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Merge quat impls

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This commit is contained in:
Brendan Zabarauskas 2013-07-22 14:06:35 +10:00
parent a753602d34
commit 1538e6e528
1 changed files with 44 additions and 46 deletions
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90
src/math/quat.rs
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@ -70,6 +70,16 @@ impl<T> Quat<T> {
}
impl<T:Clone + Float> Quat<T> {
#[inline]
pub fn look_at(dir: &Vec3<T>, up: &Vec3<T>) -> Quat<T> {
Mat3::look_at(dir, up).to_quat()
}
#[inline]
pub fn from_axes(x: Vec3<T>, y: Vec3<T>, z: Vec3<T>) -> Quat<T> {
Mat3::from_axes(x, y, z).to_quat()
}
/// The multiplicative identity, ie: `q = 1 + 0i + 0j + 0i`
#[inline]
pub fn identity() -> Quat<T> {
@ -179,52 +189,6 @@ impl<T:Clone + Float> Quat<T> {
pub fn nlerp(&self, other: &Quat<T>, amount: T) -> Quat<T> {
self.mul_s(one!(T) - amount).add_q(&other.mul_s(amount)).normalize()
}
}
impl<T:Clone + Num> ToMat3<T> for Quat<T> {
/// Convert the quaternion to a 3 x 3 rotation matrix
pub fn to_mat3(&self) -> Mat3<T> {
let x2 = self.v.x + self.v.x;
let y2 = self.v.y + self.v.y;
let z2 = self.v.z + self.v.z;
let xx2 = x2 * self.v.x;
let xy2 = x2 * self.v.y;
let xz2 = x2 * self.v.z;
let yy2 = y2 * self.v.y;
let yz2 = y2 * self.v.z;
let zz2 = z2 * self.v.z;
let sy2 = y2 * self.s;
let sz2 = z2 * self.s;
let sx2 = x2 * self.s;
let _1: T = one!(T);
Mat3::new(_1 - yy2 - zz2, xy2 + sz2, xz2 - sy2,
xy2 - sz2, _1 - xx2 - zz2, yz2 + sx2,
xz2 + sy2, yz2 - sx2, _1 - xx2 - yy2)
}
}
impl<T:Clone + Float> Neg<Quat<T>> for Quat<T> {
#[inline]
pub fn neg(&self) -> Quat<T> {
Quat::from_sv(-self.s, -self.v)
}
}
impl<T:Clone + Float> Quat<T> {
#[inline]
pub fn look_at(dir: &Vec3<T>, up: &Vec3<T>) -> Quat<T> {
Mat3::look_at(dir, up).to_quat()
}
#[inline]
pub fn from_axes(x: Vec3<T>, y: Vec3<T>, z: Vec3<T>) -> Quat<T> {
Mat3::from_axes(x, y, z).to_quat()
}
/// Spherical Linear Intoperlation
///
@ -269,3 +233,37 @@ impl<T:Clone + Float> Quat<T> {
}
}
}
impl<T:Clone + Num> ToMat3<T> for Quat<T> {
/// Convert the quaternion to a 3 x 3 rotation matrix
pub fn to_mat3(&self) -> Mat3<T> {
let x2 = self.v.x + self.v.x;
let y2 = self.v.y + self.v.y;
let z2 = self.v.z + self.v.z;
let xx2 = x2 * self.v.x;
let xy2 = x2 * self.v.y;
let xz2 = x2 * self.v.z;
let yy2 = y2 * self.v.y;
let yz2 = y2 * self.v.z;
let zz2 = z2 * self.v.z;
let sy2 = y2 * self.s;
let sz2 = z2 * self.s;
let sx2 = x2 * self.s;
let _1: T = one!(T);
Mat3::new(_1 - yy2 - zz2, xy2 + sz2, xz2 - sy2,
xy2 - sz2, _1 - xx2 - zz2, yz2 + sx2,
xz2 + sy2, yz2 - sx2, _1 - xx2 - yy2)
}
}
impl<T:Clone + Float> Neg<Quat<T>> for Quat<T> {
#[inline]
pub fn neg(&self) -> Quat<T> {
Quat::from_sv(-self.s, -self.v)
}
}