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Add matrix algebra operations

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This commit is contained in:
Brendan Zabarauskas 2013-09-04 14:40:24 +10:00
parent bf1dd601d7
commit 9c65b38231
1 changed files with 57 additions and 8 deletions
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65
src/cgmath/matrix.rs
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@ -218,17 +218,32 @@ pub trait Matrix
*self.mut_cr(cb, rb) = tmp;
}
#[inline]
fn neg_self(&mut self) {
for c in self.mut_iter() { *c = c.neg() }
}
// fn swap_cr(&mut self, (ca, ra): (uint, uint), (cb, rb): (uint, uint)) {
// let tmp = self.cr(ca, ra).clone();
// *self.mut_cr(ca, ra) = self.cr(cb, rb).clone();
// *self.mut_cr(cb, rb) = tmp;
// }
#[inline] fn neg_self(&mut self) { for c in self.mut_iter() { *c = c.neg() } }
#[inline] fn mul_s(&self, s: S) -> Self { self.map(|c| c.mul_s(s.clone())) }
#[inline] fn div_s(&self, s: S) -> Self { self.map(|c| c.div_s(s.clone())) }
#[inline] fn rem_s(&self, s: S) -> Self { self.map(|c| c.rem_s(s.clone())) }
#[inline] fn mul_self_s(&mut self, s: S) { for c in self.mut_iter() { *c = c.mul_s(s.clone()) } }
#[inline] fn div_self_s(&mut self, s: S) { for c in self.mut_iter() { *c = c.div_s(s.clone()) } }
#[inline] fn rem_self_s(&mut self, s: S) { for c in self.mut_iter() { *c = c.rem_s(s.clone()) } }
fn mul_v(&self, v: &V) -> V;
#[inline] fn add_m(&self, other: &Self) -> Self { self.bimap(other, |a, b| a.add_v(b) ) }
#[inline] fn sub_m(&self, other: &Self) -> Self { self.bimap(other, |a, b| a.sub_v(b) ) }
#[inline] fn add_self_m(&mut self, other: &Self) { for (a, b) in self.mut_iter().zip(other.iter()) { *a = a.add_v(b) } }
#[inline] fn sub_self_m(&mut self, other: &Self) { for (a, b) in self.mut_iter().zip(other.iter()) { *a = a.sub_v(b) } }
fn mul_m(&self, other: &Self) -> Self;
fn transpose(&self) -> Self;
fn transpose_self(&mut self);
fn trace(&self) -> S;
@ -273,6 +288,16 @@ for Mat2<S>
self.i(1).i(r).clone())
}
fn mul_v(&self, v: &Vec2<S>) -> Vec2<S> {
Vec2::new(self.r(0).dot(v),
self.r(1).dot(v))
}
fn mul_m(&self, other: &Mat2<S>) -> Mat2<S> {
Mat2::new(self.r(0).dot(other.c(0)), self.r(1).dot(other.c(0)),
self.r(0).dot(other.c(1)), self.r(1).dot(other.c(1)))
}
fn transpose(&self) -> Mat2<S> {
Mat2::new(self.cr(0, 0).clone(), self.cr(1, 0).clone(),
self.cr(0, 1).clone(), self.cr(1, 1).clone())
@ -329,6 +354,18 @@ for Mat3<S>
self.i(2).i(r).clone())
}
fn mul_v(&self, v: &Vec3<S>) -> Vec3<S> {
Vec3::new(self.r(0).dot(v),
self.r(1).dot(v),
self.r(2).dot(v))
}
fn mul_m(&self, other: &Mat3<S>) -> Mat3<S> {
Mat3::new(self.r(0).dot(other.c(0)),self.r(1).dot(other.c(0)),self.r(2).dot(other.c(0)),
self.r(0).dot(other.c(1)),self.r(1).dot(other.c(1)),self.r(2).dot(other.c(1)),
self.r(0).dot(other.c(2)),self.r(1).dot(other.c(2)),self.r(2).dot(other.c(2)))
}
fn transpose(&self) -> Mat3<S> {
Mat3::new(self.cr(0, 0).clone(), self.cr(1, 0).clone(), self.cr(2, 0).clone(),
self.cr(0, 1).clone(), self.cr(1, 1).clone(), self.cr(2, 1).clone(),
@ -355,9 +392,7 @@ for Mat3<S>
fn invert(&self) -> Option<Mat3<S>> {
let det = self.determinant();
if det.approx_eq(&zero()) {
None
} else {
if det.approx_eq(&zero()) { None } else {
Some(Mat3::from_cols(self.c(1).cross(self.c(2)).div_s(det.clone()),
self.c(2).cross(self.c(0)).div_s(det.clone()),
self.c(0).cross(self.c(1)).div_s(det.clone())).transpose())
@ -399,6 +434,20 @@ for Mat4<S>
self.i(2).i(r).clone())
}
fn mul_v(&self, v: &Vec4<S>) -> Vec4<S> {
Vec4::new(self.r(0).dot(v),
self.r(1).dot(v),
self.r(2).dot(v),
self.r(3).dot(v))
}
fn mul_m(&self, other: &Mat4<S>) -> Mat4<S> {
Mat4::new(self.r(0).dot(other.c(0)), self.r(1).dot(other.c(0)), self.r(2).dot(other.c(0)), self.r(3).dot(other.c(0)),
self.r(0).dot(other.c(1)), self.r(1).dot(other.c(1)), self.r(2).dot(other.c(1)), self.r(3).dot(other.c(1)),
self.r(0).dot(other.c(2)), self.r(1).dot(other.c(2)), self.r(2).dot(other.c(2)), self.r(3).dot(other.c(2)),
self.r(0).dot(other.c(3)), self.r(1).dot(other.c(3)), self.r(2).dot(other.c(3)), self.r(3).dot(other.c(3)))
}
fn transpose(&self) -> Mat4<S> {
Mat4::new(self.cr(0, 0).clone(), self.cr(1, 0).clone(), self.cr(2, 0).clone(), self.cr(3, 0).clone(),
self.cr(0, 1).clone(), self.cr(1, 1).clone(), self.cr(2, 1).clone(), self.cr(3, 1).clone(),