Merge branch 'refs/heads/luqmana-master'

src/mat.rs

@@ -98,8 +98,10 @@ pub trait NumericMatrixNxN<T, ColRow>: MatrixNxN<T, ColRow>,
     static pure fn identity() -> self;
     
     pure fn mul_m(other: &self) -> self;
+    pure fn dot(other: &self) -> T;
     
     pure fn det() -> T;
+    pure fn trace() -> T;
     
     pure fn invert() -> Option<self>;
     pure fn transpose() -> self;
@@ -261,11 +263,19 @@ pub impl<T:Copy Num NumCast DefaultEq> Mat2<T>: NumericMatrixNxN<T, Vec2<T>> {
         Mat2::new(self.row(0).dot(&other.col(0)), self.row(1).dot(&other.col(0)),
                   self.row(0).dot(&other.col(1)), self.row(1).dot(&other.col(1)))
     }
+
+    pure fn dot(other: &Mat2<T>) -> T {
+        other.transpose().mul_m(&self).trace()
+    }
     
     pure fn det() -> T {
        self[0][0] * self[1][1] - self[1][0] * self[0][1]
     }
 
+    pure fn trace() -> T {
+        self[0][0] + self[1][1]
+    }
+
     #[inline(always)]
     pure fn invert() -> Option<Mat2<T>> {
         let _0 = cast(0);
@@ -504,10 +514,18 @@ pub impl<T:Copy Num NumCast DefaultEq> Mat3<T>: NumericMatrixNxN<T, Vec3<T>> {
                   self.row(0).dot(&other.col(2)), self.row(1).dot(&other.col(2)), self.row(2).dot(&other.col(2)))
     }
     
+    pure fn dot(other: &Mat3<T>) -> T {
+        other.transpose().mul_m(&self).trace()
+    }
+
     pure fn det() -> T {
         self.col(0).dot(&self.col(1).cross(&self.col(2)))
     }
 
+    pure fn trace() -> T {
+        self[0][0] + self[1][1] + self[2][2]
+    }
+
     // #[inline(always)]
     pure fn invert() -> Option<Mat3<T>> {
         let d = self.det();
@@ -566,14 +584,14 @@ pub impl<T:Copy NumCast> Mat3<T>: NumericMatrix3x3<T, Vec3<T>> {
     }
 }
 
-pub impl<T:Copy Num NumCast Ord> Mat3<T>: ToQuat<T> {
+pub impl<T:Copy Num NumCast Ord DefaultEq> Mat3<T>: ToQuat<T> {
     pure fn to_Quat() -> Quat<T> {
         // Implemented using a mix of ideas from jMonkeyEngine and Ken Shoemake's
         // paper on Quaternions: http://www.cs.ucr.edu/~vbz/resources/Quatut.pdf
         
         let mut s: float;
         let w: float, x: float, y: float, z: float;
-        let trace: float = cast(self[0][0] + self[1][1] + self[2][2]);
+        let trace: float = cast(self.trace());
         
         if trace >= cast(0) {
             s = (trace + 1f).sqrt();
@@ -828,6 +846,10 @@ pub impl<T:Copy Num NumCast DefaultEq Signed Ord> Mat4<T>: NumericMatrixNxN<T, V
                   self.row(0).dot(&other.col(3)), self.row(1).dot(&other.col(3)), self.row(2).dot(&other.col(3)), self.row(3).dot(&other.col(3)))
     }
     
+    pure fn dot(other: &Mat4<T>) -> T {
+        other.transpose().mul_m(&self).trace()
+    }
+
     pure fn det() -> T {
         self[0][0]*Mat3::new(self[1][1], self[2][1], self[3][1],
                              self[1][2], self[2][2], self[3][2],
@@ -843,6 +865,10 @@ pub impl<T:Copy Num NumCast DefaultEq Signed Ord> Mat4<T>: NumericMatrixNxN<T, V
                              self[0][3], self[1][3], self[2][3]).det()
     }
 
+    pure fn trace() -> T {
+        self[0][0] + self[1][1] + self[2][2] + self[3][3]
+    }
+
     pure fn invert() -> Option<Mat4<T>> {
         let d = self.det();
         let _0 = cast(0);

src/test/test_mat.rs

@@ -31,6 +31,7 @@ fn test_Mat2() {
     assert a.col(1) == Vec2::new(2f, 4f);
 
     assert a.det() == -2f;
+    assert a.trace() == 5f;
     
     assert a.neg() == Mat2::new(-1f, -3f,
                                 -2f, -4f);
@@ -46,6 +47,7 @@ fn test_Mat2() {
                                     -1f, -1f);
     assert a.mul_m(&b) == Mat2::new(10.0, 22.0,
                                     13.0, 29.0);
+    assert a.dot(&b) == 40f; 
     
     assert a.transpose() == Mat2::new(1f, 2f,
                                       3f, 4f);
@@ -135,6 +137,7 @@ fn test_Mat3() {
     assert a.col(2) == Vec3::new(3f, 6f, 9f);
 
     assert a.det() == 0f;
+    assert a.trace() == 15f;
     
     assert a.neg() == Mat3::new(-1f, -4f, -7f,
                                 -2f, -5f, -8f,
@@ -155,6 +158,7 @@ fn test_Mat3() {
     assert a.mul_m(&b) == Mat3::new(36f,  81f, 126f,
                                     42f,  96f, 150f,
                                     48f, 111f, 174f);
+    assert a.dot(&b) == 330f;
     
     assert a.transpose() == Mat3::new(1f, 2f, 3f,
                                       4f, 5f, 6f,
@@ -269,6 +273,7 @@ fn test_Mat4() {
     assert a.col(3) == Vec4::new(4f, 8f, 12f, 16f);
 
     assert a.det() == 0f;
+    assert a.trace() == 34f;
     
     assert a.neg() == Mat4::new(-1f, -5f,  -9f, -13f,
                                 -2f, -6f, -10f, -14f,
@@ -294,6 +299,7 @@ fn test_Mat4() {
                                     110f, 254f, 398f, 542f,
                                     120f, 280f, 440f, 600f,
                                     130f, 306f, 482f, 658f);
+    assert a.dot(&b) == 1632f;
     
     assert a.transpose() == Mat4::new( 1f,  2f,  3f,  4f,
                                        5f,  6f,  7f,  8f,