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Brendan Zabarauskas 2015-09-30 20:39:10 +10:00
parent e845fd9b8c
commit d9675f7c7e
1 changed files with 7 additions and 20 deletions
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27
src/matrix.rs
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@ -249,9 +249,7 @@ impl<S: Copy + Neg<Output = S>> Matrix4<S> {
} }
} }
pub trait Matrix<S: BaseFloat, V: Clone + Vector<S> + 'static>: Array2<V, V, S> pub trait Matrix<S: BaseFloat, V: Vector<S> + 'static>: Array2<V, V, S> + ApproxEq<S> + Sized // where
+ ApproxEq<S>
+ Sized // where
// FIXME: blocked by rust-lang/rust#20671 // FIXME: blocked by rust-lang/rust#20671
// //
// for<'a, 'b> &'a Self: Add<&'b Self, Output = Self>, // for<'a, 'b> &'a Self: Add<&'b Self, Output = Self>,
@ -733,24 +731,16 @@ impl<S: BaseFloat> Matrix<S, Vector4<S>> for Matrix4<S> {
fn invert(&self) -> Option<Matrix4<S>> { fn invert(&self) -> Option<Matrix4<S>> {
let det = self.determinant(); let det = self.determinant();
if !det.approx_eq(&S::zero()) { if det.approx_eq(&S::zero()) { None } else {
let inv_det = S::one() / det; let inv_det = S::one() / det;
let t = self.transpose(); let t = self.transpose();
let cf = |i, j| { let cf = |i, j| {
let mat = match i { let mat = match i {
0 => Matrix3::from_cols(t.y.truncate_n(j), 0 => Matrix3::from_cols(t.y.truncate_n(j), t.z.truncate_n(j), t.w.truncate_n(j)),
t.z.truncate_n(j), 1 => Matrix3::from_cols(t.x.truncate_n(j), t.z.truncate_n(j), t.w.truncate_n(j)),
t.w.truncate_n(j)), 2 => Matrix3::from_cols(t.x.truncate_n(j), t.y.truncate_n(j), t.w.truncate_n(j)),
1 => Matrix3::from_cols(t.x.truncate_n(j), 3 => Matrix3::from_cols(t.x.truncate_n(j), t.y.truncate_n(j), t.z.truncate_n(j)),
t.z.truncate_n(j), _ => panic!("out of range"),
t.w.truncate_n(j)),
2 => Matrix3::from_cols(t.x.truncate_n(j),
t.y.truncate_n(j),
t.w.truncate_n(j)),
3 => Matrix3::from_cols(t.x.truncate_n(j),
t.y.truncate_n(j),
t.z.truncate_n(j)),
_ => panic!("out of range")
}; };
let sign = if (i + j) & 1 == 1 { -S::one() } else { S::one() }; let sign = if (i + j) & 1 == 1 { -S::one() } else { S::one() };
mat.determinant() * sign * inv_det mat.determinant() * sign * inv_det
@ -760,9 +750,6 @@ impl<S: BaseFloat> Matrix<S, Vector4<S>> for Matrix4<S> {
cf(1, 0), cf(1, 1), cf(1, 2), cf(1, 3), cf(1, 0), cf(1, 1), cf(1, 2), cf(1, 3),
cf(2, 0), cf(2, 1), cf(2, 2), cf(2, 3), cf(2, 0), cf(2, 1), cf(2, 2), cf(2, 3),
cf(3, 0), cf(3, 1), cf(3, 2), cf(3, 3))) cf(3, 0), cf(3, 1), cf(3, 2), cf(3, 3)))
} else {
None
} }
} }