Add Rotation trait

This will eventually be implemented on Mat3 and Quat

src/lmath.rc

@@ -14,6 +14,7 @@ extern mod numeric;
 pub mod gltypes;
 pub mod mat;
 pub mod quat;
+pub mod rot;
 pub mod vec;
 
 #[test]
@@ -21,6 +22,7 @@ mod test {
     mod test_gltypes;
     mod test_mat;
     mod test_quat;
+    mod test_rot;
     mod test_vec;
 }
 

src/rot.rs

@@ -0,0 +1,27 @@
+use numeric::types::angle::Angle;
+
+use mat::Mat3;
+use quat::Quat;
+use vec::Vec3;
+
+/**
+ * A trait that includes some common rotation methods, constructors and conversions
+ */
+pub trait Rotation<T> {
+    static pure fn from<R: Rotation<T>>(rot: R) -> self;
+    
+    static pure fn from_angle_x<A:Angle<T>>(theta: A) -> self;
+    static pure fn from_angle_y<A:Angle<T>>(theta: A) -> self;
+    static pure fn from_angle_z<A:Angle<T>>(theta: A) -> self;
+    static pure fn from_angle_xyz<A:Angle<T>>(x: A, y: A, z: A) -> self;
+    static pure fn from_angle_axis<A:Angle<T>>(theta: A, axis: &Vec3<T>) -> self;
+    static pure fn from_axes(x: Vec3<T>, y: Vec3<T>, z: Vec3<T>) -> self;
+    static pure fn look_at(dir: &Vec3<T>, up: &Vec3<T>) -> self;
+    
+    pure fn concat(&self, other: &self) -> self;
+    pure fn rotate_vec(&self, vec: &Vec3<T>) -> Vec3<T>;
+    
+    pure fn to_mat3(&self) -> Mat3<T>;
+    pure fn to_quat(&self) -> Quat<T>;
+    // pure fn to_euler(&self) -> Euler<T>;
+}