][1].fuzzy_eq(&from_int(0))
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_rotated() -> bool {
|
2012-11-01 01:34:38 +00:00
|
|
|
!self.fuzzy_eq(&Mat3::identity())
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy Num Sqrt FuzzyEq> Mat3<T>: Matrix3<T> {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn scale(vec: &Vec3<T>) -> Mat3<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
self.mul_m(&Mat3::new( vec.x, from_int(0), from_int(0),
|
|
|
|
from_int(0), vec.y, from_int(0),
|
|
|
|
from_int(0), from_int(0), vec.z))
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn to_Mat4() -> Mat4<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Mat4::new( self[0][0], self[0][1], self[0][2], from_int(0),
|
|
|
|
self[1][0], self[1][1], self[1][2], from_int(0),
|
|
|
|
self[2][0], self[2][1], self[2][2], from_int(0),
|
|
|
|
from_int(0), from_int(0), from_int(0), from_int(1))
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
2012-11-01 01:34:38 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
pub impl<T:Copy Num NumCast Ord> Mat3<T>: ToQuat<T> {
|
|
|
|
pure fn to_Quat() -> Quat<T> {
|
2012-09-07 10:48:47 +00:00
|
|
|
// Implemented using a mix of ideas from jMonkeyEngine and Ken Shoemake's
|
2012-09-24 02:54:24 +00:00
|
|
|
// paper on Quaternions: http://www.cs.ucr.edu/~vbz/resources/Quatut.pdf
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
let mut s: float;
|
|
|
|
let w: float, x: float, y: float, z: float;
|
|
|
|
let trace: float = cast(self[0][0] + self[1][1] + self[2][2]);
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
if trace >= from_int(0) {
|
2012-09-10 02:55:15 +00:00
|
|
|
s = (trace + 1f).sqrt();
|
2012-09-07 10:48:47 +00:00
|
|
|
w = 0.5 * s;
|
|
|
|
s = 0.5 / s;
|
2012-11-01 01:34:38 +00:00
|
|
|
x = (self[1][2] - self[2][1]).cast::<float>() * s;
|
|
|
|
y = (self[2][0] - self[0][2]).cast::<float>() * s;
|
|
|
|
z = (self[0][1] - self[1][0]).cast::<float>() * s;
|
2012-09-07 10:48:47 +00:00
|
|
|
} else if (self[0][0] > self[1][1]) && (self[0][0] > self[2][2]) {
|
2012-11-01 01:34:38 +00:00
|
|
|
s = (1f + (self[0][0] - self[1][1] - self[2][2]).cast::<float>()).sqrt();
|
2012-09-07 10:48:47 +00:00
|
|
|
w = 0.5 * s;
|
|
|
|
s = 0.5 / s;
|
2012-11-01 01:34:38 +00:00
|
|
|
x = (self[0][1] - self[1][0]).cast::<float>() * s;
|
|
|
|
y = (self[2][0] - self[0][2]).cast::<float>() * s;
|
|
|
|
z = (self[1][2] - self[2][1]).cast::<float>() * s;
|
2012-09-07 10:48:47 +00:00
|
|
|
} else if self[1][1] > self[2][2] {
|
2012-11-01 01:34:38 +00:00
|
|
|
s = (1f + (self[1][1] - self[0][0] - self[2][2]).cast::<float>()).sqrt();
|
2012-09-07 10:48:47 +00:00
|
|
|
w = 0.5 * s;
|
|
|
|
s = 0.5 / s;
|
2012-11-01 01:34:38 +00:00
|
|
|
x = (self[0][1] - self[1][0]).cast::<float>() * s;
|
|
|
|
y = (self[1][2] - self[2][1]).cast::<float>() * s;
|
|
|
|
z = (self[2][0] - self[0][2]).cast::<float>() * s;
|
2012-09-07 10:48:47 +00:00
|
|
|
} else {
|
2012-11-01 01:34:38 +00:00
|
|
|
s = (1f + (self[2][2] - self[0][0] - self[1][1]).cast::<float>()).sqrt();
|
2012-09-07 10:48:47 +00:00
|
|
|
w = 0.5 * s;
|
|
|
|
s = 0.5 / s;
|
2012-11-01 01:34:38 +00:00
|
|
|
x = (self[2][0] - self[0][2]).cast::<float>() * s;
|
|
|
|
y = (self[1][2] - self[2][1]).cast::<float>() * s;
|
|
|
|
z = (self[0][1] - self[1][0]).cast::<float>() * s;
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
2012-11-01 01:34:38 +00:00
|
|
|
|
2012-11-01 07:41:42 +00:00
|
|
|
Quat::new(cast(w), cast(x), cast(y), cast(z))
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy> Mat3<T>: Index<uint, Vec3<T>> {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn index(i: uint) -> Vec3<T> {
|
2012-11-01 14:06:12 +00:00
|
|
|
unsafe { do buf_as_slice(
|
|
|
|
transmute::<*Mat3<T>, *Vec3<T>>(
|
|
|
|
to_unsafe_ptr(&self)), 3) |slice| { slice[i] }
|
|
|
|
}
|
2012-09-29 10:37:46 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy Neg<T>> Mat3<T>: Neg<Mat3<T>> {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn neg() -> Mat3<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat3::from_cols(-self[0], -self[1], -self[2])
|
2012-09-29 10:25:49 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
// TODO: make work for T:Integer
|
|
|
|
pub impl<T:Copy FuzzyEq> Mat3<T>: Eq {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn eq(other: &Mat3<T>) -> bool {
|
2012-09-29 10:25:49 +00:00
|
|
|
self.fuzzy_eq(other)
|
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn ne(other: &Mat3<T>) -> bool {
|
2012-09-29 10:25:49 +00:00
|
|
|
!(self == *other)
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy Eq> Mat3<T>: ExactEq {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn exact_eq(other: &Mat3<T>) -> bool {
|
2012-10-30 02:45:18 +00:00
|
|
|
self[0].exact_eq(&other[0]) &&
|
|
|
|
self[1].exact_eq(&other[1]) &&
|
|
|
|
self[2].exact_eq(&other[2])
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy FuzzyEq> Mat3<T>: FuzzyEq {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn fuzzy_eq(other: &Mat3<T>) -> bool {
|
2012-09-29 10:25:49 +00:00
|
|
|
self[0].fuzzy_eq(&other[0]) &&
|
|
|
|
self[1].fuzzy_eq(&other[1]) &&
|
|
|
|
self[2].fuzzy_eq(&other[2])
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy> Mat3<T>: ToPtr<T> {
|
2012-10-30 03:24:50 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn to_ptr() -> *T {
|
2012-10-30 03:24:50 +00:00
|
|
|
self[0].to_ptr()
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-09-07 10:48:47 +00:00
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//
|
|
|
|
// Mat4: A 4x4, column major matrix
|
|
|
|
//
|
2012-11-01 14:06:12 +00:00
|
|
|
pub struct Mat4<T> { x: Vec4<T>, y: Vec4<T>, z: Vec4<T>, w: Vec4<T> }
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-10-29 14:11:27 +00:00
|
|
|
pub mod Mat4 {
|
2012-11-01 07:41:42 +00:00
|
|
|
|
|
|
|
#[inline(always)]
|
2012-11-01 14:19:43 +00:00
|
|
|
pub pure fn new<T>(c0r0: T, c0r1: T, c0r2: T, c0r3: T,
|
|
|
|
c1r0: T, c1r1: T, c1r2: T, c1r3: T,
|
|
|
|
c2r0: T, c2r1: T, c2r2: T, c2r3: T,
|
|
|
|
c3r0: T, c3r1: T, c3r2: T, c3r3: T) -> Mat4<T> {
|
|
|
|
Mat4::from_cols(Vec4::new(move c0r0, move c0r1, move c0r2, move c0r3),
|
|
|
|
Vec4::new(move c1r0, move c1r1, move c1r2, move c1r3),
|
|
|
|
Vec4::new(move c2r0, move c2r1, move c2r2, move c2r3),
|
|
|
|
Vec4::new(move c3r0, move c3r1, move c3r2, move c3r3))
|
2012-11-01 07:41:42 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
#[inline(always)]
|
2012-11-01 14:19:43 +00:00
|
|
|
pub pure fn from_cols<T>(c0: Vec4<T>, c1: Vec4<T>, c2: Vec4<T>, c3: Vec4<T>) -> Mat4<T> {
|
|
|
|
Mat4 { x: move c0,
|
|
|
|
y: move c1,
|
|
|
|
z: move c2,
|
|
|
|
w: move c3 }
|
2012-11-01 07:41:42 +00:00
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 07:41:42 +00:00
|
|
|
pub pure fn zero<T:Num>() -> Mat4<T> {
|
2012-11-01 14:06:12 +00:00
|
|
|
Mat4 { x: Vec4::zero(),
|
|
|
|
y: Vec4::zero(),
|
|
|
|
z: Vec4::zero(),
|
|
|
|
w: Vec4::zero() }
|
2012-11-01 01:34:38 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
#[inline(always)]
|
2012-11-01 07:41:42 +00:00
|
|
|
pub pure fn identity<T:Num>() -> Mat4<T> {
|
2012-11-01 14:06:12 +00:00
|
|
|
Mat4 { x: Vec4::unit_x(),
|
|
|
|
y: Vec4::unit_y(),
|
|
|
|
z: Vec4::unit_z(),
|
|
|
|
w: Vec4::unit_w() }
|
2012-11-01 01:34:38 +00:00
|
|
|
}
|
2012-10-29 14:11:27 +00:00
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy Num Sqrt FuzzyEq> Mat4<T>: Matrix<T, Vec4<T>> {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn rows() -> uint { 4 }
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn cols() -> uint { 4 }
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_col_major() -> bool { true }
|
|
|
|
|
2012-11-01 14:06:12 +00:00
|
|
|
#[inline(always)]
|
|
|
|
pure fn col(i: uint) -> Vec4<T> { self[i] }
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn row(i: uint) -> Vec4<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Vec4::new(self[0][i],
|
|
|
|
self[1][i],
|
|
|
|
self[2][i],
|
|
|
|
self[3][i])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn mul_t(value: T) -> Mat4<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat4::from_cols(self[0].mul_t(value),
|
|
|
|
self[1].mul_t(value),
|
|
|
|
self[2].mul_t(value),
|
|
|
|
self[3].mul_t(value))
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn mul_v(other: &Vec4<T>) -> Vec4<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Vec4::new(self[0][0] * other[0] + self[1][0] * other[1] + self[2][0] * other[2] + self[3][0] * other[3],
|
|
|
|
self[0][1] * other[0] + self[1][1] * other[1] + self[2][1] * other[2] + self[3][1] * other[3],
|
|
|
|
self[0][2] * other[0] + self[1][2] * other[1] + self[2][2] * other[2] + self[3][2] * other[3],
|
|
|
|
self[0][3] * other[0] + self[1][3] * other[1] + self[2][3] * other[2] + self[3][3] * other[3])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn add_m(other: &Mat4<T>) -> Mat4<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat4::from_cols(self[0].add_v(&other[0]),
|
|
|
|
self[1].add_v(&other[1]),
|
|
|
|
self[2].add_v(&other[2]),
|
|
|
|
self[3].add_v(&other[3]))
|
2012-09-08 01:54:32 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn sub_m(other: &Mat4<T>) -> Mat4<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat4::from_cols(self[0].sub_v(&other[0]),
|
|
|
|
self[1].sub_v(&other[1]),
|
|
|
|
self[2].sub_v(&other[2]),
|
|
|
|
self[3].sub_v(&other[3]))
|
2012-09-08 01:54:32 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn mul_m(other: &Mat4<T>) -> Mat4<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Mat4::new(self[0][0] * other[0][0] + self[1][0] * other[0][1] + self[2][0] * other[0][2] + self[3][0] * other[0][3],
|
|
|
|
self[0][1] * other[0][0] + self[1][1] * other[0][1] + self[2][1] * other[0][2] + self[3][1] * other[0][3],
|
|
|
|
self[0][2] * other[0][0] + self[1][2] * other[0][1] + self[2][2] * other[0][2] + self[3][2] * other[0][3],
|
|
|
|
self[0][3] * other[0][0] + self[1][3] * other[0][1] + self[2][3] * other[0][2] + self[3][3] * other[0][3],
|
|
|
|
|
|
|
|
self[0][0] * other[1][0] + self[1][0] * other[1][1] + self[2][0] * other[1][2] + self[3][0] * other[1][3],
|
|
|
|
self[0][1] * other[1][0] + self[1][1] * other[1][1] + self[2][1] * other[1][2] + self[3][1] * other[1][3],
|
|
|
|
self[0][2] * other[1][0] + self[1][2] * other[1][1] + self[2][2] * other[1][2] + self[3][2] * other[1][3],
|
|
|
|
self[0][3] * other[1][0] + self[1][3] * other[1][1] + self[2][3] * other[1][2] + self[3][3] * other[1][3],
|
|
|
|
|
|
|
|
self[0][0] * other[2][0] + self[1][0] * other[2][1] + self[2][0] * other[2][2] + self[3][0] * other[2][3],
|
|
|
|
self[0][1] * other[2][0] + self[1][1] * other[2][1] + self[2][1] * other[2][2] + self[3][1] * other[2][3],
|
|
|
|
self[0][2] * other[2][0] + self[1][2] * other[2][1] + self[2][2] * other[2][2] + self[3][2] * other[2][3],
|
|
|
|
self[0][3] * other[2][0] + self[1][3] * other[2][1] + self[2][3] * other[2][2] + self[3][3] * other[2][3],
|
|
|
|
|
|
|
|
self[0][0] * other[3][0] + self[1][0] * other[3][1] + self[2][0] * other[3][2] + self[3][0] * other[3][3],
|
|
|
|
self[0][1] * other[3][0] + self[1][1] * other[3][1] + self[2][1] * other[3][2] + self[3][1] * other[3][3],
|
|
|
|
self[0][2] * other[3][0] + self[1][2] * other[3][1] + self[2][2] * other[3][2] + self[3][2] * other[3][3],
|
|
|
|
self[0][3] * other[3][0] + self[1][3] * other[3][1] + self[2][3] * other[3][2] + self[3][3] * other[3][3])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
// TODO - inversion is harrrd D:
|
2012-10-30 02:55:20 +00:00
|
|
|
// #[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
// pure fn invert(other: &Mat4<T>) -> Mat4<T> {}
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn transpose() -> Mat4<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
Mat4::new(self[0][0], self[1][0], self[2][0], self[3][0],
|
|
|
|
self[0][1], self[1][1], self[2][1], self[3][1],
|
|
|
|
self[0][2], self[1][2], self[2][2], self[3][2],
|
|
|
|
self[0][3], self[1][3], self[2][3], self[3][3])
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_identity() -> bool {
|
2012-11-01 01:34:38 +00:00
|
|
|
self.fuzzy_eq(&Mat4::identity())
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_symmetric() -> bool {
|
|
|
|
self[0][1].fuzzy_eq(&self[1][0]) &&
|
|
|
|
self[0][2].fuzzy_eq(&self[2][0]) &&
|
|
|
|
self[0][3].fuzzy_eq(&self[3][0]) &&
|
|
|
|
|
|
|
|
self[1][0].fuzzy_eq(&self[0][1]) &&
|
|
|
|
self[1][2].fuzzy_eq(&self[2][1]) &&
|
|
|
|
self[1][3].fuzzy_eq(&self[3][1]) &&
|
|
|
|
|
|
|
|
self[2][0].fuzzy_eq(&self[0][2]) &&
|
|
|
|
self[2][1].fuzzy_eq(&self[1][2]) &&
|
|
|
|
self[2][3].fuzzy_eq(&self[3][2]) &&
|
|
|
|
|
|
|
|
self[3][0].fuzzy_eq(&self[0][3]) &&
|
|
|
|
self[3][1].fuzzy_eq(&self[1][3]) &&
|
|
|
|
self[3][2].fuzzy_eq(&self[2][3])
|
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_diagonal() -> bool {
|
2012-11-01 01:34:38 +00:00
|
|
|
self[0][1].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[0][2].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[0][3].fuzzy_eq(&from_int(0)) &&
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
self[1][0].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[1][2].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[1][3].fuzzy_eq(&from_int(0)) &&
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
self[2][0].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[2][1].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[2][3].fuzzy_eq(&from_int(0)) &&
|
2012-09-07 10:48:47 +00:00
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
self[3][0].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[3][1].fuzzy_eq(&from_int(0)) &&
|
|
|
|
self[3][2].fuzzy_eq(&from_int(0))
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-09-07 10:48:47 +00:00
|
|
|
pure fn is_rotated() -> bool {
|
2012-11-01 01:34:38 +00:00
|
|
|
!self.fuzzy_eq(&Mat4::identity())
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy Num Sqrt FuzzyEq> Mat4<T>: Matrix4<T> {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn scale(vec: &Vec3<T>) -> Mat4<T> {
|
2012-11-01 07:41:42 +00:00
|
|
|
self.mul_m(&Mat4::new( vec.x, from_int(0), from_int(0), from_int(0),
|
|
|
|
from_int(0), vec.y, from_int(0), from_int(0),
|
|
|
|
from_int(0), from_int(0), vec.z, from_int(0),
|
|
|
|
from_int(0), from_int(0), from_int(0), from_int(1)))
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn translate(vec: &Vec3<T>) -> Mat4<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat4::from_cols(self[0],
|
|
|
|
self[1],
|
|
|
|
self[2],
|
|
|
|
Vec4::new(self[3][0] + vec.x,
|
|
|
|
self[3][1] + vec.y,
|
|
|
|
self[3][2] + vec.z,
|
|
|
|
self[3][3]))
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|
2012-09-29 10:25:49 +00:00
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy> Mat4<T>: Index<uint, Vec4<T>> {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn index(i: uint) -> Vec4<T> {
|
2012-11-01 14:06:12 +00:00
|
|
|
unsafe { do buf_as_slice(
|
|
|
|
transmute::<*Mat4<T>, *Vec4<T>>(
|
|
|
|
to_unsafe_ptr(&self)), 4) |slice| { slice[i] }
|
|
|
|
}
|
2012-09-29 10:37:46 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy Neg<T>> Mat4<T>: Neg<Mat4<T>> {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn neg() -> Mat4<T> {
|
2012-11-01 14:19:43 +00:00
|
|
|
Mat4::from_cols(-self[0], -self[1], -self[2], -self[3])
|
2012-09-29 10:25:49 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
// TODO: make work for T:Integer
|
|
|
|
pub impl<T:Copy FuzzyEq> Mat4<T>: Eq {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn eq(other: &Mat4<T>) -> bool {
|
2012-09-29 10:25:49 +00:00
|
|
|
self.fuzzy_eq(other)
|
|
|
|
}
|
|
|
|
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn ne(other: &Mat4<T>) -> bool {
|
2012-09-29 10:25:49 +00:00
|
|
|
!(self == *other)
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy Eq> Mat4<T>: ExactEq {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn exact_eq(other: &Mat4<T>) -> bool {
|
2012-10-30 02:45:18 +00:00
|
|
|
self[0].exact_eq(&other[0]) &&
|
|
|
|
self[1].exact_eq(&other[1]) &&
|
|
|
|
self[2].exact_eq(&other[2]) &&
|
|
|
|
self[3].exact_eq(&other[3])
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy FuzzyEq> Mat4<T>: FuzzyEq {
|
2012-10-30 02:55:20 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn fuzzy_eq(other: &Mat4<T>) -> bool {
|
2012-09-29 10:25:49 +00:00
|
|
|
self[0].fuzzy_eq(&other[0]) &&
|
|
|
|
self[1].fuzzy_eq(&other[1]) &&
|
|
|
|
self[2].fuzzy_eq(&other[2]) &&
|
|
|
|
self[3].fuzzy_eq(&other[3])
|
|
|
|
}
|
2012-10-30 03:24:50 +00:00
|
|
|
}
|
|
|
|
|
2012-11-01 01:34:38 +00:00
|
|
|
pub impl<T:Copy> Mat4<T>: ToPtr<T> {
|
2012-10-30 03:24:50 +00:00
|
|
|
#[inline(always)]
|
2012-11-01 01:34:38 +00:00
|
|
|
pure fn to_ptr() -> *T {
|
2012-10-30 03:24:50 +00:00
|
|
|
self[0].to_ptr()
|
|
|
|
}
|
2012-09-07 10:48:47 +00:00
|
|
|
}
|