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Complete method implementations

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This commit is contained in:
Brendan Zabarauskas 2012-12-28 17:12:24 +10:00
parent 0b55dc2105
commit bd91c24de0
1 changed files with 27 additions and 10 deletions
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37
src/quat.rs
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@ -311,26 +311,43 @@ pub impl<T:Copy Float> Quat<T> {
// TODO: Move to Rotation implementation. See: https://github.com/mozilla/rust/issues/4306
#[inline(always)]
static pure fn from_angle_x<A:Angle<T>>(_theta: A) -> Quat<T> {
fail(~"Not yet implemented!")
static pure fn from_angle_x<A:Angle<T>>(theta: A) -> Quat<T> {
let _0 = Number::from(0);
let _2 = Number::from(2);
let rad = theta.to_radians();
Quat::new((rad / _2).cos(), rad.sin(), _0, _0)
}
// TODO: Move to Rotation implementation. See: https://github.com/mozilla/rust/issues/4306
#[inline(always)]
static pure fn from_angle_y<A:Angle<T>>(_theta: A) -> Quat<T> {
fail(~"Not yet implemented!")
static pure fn from_angle_y<A:Angle<T>>(theta: A) -> Quat<T> {
let _0 = Number::from(0);
let _2 = Number::from(2);
let rad = theta.to_radians();
Quat::new((rad / _2).cos(), _0, rad.sin(), _0)
}
// TODO: Move to Rotation implementation. See: https://github.com/mozilla/rust/issues/4306
#[inline(always)]
static pure fn from_angle_z<A:Angle<T>>(_theta: A) -> Quat<T> {
fail(~"Not yet implemented!")
static pure fn from_angle_z<A:Angle<T>>(theta: A) -> Quat<T> {
let _0 = Number::from(0);
let _2 = Number::from(2);
let rad = theta.to_radians();
Quat::new((rad / _2).cos(), _0, _0, rad.sin())
}
// TODO: Move to Rotation implementation. See: https://github.com/mozilla/rust/issues/4306
#[inline(always)]
static pure fn from_angle_xyz<A:Angle<T>>(_x: A, _y: A, _z: A) -> Quat<T> {
fail(~"Not yet implemented!")
static pure fn from_angle_xyz<A:Angle<T>>(x: A, y: A, z: A) -> Quat<T> {
// http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Conversion
let _2 = Number::from(2);
let xdiv2 = x.to_radians() / _2;
let ydiv2 = y.to_radians() / _2;
let zdiv2 = z.to_radians() / _2;
Quat::new(cos(&zdiv2) * cos(&xdiv2) * cos(&ydiv2) + sin(&zdiv2) * sin(&xdiv2) * sin(&ydiv2),
sin(&zdiv2) * cos(&xdiv2) * cos(&ydiv2) - cos(&zdiv2) * sin(&xdiv2) * sin(&ydiv2),
cos(&zdiv2) * sin(&xdiv2) * cos(&ydiv2) + sin(&zdiv2) * cos(&xdiv2) * sin(&ydiv2),
cos(&zdiv2) * cos(&xdiv2) * sin(&ydiv2) - sin(&zdiv2) * sin(&xdiv2) * cos(&ydiv2))
}
// TODO: Move to Rotation implementation. See: https://github.com/mozilla/rust/issues/4306
@ -348,8 +365,8 @@ pub impl<T:Copy Float> Quat<T> {
// TODO: Move to Rotation implementation. See: https://github.com/mozilla/rust/issues/4306
#[inline(always)]
static pure fn look_at(_dir: &Vec3<T>, _up: &Vec3<T>) -> Quat<T> {
fail(~"Not yet implemented!")
static pure fn look_at(dir: &Vec3<T>, up: &Vec3<T>) -> Quat<T> {
Mat3::look_at(dir, up).to_quat()
}
// TODO: Move to Rotation implementation. See: https://github.com/mozilla/rust/issues/4306