Fixed tests to compile; added Point homogeneous transform & test; added Transform inversion & test; Implemented Transform for AffineMatrix3

src/cgmath/rotation.rs

@@ -34,6 +34,7 @@ pub trait Rotation
 :   Eq
 +   ApproxEq<S>
 {
+    fn identity() -> Self;
     fn rotate_point(&self, point: &P) -> P;
     fn rotate_vec(&self, vec: &V) -> V;
 
@@ -111,6 +112,9 @@ impl<S: Float> ToMat2<S> for Basis2<S> {
 }
 
 impl<S: Float> Rotation<S, [S, ..2], Vec2<S>, Point2<S>> for Basis2<S> {
+    #[inline]
+    fn identity() -> Basis2<S>  { Basis2{ mat: Mat2::identity() } }
+    
     #[inline]
     fn rotate_point(&self, _point: &Point2<S>) -> Point2<S> { fail!("Not yet implemented") }
 
@@ -229,6 +233,9 @@ impl<S: Float> ToQuat<S> for Basis3<S> {
 }
 
 impl<S: Float> Rotation<S, [S, ..3], Vec3<S>, Point3<S>> for Basis3<S> {
+    #[inline]
+    fn identity() -> Basis3<S>  { Basis3{ mat: Mat3::identity() } }
+    
     #[inline]
     fn rotate_point(&self, _point: &Point3<S>) -> Point3<S> { fail!("Not yet implemented") }
 
@@ -288,6 +295,9 @@ impl<S: Float> ToQuat<S> for Quat<S> {
 }
 
 impl<S: Float> Rotation<S, [S, ..3], Vec3<S>, Point3<S>> for Quat<S> {
+    #[inline]
+    fn identity() -> Quat<S>  { Quat::identity() }  
+    
     #[inline]
     fn rotate_point(&self, _point: &Point3<S>) -> Point3<S> { fail!("Not yet implemented") }
 
@@ -310,4 +320,4 @@ impl<S: Float> Rotation<S, [S, ..3], Vec3<S>, Point3<S>> for Quat<S> {
     fn invert_self(&mut self) { *self = self.invert() }
 }
 
-impl<S: Float> Rotation3<S> for Quat<S> {}
+impl<S: Float> Rotation3<S> for Quat<S> {}

src/cgmath/transform.rs

@@ -31,13 +31,23 @@ pub trait Transform
     P: Point<S,V,Slice>
 >
 {
+    fn identity() -> Self;
     fn transform_vec(&self, vec: &V) -> V;
     fn transform_point(&self, point: &P) -> P;
+    fn invert(&self) -> Option<Self>;
 
     #[inline]
     fn transform_ray(&self, ray: &Ray<P,V>) -> Ray<P,V>    {
         Ray::new( self.transform_point(&ray.origin), self.transform_vec(&ray.direction) )
     }
+
+    #[inline]
+    fn invert_self(&mut self)-> bool    {
+        match self.invert() {
+            Some(t) => {*self = t; true},
+            None    => false,
+        }
+    }
 }
 
 /// A generic transformation consisting of a rotation,
@@ -57,6 +67,15 @@ impl
     R: Rotation<S, Slice, V, P>
 >
 Transform<S, Slice, V, P> for Decomposed<S,V,R>    {
+    #[inline]
+    fn identity() -> Decomposed<S,V,R>  {
+        Decomposed {
+            scale: num::one(),
+            rot: Rotation::identity(),
+            disp: num::zero(),
+        }
+    }
+
     #[inline]
     fn transform_vec(&self, vec: &V) -> V   {
         self.rot.rotate_vec( &vec.mul_s( self.scale.clone() ))
@@ -66,6 +85,23 @@ Transform<S, Slice, V, P> for Decomposed<S,V,R>    {
     fn transform_point(&self, point: &P) -> P   {
         self.rot.rotate_point( &point.mul_s( self.scale.clone() )).add_v( &self.disp )
     }
+
+    #[inline]
+    fn invert(&self) -> Option<Decomposed<S,V,R>>   {
+        if self.scale.approx_eq( &num::zero() )   {
+            None
+        }else   {
+            let _1 : S = num::one();
+            let s = _1 / self.scale;
+            let r = self.rot.invert();
+            let d = r.rotate_vec( &self.disp ).mul_s( -s );
+            Some( Decomposed {
+                scale: s,
+                rot: r,
+                disp: d,
+            })
+        }
+    }
 }
 
 pub trait Transform3<S>
@@ -92,6 +128,11 @@ pub struct AffineMatrix3<S> {
 
 impl<S : Clone + Float>
 Transform<S, [S, ..3], Vec3<S>, Point3<S>> for AffineMatrix3<S>  {
+    #[inline]
+    fn identity() -> AffineMatrix3<S>  {
+       AffineMatrix3 { mat: Mat4::identity() }
+    }
+    
     #[inline]
     fn transform_vec(&self, vec: &Vec3<S>) -> Vec3<S>  {
         self.mat.mul_v( &vec.extend(num::zero()) ).truncate()
@@ -100,6 +141,11 @@ Transform<S, [S, ..3], Vec3<S>, Point3<S>> for AffineMatrix3<S>  {
     #[inline]
     fn transform_point(&self, point: &Point3<S>) -> Point3<S>   {
         Point3::from_homogeneous( &self.mat.mul_v( &point.to_homogeneous() ))
+    }
+
+    #[inline]
+    fn invert(&self) -> Option<AffineMatrix3<S>>   {
+        self.mat.invert().map(|m| AffineMatrix3{ mat: m })
     }   
 }
 
@@ -120,4 +166,3 @@ impl<S: Float> Transform3D<S> {
        Transform3D( Decomposed { scale: scale, rot: rot, disp: disp })
     }
 }
-

src/cgmath/vector.rs

@@ -55,7 +55,7 @@ macro_rules! vec(
             #[inline]
             pub fn zero() -> $Self<$S> { $Self::from_value(zero()) }
 
-            /// The additive identity of the vector.
+            /// The multiplicative identity of the vector.
             #[inline]
             pub fn ident() -> $Self<$S> { $Self::from_value(one()) }
         }

src/tests/matrix.rs

@@ -15,10 +15,12 @@
 
 use cgmath::matrix::*;
 use cgmath::vector::*;
+type float = f64;
 
 pub mod mat2 {
     use cgmath::matrix::*;
     use cgmath::vector::*;
+    type float = f64;
 
     pub static A: Mat2<float> = Mat2 { x: Vec2 { x: 1.0, y: 3.0 },
                                        y: Vec2 { x: 2.0, y: 4.0 } };
@@ -34,6 +36,7 @@ pub mod mat2 {
 pub mod mat3 {
     use cgmath::matrix::*;
     use cgmath::vector::*;
+    type float = f64;
 
     pub static A: Mat3<float> = Mat3 { x: Vec3 { x: 1.0, y: 4.0, z:  7.0 },
                                        y: Vec3 { x: 2.0, y: 5.0, z:  8.0 },
@@ -55,6 +58,7 @@ pub mod mat3 {
 pub mod mat4 {
     use cgmath::matrix::*;
     use cgmath::vector::*;
+    type float = f64;
 
     pub static A: Mat4<float> = Mat4 { x: Vec4 { x: 1.0, y: 5.0, z:  9.0, w: 13.0 },
                                        y: Vec4 { x: 2.0, y: 6.0, z: 10.0, w: 14.0 },

src/tests/plane.rs

@@ -18,11 +18,13 @@ use cgmath::point::*;
 
 #[test]
 fn test_from_points() {
-    assert_eq!(Plane::from_points(Point3::new(5f, 0f,  5f),
-                                  Point3::new(5f, 5f,  5f),
-                                  Point3::new(5f, 0f, -1f)), Some(Plane::from_abcd(-1f, 0f, 0f, 5f)));
+    assert_eq!(Plane::from_points(Point3::new(5.0, 0.0,  5.0),
+                                  Point3::new(5.0, 5.0,  5.0),
+                                  Point3::new(5.0, 0.0, -1.0)),
+    	Some(Plane::from_abcd(-1.0, 0.0, 0.0, 5.0)));
 
-    assert_eq!(Plane::from_points(Point3::new(0f, 5f, -5f),
-                                  Point3::new(0f, 5f,  0f),
-                                  Point3::new(0f, 5f,  5f)), None);     // The points are parallel
+    assert_eq!(Plane::from_points(Point3::new(0.0, 5.0, -5.0),
+                                  Point3::new(0.0, 5.0,  0.0),
+                                  Point3::new(0.0, 5.0,  5.0)),
+        None);     // The points are parallel
 }

src/tests/point.rs

@@ -18,5 +18,5 @@ 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() ));
+    assert_approx_eq!(p, Point3::from_homogeneous( &p.to_homogeneous() ));
 }

src/tests/test.rs

@@ -13,6 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#[feature(globs)];
+
 extern mod cgmath;
 
 // pub mod array;
@@ -25,6 +27,7 @@ pub mod plane;
 pub mod point;
 // pub mod ray;
 // pub mod rotation;
+pub mod transform;
 
 // pub mod projection;
 

src/tests/transform.rs

@@ -0,0 +1,27 @@
+// 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::quaternion::*;
+use cgmath::transform::*;
+use cgmath::vector::*;
+
+#[test]
+fn test_invert() {
+	let v = Vec3::new(1.0, 2.0, 3.0);
+	let t = Transform3D::new( 1.5, Quat::new(0.5,0.5,0.5,0.5), Vec3::new(6.0,-7.0,8.0) );
+	let ti = t.invert().expect("Expected successful inversion");
+	let vt = t.transform_vec( &v );
+    assert_approx_eq!(v, ti.transform_vec( &vt ));
+}

src/tests/vector.rs

@@ -36,9 +36,9 @@ fn test_comp_add() {
     assert_eq!(Vec3::new(1, 2, 3).comp_add(), 6);
     assert_eq!(Vec4::new(1, 2, 3, 4).comp_add(), 10);
 
-    assert_eq!(Vec2::new(3f, 4f).comp_add(), 7f);
-    assert_eq!(Vec3::new(4f, 5f, 6f).comp_add(), 15f);
-    assert_eq!(Vec4::new(5f, 6f, 7f, 8f).comp_add(), 26f);
+    assert_eq!(Vec2::new(3.0, 4.0).comp_add(), 7.0);
+    assert_eq!(Vec3::new(4.0, 5.0, 6.0).comp_add(), 15.0);
+    assert_eq!(Vec4::new(5.0, 6.0, 7.0, 8.0).comp_add(), 26.0);
 }
 
 #[test]
@@ -47,9 +47,9 @@ fn test_comp_mul() {
     assert_eq!(Vec3::new(1, 2, 3).comp_mul(), 6);
     assert_eq!(Vec4::new(1, 2, 3, 4).comp_mul(), 24);
 
-    assert_eq!(Vec2::new(3f, 4f).comp_mul(), 12f);
-    assert_eq!(Vec3::new(4f, 5f, 6f).comp_mul(), 120f);
-    assert_eq!(Vec4::new(5f, 6f, 7f, 8f).comp_mul(), 1680f);
+    assert_eq!(Vec2::new(3.0, 4.0).comp_mul(), 12.0);
+    assert_eq!(Vec3::new(4.0, 5.0, 6.0).comp_mul(), 120.0);
+    assert_eq!(Vec4::new(5.0, 6.0, 7.0, 8.0).comp_mul(), 1680.0);
 }
 
 #[test]
@@ -58,9 +58,9 @@ fn test_comp_min() {
     assert_eq!(Vec3::new(1, 2, 3).comp_min(), 1);
     assert_eq!(Vec4::new(1, 2, 3, 4).comp_min(), 1);
 
-    assert_eq!(Vec2::new(3f, 4f).comp_min(), 3f);
-    assert_eq!(Vec3::new(4f, 5f, 6f).comp_min(), 4f);
-    assert_eq!(Vec4::new(5f, 6f, 7f, 8f).comp_min(), 5f);
+    assert_eq!(Vec2::new(3.0, 4.0).comp_min(), 3.0);
+    assert_eq!(Vec3::new(4.0, 5.0, 6.0).comp_min(), 4.0);
+    assert_eq!(Vec4::new(5.0, 6.0, 7.0, 8.0).comp_min(), 5.0);
 }
 
 #[test]
@@ -69,9 +69,9 @@ fn test_comp_max() {
     assert_eq!(Vec3::new(1, 2, 3).comp_max(), 3);
     assert_eq!(Vec4::new(1, 2, 3, 4).comp_max(), 4);
 
-    assert_eq!(Vec2::new(3f, 4f).comp_max(), 4f);
-    assert_eq!(Vec3::new(4f, 5f, 6f).comp_max(), 6f);
-    assert_eq!(Vec4::new(5f, 6f, 7f, 8f).comp_max(), 8f);
+    assert_eq!(Vec2::new(3.0, 4.0).comp_max(), 4.0);
+    assert_eq!(Vec3::new(4.0, 5.0, 6.0).comp_max(), 6.0);
+    assert_eq!(Vec4::new(5.0, 6.0, 7.0, 8.0).comp_max(), 8.0);
 }
 
 #[test]
@@ -88,9 +88,9 @@ fn test_cross() {
 
 #[test]
 fn test_is_perpendicular() {
-    assert!(Vec2::new(1f, 0f).is_perpendicular(&Vec2::new(0f, 1f)));
-    assert!(Vec3::new(0f, 1f, 0f).is_perpendicular(&Vec3::new(0f, 0f, 1f)));
-    assert!(Vec4::new(1f, 0f, 0f, 0f).is_perpendicular(&Vec4::new(0f, 0f, 0f, 1f)));
+    assert!(Vec2::new(1.0, 0.0).is_perpendicular(&Vec2::new(0.0, 1.0)));
+    assert!(Vec3::new(0.0, 1.0, 0.0).is_perpendicular(&Vec3::new(0.0, 0.0, 1.0)));
+    assert!(Vec4::new(1.0, 0.0, 0.0, 0.0).is_perpendicular(&Vec4::new(0.0, 0.0, 0.0, 1.0)));
 }
 
 #[cfg(test)]
@@ -99,8 +99,8 @@ mod test_length {
 
     #[test]
     fn test_vec2(){
-        let (a, a_res) = (Vec2::new(3f, 4f), 5f); // (3, 4, 5) Pythagorean triple
-        let (b, b_res) = (Vec2::new(5f, 12f), 13f); // (5, 12, 13) Pythagorean triple
+        let (a, a_res) = (Vec2::new(3.0, 4.0), 5.0); // (3, 4, 5) Pythagorean triple
+        let (b, b_res) = (Vec2::new(5.0, 12.0), 13.0); // (5, 12, 13) Pythagorean triple
 
         assert_eq!(a.length2(), a_res * a_res);
         assert_eq!(b.length2(), b_res * b_res);
@@ -111,8 +111,8 @@ mod test_length {
 
     #[test]
     fn test_vec3(){
-        let (a, a_res) = (Vec3::new(2f, 3f, 6f), 7f); // (2, 3, 6, 7) Pythagorean quadruple
-        let (b, b_res) = (Vec3::new(1f, 4f, 8f), 9f); // (1, 4, 8, 9) Pythagorean quadruple
+        let (a, a_res) = (Vec3::new(2.0, 3.0, 6.0), 7.0); // (2, 3, 6, 7) Pythagorean quadruple
+        let (b, b_res) = (Vec3::new(1.0, 4.0, 8.0), 9.0); // (1, 4, 8, 9) Pythagorean quadruple
 
         assert_eq!(a.length2(), a_res * a_res);
         assert_eq!(b.length2(), b_res * b_res);
@@ -123,8 +123,8 @@ mod test_length {
 
     #[test]
     fn test_vec4(){
-        let (a, a_res) = (Vec4::new(1f, 2f, 4f, 10f), 11f); // (1, 2, 4, 10, 11) Pythagorean quintuple
-        let (b, b_res) = (Vec4::new(1f, 2f, 8f, 10f), 13f); // (1, 2, 8, 10, 13) Pythagorean quintuple
+        let (a, a_res) = (Vec4::new(1.0, 2.0, 4.0, 10.0), 11.0); // (1, 2, 4, 10, 11) Pythagorean quintuple
+        let (b, b_res) = (Vec4::new(1.0, 2.0, 8.0, 10.0), 13.0); // (1, 2, 8, 10, 13) Pythagorean quintuple
 
         assert_eq!(a.length2(), a_res * a_res);
         assert_eq!(b.length2(), b_res * b_res);
@@ -136,23 +136,23 @@ mod test_length {
 
 #[test]
 fn test_angle() {
-    assert_approx_eq!(Vec2::new(1f, 0f).angle(&Vec2::new(0f, 1f)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec2::new(10f, 0f).angle(&Vec2::new(0f, 5f)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec2::new(-1f, 0f).angle(&Vec2::new(0f, 1f)), -rad(Real::frac_pi_2()));
+    assert_approx_eq!(Vec2::new(1.0, 0.0).angle(&Vec2::new(0.0, 1.0)), rad(Real::frac_pi_2()));
+    assert_approx_eq!(Vec2::new(10.0, 0.0).angle(&Vec2::new(0.0, 5.0)), rad(Real::frac_pi_2()));
+    assert_approx_eq!(Vec2::new(-1.0, 0.0).angle(&Vec2::new(0.0, 1.0)), -rad(Real::frac_pi_2()));
 
-    assert_approx_eq!(Vec3::new(1f, 0f, 1f).angle(&Vec3::new(1f, 1f, 0f)), rad(Real::frac_pi_3()));
-    assert_approx_eq!(Vec3::new(10f, 0f, 10f).angle(&Vec3::new(5f, 5f, 0f)), rad(Real::frac_pi_3()));
-    assert_approx_eq!(Vec3::new(-1f, 0f, -1f).angle(&Vec3::new(1f, -1f, 0f)), rad(2f * Real::frac_pi_3()));
+    assert_approx_eq!(Vec3::new(1.0, 0.0, 1.0).angle(&Vec3::new(1.0, 1.0, 0.0)), rad(Real::frac_pi_3()));
+    assert_approx_eq!(Vec3::new(10.0, 0.0, 10.0).angle(&Vec3::new(5.0, 5.0, 0.0)), rad(Real::frac_pi_3()));
+    assert_approx_eq!(Vec3::new(-1.0, 0.0, -1.0).angle(&Vec3::new(1.0, -1.0, 0.0)), rad(2.0 * Real::frac_pi_3()));
 
-    assert_approx_eq!(Vec4::new(1f, 0f, 1f, 0f).angle(&Vec4::new(0f, 1f, 0f, 1f)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec4::new(10f, 0f, 10f, 0f).angle(&Vec4::new(0f, 5f, 0f, 5f)), rad(Real::frac_pi_2()));
-    assert_approx_eq!(Vec4::new(-1f, 0f, -1f, 0f).angle(&Vec4::new(0f, 1f, 0f, 1f)), rad(Real::frac_pi_2()));
+    assert_approx_eq!(Vec4::new(1.0, 0.0, 1.0, 0.0).angle(&Vec4::new(0.0, 1.0, 0.0, 1.0)), rad(Real::frac_pi_2()));
+    assert_approx_eq!(Vec4::new(10.0, 0.0, 10.0, 0.0).angle(&Vec4::new(0.0, 5.0, 0.0, 5.0)), rad(Real::frac_pi_2()));
+    assert_approx_eq!(Vec4::new(-1.0, 0.0, -1.0, 0.0).angle(&Vec4::new(0.0, 1.0, 0.0, 1.0)), rad(Real::frac_pi_2()));
 }
 
 #[test]
 fn test_normalize() {
-    // TODO: test normalize_to, normalize_self, and normalize_self_to
-    assert_approx_eq!(Vec2::new(3f, 4f).normalize(), Vec2::new(3f/5f, 4f/5f));
-    assert_approx_eq!(Vec3::new(2f, 3f, 6f).normalize(), Vec3::new(2f/7f, 3f/7f, 6f/7f));
-    assert_approx_eq!(Vec4::new(1f, 2f, 4f, 10f).normalize(), Vec4::new(1f/11f, 2f/11f, 4f/11f, 10f/11f));
+    // TODO: test normalize_to, normalize_sel.0, and normalize_self_to
+    assert_approx_eq!(Vec2::new(3.0, 4.0).normalize(), Vec2::new(3.0/5.0, 4.0/5.0));
+    assert_approx_eq!(Vec3::new(2.0, 3.0, 6.0).normalize(), Vec3::new(2.0/7.0, 3.0/7.0, 6.0/7.0));
+    assert_approx_eq!(Vec4::new(1.0, 2.0, 4.0, 10.0).normalize(), Vec4::new(1.0/11.0, 2.0/11.0, 4.0/11.0, 10.0/11.0));
 }