Add rotation module

src/cgmath/rotation.rs

@@ -0,0 +1,147 @@
+// 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 angle::Angle;
+use array::Array;
+use matrix::{Mat2, ToMat2};
+use matrix::{Mat3, ToMat3};
+use point::{Point2, Point3};
+use quaternion::ToQuat;
+use ray::{Ray2, Ray3};
+use vector::{Vec2, Vec3};
+
+/// A two-dimensional rotation
+pub trait Rotation2
+<
+    S
+>
+:   Eq
++   ApproxEq<S>
++   Neg<Self>
++   Add<Self, Self>
++   Sub<Self, Self>
++   ToMat2<S>
++   ToRot2<S>
+{
+    fn rotate_point2(&self, point: Point2<S>) -> Point2<S>;
+    fn rotate_vec2(&self, vec: &Vec2<S>) -> Vec2<S>;
+    fn rotate_ray2(&self, ray: &Ray2<S>) -> Ray2<S>;
+}
+
+/// A three-dimensional rotation
+pub trait Rotation3
+<
+    S
+>
+:   Eq
++   ApproxEq<S>
++   Neg<Self>
++   Add<Self, Self>
++   Sub<Self, Self>
++   ToMat3<S>
++   ToRot3<S>
++   ToQuat<S>
+{
+    fn rotate_point3(&self, point: &Point3<S>) -> Point3<S>;
+    fn rotate_vec3(&self, vec: &Vec3<S>) -> Vec3<S>;
+    fn rotate_ray3(&self, ray: &Ray3<S>) -> Ray3<S>;
+}
+
+/// A two-dimensional rotation matrix.
+///
+/// The matrix is guaranteed to be orthogonal, so some operations can be
+/// implemented more efficiently than the implementations for `math::Mat2`. To
+/// enforce orthogonality at the type level the operations have been restricted
+/// to a subeset of those implemented on `Mat2`.
+#[deriving(Eq, Clone)]
+pub struct Rot2<S> {
+    priv mat: Mat2<S>
+}
+
+pub trait ToRot2<S: Clone + Float> {
+    fn to_rot2(&self) -> Rot2<S>;
+}
+
+/// A three-dimensional rotation matrix.
+///
+/// The matrix is guaranteed to be orthogonal, so some operations, specifically
+/// inversion, can be implemented more efficiently than the implementations for
+/// `math::Mat3`. To enforce orthogonality at the type level the operations have
+/// been restricted to a subeset of those implemented on `Mat3`.
+#[deriving(Eq, Clone)]
+pub struct Rot3<S> {
+    priv mat: Mat3<S>
+}
+
+pub trait ToRot3<S: Clone + Float> {
+    fn to_rot3(&self) -> Rot3<S>;
+}
+
+/// Euler angles
+///
+/// Whilst Euler angles are easier to visualise, and more intuitive to specify,
+/// they are not reccomended for general use because they are prone to gimble
+/// lock.
+///
+/// # Fields
+///
+/// - `x`: the angular rotation around the `x` axis (pitch)
+/// - `y`: the angular rotation around the `y` axis (yaw)
+/// - `z`: the angular rotation around the `z` axis (roll)
+#[deriving(Eq, Clone)]
+pub struct Euler<A> { x: A, y: A, z: A }
+
+array!(impl<A> Euler<A> -> [A, ..3])
+
+pub trait ToEuler<A> {
+    fn to_euler(&self) -> Euler<A>;
+}
+
+impl<S: Clone + Float, A: Angle<S>> Euler<A> {
+    #[inline]
+    pub fn new(x: A, y: A, z: A) -> Euler<A> {
+        Euler { x: x, y: y, z: z }
+    }
+}
+
+/// A rotation about an arbitrary axis
+#[deriving(Eq, Clone)]
+pub struct AxisAngle<S, A> {
+    axis: Vec3<S>,
+    angle: A,
+}
+
+/// An angle around the X axis (pitch).
+#[deriving(Eq, Ord, Clone)]
+pub struct AngleX<A>(A);
+
+/// An angle around the X axis (yaw).
+#[deriving(Eq, Ord, Clone)]
+pub struct AngleY<A>(A);
+
+/// An angle around the Z axis (roll).
+#[deriving(Eq, Ord, Clone)]
+pub struct AngleZ<A>(A);
+
+impl<S: Clone + Float, A: Angle<S>> Neg<AngleX<A>> for AngleX<A> { #[inline] fn neg(&self) -> AngleX<A> { AngleX(-**self) } }
+impl<S: Clone + Float, A: Angle<S>> Neg<AngleY<A>> for AngleY<A> { #[inline] fn neg(&self) -> AngleY<A> { AngleY(-**self) } }
+impl<S: Clone + Float, A: Angle<S>> Neg<AngleZ<A>> for AngleZ<A> { #[inline] fn neg(&self) -> AngleZ<A> { AngleZ(-**self) } }
+
+impl<S: Clone + Float, A: Angle<S>> Add<AngleX<A>, AngleX<A>> for AngleX<A> { #[inline] fn add(&self, other: &AngleX<A>) -> AngleX<A> { AngleX((**self).add_a(*other.clone())) } }
+impl<S: Clone + Float, A: Angle<S>> Add<AngleY<A>, AngleY<A>> for AngleY<A> { #[inline] fn add(&self, other: &AngleY<A>) -> AngleY<A> { AngleY((**self).add_a(*other.clone())) } }
+impl<S: Clone + Float, A: Angle<S>> Add<AngleZ<A>, AngleZ<A>> for AngleZ<A> { #[inline] fn add(&self, other: &AngleZ<A>) -> AngleZ<A> { AngleZ((**self).add_a(*other.clone())) } }
+impl<S: Clone + Float, A: Angle<S>> Sub<AngleX<A>, AngleX<A>> for AngleX<A> { #[inline] fn sub(&self, other: &AngleX<A>) -> AngleX<A> { AngleX((**self).sub_a(*other.clone())) } }
+impl<S: Clone + Float, A: Angle<S>> Sub<AngleY<A>, AngleY<A>> for AngleY<A> { #[inline] fn sub(&self, other: &AngleY<A>) -> AngleY<A> { AngleY((**self).sub_a(*other.clone())) } }
+impl<S: Clone + Float, A: Angle<S>> Sub<AngleZ<A>, AngleZ<A>> for AngleZ<A> { #[inline] fn sub(&self, other: &AngleZ<A>) -> AngleZ<A> { AngleZ((**self).sub_a(*other.clone())) } }