Add collision types

src/cgmath/aabb.rs

@@ -0,0 +1,31 @@
+// 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.
+
+//! Axis-aligned bounding boxes
+
+use point::{Point2, Point3};
+use vector::{Vec2, Vec3};
+
+#[deriving(Clone, Eq)]
+pub struct AABB2<S> {
+    center: Point2<S>,
+    size: Vec2<S>,
+}
+
+#[deriving(Clone, Eq)]
+pub struct AABB3<S> {
+    center: Point3<S>,
+    size: Vec3<S>,
+}

src/cgmath/cylinder.rs

@@ -0,0 +1,26 @@
+// 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.
+
+//! Oriented bounding cylinder
+
+use point::Point3;
+use vector::Vec3;
+
+#[deriving(Clone, Eq)]
+pub struct Cylinder<S> {
+    center: Point3<S>,
+    axis: Vec3<S>,
+    radius: S,
+}

src/cgmath/frustum.rs

@@ -0,0 +1,41 @@
+// 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.
+
+//! View frustum for visibility determination
+
+use plane::Plane3;
+use point::Point3;
+
+#[deriving(Clone, Eq)]
+pub struct Frustum<S> {
+    left:   Plane3<S>,
+    right:  Plane3<S>,
+    bottom: Plane3<S>,
+    top:    Plane3<S>,
+    near:   Plane3<S>,
+    far:    Plane3<S>,
+}
+
+#[deriving(Clone, Eq)]
+pub struct FrustumPoints<S> {
+    near_top_left:     Point3<S>,
+    near_top_right:    Point3<S>,
+    near_bottom_left:  Point3<S>,
+    near_bottom_right: Point3<S>,
+    far_top_left:      Point3<S>,
+    far_top_right:     Point3<S>,
+    far_bottom_left:   Point3<S>,
+    far_bottom_right:  Point3<S>,
+}

src/cgmath/lib.rs

@@ -28,11 +28,19 @@ pub mod quaternion;
 pub mod vector;
 
 pub mod angle;
+pub mod plane;
 pub mod point;
 pub mod ray;
+pub mod rotation;
 
+pub mod frustum;
 pub mod projection;
 
+pub mod aabb;
+pub mod cylinder;
+pub mod obb;
+pub mod sphere;
+
 pub mod util {
     use std::num::one;
 

src/cgmath/obb.rs

@@ -0,0 +1,33 @@
+// 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.
+
+//! Oriented bounding boxes
+
+use point::{Point2, Point3};
+use vector::{Vec2, Vec3};
+
+#[deriving(Clone, Eq)]
+pub struct OBB2<S> {
+    center: Point2<S>,
+    axis: Vec2<S>,
+    extents: Vec2<S>,
+}
+
+#[deriving(Clone, Eq)]
+pub struct OBB3<S> {
+    center: Point3<S>,
+    axis: Vec3<S>,
+    extents: Vec3<S>,
+}

src/cgmath/plane.rs

@@ -0,0 +1,43 @@
+// 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 vector::Vec3;
+
+use std::fmt;
+
+/// A 3-dimendional plane formed from the equation: `Ax + Bx + Cx + D = 0`
+///
+/// # Fields
+///
+/// - `normal`: the normal of the plane where:
+///   - `normal.x`: corresponds to `A` in the plane equation
+///   - `normal.y`: corresponds to `B` in the plane equation
+///   - `normal.z`: corresponds to `C` in the plane equation
+/// - `distance`: the distance value, corresponding to `D` in the plane equation
+#[deriving(Clone, Eq)]
+pub struct Plane3<S> {
+    normal: Vec3<S>,
+    distance: S,
+}
+
+impl<S: Clone + fmt::Float> ToStr for Plane3<S> {
+    fn to_str(&self) -> ~str {
+        format!("{:f}x + {:f}y + {:f}z + {:f} = 0",
+                self.normal.x,
+                self.normal.y,
+                self.normal.z,
+                self.distance)
+    }
+}

src/cgmath/projection.rs

@@ -16,6 +16,7 @@
 use std::num::{zero, one};
 
 use angle::{Angle, rad, tan, cot};
+use frustum::Frustum;
 use matrix::{Mat4, ToMat4};
 use util::two;
 
@@ -62,7 +63,9 @@ pub fn ortho<S: Clone + Float>(left: S, right: S, bottom: S, top: S, near: S, fa
     }.to_mat4()
 }
 
-pub trait Projection<S>: ToMat4<S> {}
+pub trait Projection<S>: ToMat4<S> {
+    fn to_frustum(&self) -> Frustum<S>;
+}
 
 /// A perspective projection based on a vertical field-of-view angle.
 #[deriving(Clone, Eq)]
@@ -90,6 +93,12 @@ impl<S: Clone + Float, A: Angle<S>> PerspectiveFov<S, A> {
     }
 }
 
+impl<S: Clone + Float, A: Angle<S>> Projection<S> for PerspectiveFov<S, A> {
+    fn to_frustum(&self) -> Frustum<S> {
+        self.to_perspective().to_frustum()
+    }
+}
+
 impl<S: Clone + Float, A: Angle<S>> ToMat4<S> for PerspectiveFov<S, A> {
     fn to_mat4(&self) -> Mat4<S> {
         let half_turn: A = Angle::from(rad::<S>(Real::frac_pi_2()));
@@ -130,8 +139,6 @@ impl<S: Clone + Float, A: Angle<S>> ToMat4<S> for PerspectiveFov<S, A> {
     }
 }
 
-impl<S: Clone + Float, A: Angle<S>> Projection<S> for PerspectiveFov<S, A>;
-
 /// A perspective projection with arbitrary left/right/bottom/top distances
 #[deriving(Clone, Eq)]
 pub struct Perspective<S> {
@@ -140,6 +147,12 @@ pub struct Perspective<S> {
     near:   S,  far:    S,
 }
 
+impl<S: Clone + Float> Projection<S> for Perspective<S> {
+    fn to_frustum(&self) -> Frustum<S> {
+        fail!("Not yet implemented!");
+    }
+}
+
 impl<S: Clone + Float> ToMat4<S> for Perspective<S> {
     fn to_mat4(&self) -> Mat4<S> {
         assert!(self.left   > self.right, "`left` cannot be greater than `right`, found: left: %? right: %?", self.left, self.right);
@@ -173,8 +186,6 @@ impl<S: Clone + Float> ToMat4<S> for Perspective<S> {
     }
 }
 
-impl<S: Clone + Float> Projection<S> for Perspective<S>;
-
 /// An orthographic projection with arbitrary left/right/bottom/top distances
 #[deriving(Clone, Eq)]
 pub struct Ortho<S> {
@@ -183,6 +194,12 @@ pub struct Ortho<S> {
     near:   S,  far:    S,
 }
 
+impl<S: Clone + Float> Projection<S> for Ortho<S> {
+    fn to_frustum(&self) -> Frustum<S> {
+        fail!("Not yet implemented!");
+    }
+}
+
 impl<S: Clone + Float> ToMat4<S> for Ortho<S> {
     fn to_mat4(&self) -> Mat4<S> {
         assert!(self.left   > self.right, "`left` cannot be greater than `right`, found: left: %? right: %?", self.left, self.right);
@@ -215,5 +232,3 @@ impl<S: Clone + Float> ToMat4<S> for Ortho<S> {
                   c3r0, c3r1, c3r2, c3r3)
     }
 }
-
-impl<S: Clone + Float> Projection<S> for Ortho<S>;

src/cgmath/sphere.rs

@@ -0,0 +1,24 @@
+// 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.
+
+//! Bounding sphere
+
+use point::Point3;
+
+#[deriving(Clone, Eq)]
+pub struct Sphere<S> {
+    center: Point3<S>,
+    radius: S,
+}