Homogeneous transformations added for Point3; extend/truncate added for vectors; Transform3 is implemented for AffineMatrix3

src/cgmath/plane.rs

@@ -14,6 +14,7 @@
 // limitations under the License.
 
 use std::cast::transmute;
+use std::fmt;
 
 use intersect::Intersect;
 use point::{Point, Point3};
@@ -21,8 +22,6 @@ use ray::Ray3;
 use vector::{Vec3, Vec4};
 use vector::{Vector, EuclideanVector};
 
-use std::fmt;
-
 /// A 3-dimendional plane formed from the equation: `a*x + b*y + c*z - d = 0`.
 ///
 /// # Fields

src/cgmath/point.rs

@@ -18,7 +18,7 @@
 //! not have a fixed position.
 
 use std::fmt;
-use std::num::zero;
+use std::num::{one,zero};
 
 use array::*;
 use vector::*;
@@ -54,6 +54,19 @@ impl<S: Num> Point3<S> {
     pub fn origin() -> Point3<S> { zero() }
 }
 
+impl<S: Clone + Num + Primitive> Point3<S> {
+    #[inline]
+    pub fn from_homogeneous(v: &Vec4<S>) -> Point3<S>   {
+        let _1 :S = one();
+        let e = v.truncate().mul_s( _1 / v.w );
+        Point3::new(e.x.clone(), e.y.clone(), e.z.clone())  //FIXME
+    }
+    #[inline]
+    pub fn to_homogeneous(&self) -> Vec4<S>   {
+        Vec4::new(self.x.clone(), self.y.clone(), self.z.clone(), one())
+    }
+}
+
 /// Specifies the numeric operations for point types.
 pub trait Point
 <

src/cgmath/transform.rs

@@ -13,10 +13,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-use matrix::Mat4;
-use point::Point;
+use std::num;
+
+use matrix::{Matrix, Mat4, ToMat4};
+use point::{Point, Point3};
 use ray::Ray;
-use rotation::Rotation;
+use rotation::{Rotation, Rotation3};
 use quaternion::Quat;
 use vector::{Vector, Vec3};
 
@@ -38,11 +40,6 @@ pub trait Transform
     }
 }
 
-/// A homogeneous transformation matrix.
-pub struct AffineMatrix3<S> {
-    mat: Mat4<S>,
-}
-
 /// A generic transformation consisting of a rotation,
 /// displacement vector and scale amount.
 pub struct Decomposed<S,V,R>    {
@@ -71,14 +68,56 @@ Transform<S, Slice, V, P> for Decomposed<S,V,R>    {
     }
 }
 
-/// A transformation in three dimensions consisting of a rotation,
-/// displacement vector and scale amount.
-pub struct Transform3<S>( Decomposed<S,Vec3<S>,Quat<S>> );
+pub trait Transform3<S>
+: Transform<S, [S, ..3], Vec3<S>, Point3<S>>
++ ToMat4<S>
+{}
 
-impl<S: Float> Transform3<S> {
-    #[inline]
-    pub fn new(scale: S, rot: Quat<S>, disp: Vec3<S>) -> Transform3<S> {
-       Transform3( Decomposed { scale: scale, rot: rot, disp: disp })
+impl<S: Float + Clone, R: Rotation3<S>>
+ToMat4<S> for Decomposed<S, Vec3<S>, R> {
+    fn to_mat4(&self) -> Mat4<S>   {
+        let mut m = self.rot.to_mat3().mul_s( self.scale.clone() ).to_mat4();
+        m.w = self.disp.extend( num::one() );
+        m
+    }
+}
+
+impl<S: Float, R: Rotation3<S>>
+Transform3<S> for Decomposed<S,Vec3<S>,R>   {}
+
+/// A homogeneous transformation matrix.
+pub struct AffineMatrix3<S> {
+    mat: Mat4<S>,
+}
+
+impl<S : Clone + Float>
+Transform<S, [S, ..3], Vec3<S>, Point3<S>> for AffineMatrix3<S>  {
+    #[inline]
+    fn transform_vec(&self, vec: &Vec3<S>) -> Vec3<S>  {
+        self.mat.mul_v( &vec.extend(num::zero()) ).truncate()
+    }
+
+    #[inline]
+    fn transform_point(&self, point: &Point3<S>) -> Point3<S>   {
+        Point3::from_homogeneous( &self.mat.mul_v( &point.to_homogeneous() ))
+    }   
+}
+
+impl<S: Clone + Primitive>
+ToMat4<S> for AffineMatrix3<S>  {
+    #[inline] fn to_mat4(&self) -> Mat4<S>    { self.mat.clone() }
+}
+
+
+
+/// A transformation in three dimensions consisting of a rotation,
+/// displacement vector and scale amount.
+pub struct Transform3D<S>( Decomposed<S,Vec3<S>,Quat<S>> );
+
+impl<S: Float> Transform3D<S> {
+    #[inline]
+    pub fn new(scale: S, rot: Quat<S>, disp: Vec3<S>) -> Transform3D<S> {
+       Transform3D( Decomposed { scale: scale, rot: rot, disp: disp })
     }
 }
 

src/cgmath/vector.rs

@@ -31,7 +31,7 @@ pub struct Vec3<S> { x: S, y: S, z: S }
 #[deriving(Eq, Clone, Zero)]
 pub struct Vec4<S> { x: S, y: S, z: S, w: S }
 
-// Conversion traits
+// Conversion traits    //FIXME: not used anywhere?
 pub trait ToVec2<S: Primitive> { fn to_vec2(&self) -> Vec2<S>; }
 pub trait ToVec3<S: Primitive> { fn to_vec3(&self) -> Vec3<S>; }
 pub trait ToVec4<S: Primitive> { fn to_vec4(&self) -> Vec4<S>; }
@@ -70,12 +70,28 @@ impl<S: Primitive> Vec2<S> {
     #[inline] pub fn unit_x() -> Vec2<S> { Vec2::new(one(), zero()) }
     #[inline] pub fn unit_y() -> Vec2<S> { Vec2::new(zero(), one()) }
 }
+impl<S: Primitive + Clone> Vec2<S>  {
+    #[inline]
+    pub fn extend(&self, z: S)-> Vec3<S>  {
+        Vec3::new(self.x.clone(), self.y.clone(), z)
+    }
+}
 
 impl<S: Primitive> Vec3<S> {
     #[inline] pub fn unit_x() -> Vec3<S> { Vec3::new(one(), zero(), zero()) }
     #[inline] pub fn unit_y() -> Vec3<S> { Vec3::new(zero(), one(), zero()) }
     #[inline] pub fn unit_z() -> Vec3<S> { Vec3::new(zero(), zero(), one()) }
 }
+impl<S: Primitive + Clone> Vec3<S>  {
+    #[inline]
+    pub fn extend(&self, w: S)-> Vec4<S>  {
+        Vec4::new(self.x.clone(), self.y.clone(), self.z.clone(), w)
+    }
+    #[inline]
+    pub fn truncate(&self)-> Vec2<S>  {
+        Vec2::new(self.x.clone(), self.y.clone())   //ignore Z
+    }
+}
 
 impl<S: Primitive> Vec4<S> {
     #[inline] pub fn unit_x() -> Vec4<S> { Vec4::new(one(), zero(), zero(), zero()) }
@@ -83,6 +99,12 @@ impl<S: Primitive> Vec4<S> {
     #[inline] pub fn unit_z() -> Vec4<S> { Vec4::new(zero(), zero(), one(), zero()) }
     #[inline] pub fn unit_w() -> Vec4<S> { Vec4::new(zero(), zero(), zero(), one()) }
 }
+impl<S: Primitive + Clone> Vec4<S>  {
+    #[inline]
+    pub fn truncate(&self)-> Vec3<S>  {
+        Vec3::new(self.x.clone(), self.y.clone(), self.z.clone())   //ignore W
+    }
+}
 
 array!(impl<S> Vec2<S> -> [S, ..2] _2)
 array!(impl<S> Vec3<S> -> [S, ..3] _3)

src/tests/point.rs

@@ -0,0 +1,22 @@
+// Copyright 2013 The CGMath Developers. For a full listing of the authors,
+// refer to the AUTHORS file at the top-level directory of this distribution.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+use cgmath::point::*;
+
+#[test]
+fn test_homogeneous() {
+	let p = Point3::new(1.0, 2.0, 3.0);
+    assert_eq!(p, Point3::from_homogeneous( &p.to_homogeneous() ));
+}

src/tests/test.rs

@@ -22,7 +22,7 @@ pub mod vector;
 
 pub mod angle;
 pub mod plane;
-// pub mod point;
+pub mod point;
 // pub mod ray;
 // pub mod rotation;