Merge pull request #269 from bjz/quaternion-ops
Add missing by-ref and by-val permutations of quaternion operators
This commit is contained in:
Brendan Zabarauskas
commit
80a89581ef
2 changed files with 98 additions and 69 deletions
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@ -6,6 +6,9 @@ This project adheres to [Semantic Versioning](http://semver.org/).
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## [Unreleased]
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### Added
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- Add missing by-ref and by-val permutations of `Quaternion` operators.
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## [v0.6.0] - 2015-12-12
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### Added
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@ -67,8 +67,8 @@ impl<S: BaseFloat> Quaternion<S> {
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/// The dot product of the quaternion and `q`.
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#[inline]
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pub fn dot(self, q: Quaternion<S>) -> S {
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self.s * q.s + self.v.dot(q.v)
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pub fn dot(self, other: Quaternion<S>) -> S {
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self.s * other.s + self.v.dot(other.v)
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}
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/// The conjugate of the quaternion.
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@ -105,86 +105,121 @@ impl<S: BaseFloat> Quaternion<S> {
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/// Do a normalized linear interpolation with `other`, by `amount`.
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pub fn nlerp(self, other: Quaternion<S>, amount: S) -> Quaternion<S> {
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(&(self * (S::one() - amount)) + &(other * amount)).normalize()
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(self * (S::one() - amount) + other * amount).normalize()
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}
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}
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impl<S: BaseFloat> Mul<S> for Quaternion<S> {
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impl<S: BaseFloat> Neg for Quaternion<S> {
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type Output = Quaternion<S>;
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#[inline]
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fn mul(self, value: S) -> Quaternion<S> {
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Quaternion::from_sv(self.s * value, self.v * value)
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}
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fn neg(self) -> Quaternion<S> { Quaternion::from_sv(-self.s, -self.v) }
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}
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impl<'a, S: BaseFloat> Mul<S> for &'a Quaternion<S> {
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impl<'a, S: BaseFloat> Neg for &'a Quaternion<S> {
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type Output = Quaternion<S>;
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#[inline]
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fn mul(self, value: S) -> Quaternion<S> {
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Quaternion::from_sv(self.s * value, self.v * value)
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}
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fn neg(self) -> Quaternion<S> { Quaternion::from_sv(-self.s, -self.v) }
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}
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impl<S: BaseFloat> Div<S> for Quaternion<S> {
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type Output = Quaternion<S>;
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/// Generates a binary operator implementation for the permutations of by-ref and by-val
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macro_rules! impl_binary_operator {
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// When the right operand is a scalar
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(<$S:ident> $Binop:ident<$Rhs:ident> for $Lhs:ty { fn $binop:ident($lhs:ident, $rhs:ident) -> $Output:ty { $body:expr } }) => {
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impl<$S: BaseFloat> $Binop<$Rhs> for $Lhs {
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type Output = $Output;
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#[inline]
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fn div(self, value: S) -> Quaternion<S> {
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Quaternion::from_sv(self.s / value, self.v / value)
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fn $binop(self, other: $Rhs) -> $Output {
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let ($lhs, $rhs) = (self, other); $body
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}
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}
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impl<'a, $S: BaseFloat> $Binop<$Rhs> for &'a $Lhs {
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type Output = $Output;
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#[inline]
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fn $binop(self, other: $Rhs) -> $Output {
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let ($lhs, $rhs) = (self, other); $body
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}
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}
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};
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// When the right operand is a compound type
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(<$S:ident> $Binop:ident<$Rhs:ty> for $Lhs:ty { fn $binop:ident($lhs:ident, $rhs:ident) -> $Output:ty { $body:expr } }) => {
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impl<$S: BaseFloat> $Binop<$Rhs> for $Lhs {
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type Output = $Output;
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#[inline]
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fn $binop(self, other: $Rhs) -> $Output {
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let ($lhs, $rhs) = (self, other); $body
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}
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}
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impl<'a, $S: BaseFloat> $Binop<&'a $Rhs> for $Lhs {
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type Output = $Output;
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#[inline]
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fn $binop(self, other: &'a $Rhs) -> $Output {
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let ($lhs, $rhs) = (self, other); $body
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}
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}
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impl<'a, $S: BaseFloat> $Binop<$Rhs> for &'a $Lhs {
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type Output = $Output;
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#[inline]
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fn $binop(self, other: $Rhs) -> $Output {
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let ($lhs, $rhs) = (self, other); $body
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}
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}
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impl<'a, 'b, $S: BaseFloat> $Binop<&'a $Rhs> for &'b $Lhs {
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type Output = $Output;
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#[inline]
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fn $binop(self, other: &'a $Rhs) -> $Output {
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let ($lhs, $rhs) = (self, other); $body
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}
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}
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};
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}
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impl<'a, S: BaseFloat> Div<S> for &'a Quaternion<S> {
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type Output = Quaternion<S>;
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#[inline]
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fn div(self, value: S) -> Quaternion<S> {
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Quaternion::from_sv(self.s / value, self.v / value)
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impl_binary_operator!(<S> Mul<S> for Quaternion<S> {
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fn mul(lhs, rhs) -> Quaternion<S> {
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Quaternion::from_sv(lhs.s * rhs, lhs.v * rhs)
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}
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}
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});
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impl<'a, 'b, S: BaseFloat> Mul<&'b Vector3<S>> for &'a Quaternion<S> {
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type Output = Vector3<S>;
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impl_binary_operator!(<S> Div<S> for Quaternion<S> {
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fn div(lhs, rhs) -> Quaternion<S> {
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Quaternion::from_sv(lhs.s / rhs, lhs.v / rhs)
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}
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});
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#[inline]
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fn mul(self, vec: &'b Vector3<S>) -> Vector3<S> {
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impl_binary_operator!(<S> Mul<Vector3<S> > for Quaternion<S> {
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fn mul(lhs, rhs) -> Vector3<S> {{
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let rhs = rhs.clone();
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let two: S = cast(2i8).unwrap();
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let tmp = self.v.cross(*vec) + (vec * self.s);
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(self.v.cross(tmp) * two) + vec
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let tmp = lhs.v.cross(rhs) + (rhs * lhs.s);
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(lhs.v.cross(tmp) * two) + rhs
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}}
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});
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impl_binary_operator!(<S> Add<Quaternion<S> > for Quaternion<S> {
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fn add(lhs, rhs) -> Quaternion<S> {
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Quaternion::from_sv(lhs.s + rhs.s, lhs.v + rhs.v)
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}
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}
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});
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impl<'a, 'b, S: BaseFloat> Add<&'b Quaternion<S>> for &'a Quaternion<S> {
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type Output = Quaternion<S>;
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#[inline]
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fn add(self, other: &'b Quaternion<S>) -> Quaternion<S> {
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Quaternion::from_sv(self.s + other.s, self.v + &other.v)
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impl_binary_operator!(<S> Sub<Quaternion<S> > for Quaternion<S> {
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fn sub(lhs, rhs) -> Quaternion<S> {
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Quaternion::from_sv(lhs.s - rhs.s, lhs.v - rhs.v)
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}
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}
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});
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impl<'a, 'b, S: BaseFloat> Sub<&'b Quaternion<S>> for &'a Quaternion<S> {
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type Output = Quaternion<S>;
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#[inline]
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fn sub(self, other: &'b Quaternion<S>) -> Quaternion<S> {
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Quaternion::from_sv(self.s - other.s, self.v - &other.v)
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impl_binary_operator!(<S> Mul<Quaternion<S> > for Quaternion<S> {
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fn mul(lhs, rhs) -> Quaternion<S> {
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Quaternion::new(lhs.s * rhs.s - lhs.v.x * rhs.v.x - lhs.v.y * rhs.v.y - lhs.v.z * rhs.v.z,
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lhs.s * rhs.v.x + lhs.v.x * rhs.s + lhs.v.y * rhs.v.z - lhs.v.z * rhs.v.y,
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lhs.s * rhs.v.y + lhs.v.y * rhs.s + lhs.v.z * rhs.v.x - lhs.v.x * rhs.v.z,
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lhs.s * rhs.v.z + lhs.v.z * rhs.s + lhs.v.x * rhs.v.y - lhs.v.y * rhs.v.x)
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}
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}
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impl<'a, 'b, S: BaseFloat> Mul<&'b Quaternion<S>> for &'a Quaternion<S> {
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type Output = Quaternion<S>;
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#[inline]
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fn mul(self, other: &'b Quaternion<S>) -> Quaternion<S> {
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Quaternion::new(self.s * other.s - self.v.x * other.v.x - self.v.y * other.v.y - self.v.z * other.v.z,
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self.s * other.v.x + self.v.x * other.s + self.v.y * other.v.z - self.v.z * other.v.y,
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self.s * other.v.y + self.v.y * other.s + self.v.z * other.v.x - self.v.x * other.v.z,
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self.s * other.v.z + self.v.z * other.s + self.v.x * other.v.y - self.v.y * other.v.x)
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}
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}
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});
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impl<S: BaseFloat> ApproxEq for Quaternion<S> {
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type Epsilon = S;
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@ -236,7 +271,7 @@ impl<S: BaseFloat> Quaternion<S> {
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let scale1 = sin(theta.mul_s(S::one() - amount));
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let scale2 = sin(theta.mul_s(amount));
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&(&(self * scale1) + &(other * scale2)) * sin(theta).recip()
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(self * scale1 + other * scale2) * sin(theta).recip()
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}
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}
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@ -331,15 +366,6 @@ impl<S: BaseFloat> From<Quaternion<S>> for Matrix4<S> {
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}
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}
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impl<S: BaseFloat> Neg for Quaternion<S> {
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type Output = Quaternion<S>;
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#[inline]
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fn neg(self) -> Quaternion<S> {
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Quaternion::from_sv(-self.s, -self.v)
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}
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}
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impl<S: BaseFloat> fmt::Debug for Quaternion<S> {
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fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
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write!(f, "{:?} + {:?}i + {:?}j + {:?}k",
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@ -374,7 +400,7 @@ impl<S: BaseFloat> Rotation<Point3<S>> for Quaternion<S> {
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}
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#[inline]
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fn rotate_vector(&self, vec: Vector3<S>) -> Vector3<S> { self * &vec }
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fn rotate_vector(&self, vec: Vector3<S>) -> Vector3<S> { self * vec }
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#[inline]
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fn concat(&self, other: &Quaternion<S>) -> Quaternion<S> { self * other }
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@ -383,7 +409,7 @@ impl<S: BaseFloat> Rotation<Point3<S>> for Quaternion<S> {
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fn concat_self(&mut self, other: &Quaternion<S>) { *self = &*self * other; }
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#[inline]
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fn invert(&self) -> Quaternion<S> { &self.conjugate() / self.magnitude2() }
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fn invert(&self) -> Quaternion<S> { self.conjugate() / self.magnitude2() }
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#[inline]
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fn invert_self(&mut self) { *self = self.invert() }
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