hodasemi/cgmath
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

Implement inversions for AngleAxis rotations

Browse source
This commit is contained in:
Brendan Zabarauskas 2013-09-17 18:45:31 +10:00
parent 7eb8bc50c9
commit eade6cc18f
1 changed files with 17 additions and 4 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

21
src/cgmath/rotation.rs
View file

@ -270,8 +270,8 @@ impl<S: Float> Rotation3<S> for Quat<S> {
/// # Notes /// # Notes
/// ///
/// Whilst Euler angles are more intuitive to specify than quaternions, /// Whilst Euler angles are more intuitive to specify than quaternions,
/// they are not reccomended for general use because they are prone to gimble /// they are not recommended for general use because they are prone to gimble
/// lock. /// lock, and are hard to interpolate between.
#[deriving(Eq, Clone)] #[deriving(Eq, Clone)]
pub struct Euler<A> { x: A, y: A, z: A } pub struct Euler<A> { x: A, y: A, z: A }
@ -368,9 +368,18 @@ impl<S: Float, A: Angle<S>> ApproxEq<S> for Euler<A> {
} }
/// A rotation about an arbitrary axis /// A rotation about an arbitrary axis
///
/// # Fields
///
/// - `v`: the axis of rotation
/// - `a`: the angular rotation
#[deriving(Eq, Clone)] #[deriving(Eq, Clone)]
pub struct AxisAngle<S, A> { v: Vec3<S>, a: A } pub struct AxisAngle<S, A> { v: Vec3<S>, a: A }
pub trait ToAxisAngle<S, A> {
fn to_axis_angle(&self) -> AxisAngle<S, A>;
}
impl<S: Float, A: Angle<S>> AxisAngle<S, A> { impl<S: Float, A: Angle<S>> AxisAngle<S, A> {
#[inline] #[inline]
pub fn new(v: Vec3<S>, a: A) -> AxisAngle<S, A> { pub fn new(v: Vec3<S>, a: A) -> AxisAngle<S, A> {
@ -431,10 +440,14 @@ impl<S: Float, A: Angle<S>> Rotation3<S> for AxisAngle<S, A> {
fn concat_self(&mut self, _other: &AxisAngle<S, A>) { fail!("Not yet implemented"); } fn concat_self(&mut self, _other: &AxisAngle<S, A>) { fail!("Not yet implemented"); }
#[inline] #[inline]
fn invert(&self) -> AxisAngle<S, A> { fail!("Not yet implemented") } fn invert(&self) -> AxisAngle<S, A> {
AxisAngle::new(self.v.clone(), (-self.a).normalize())
}
#[inline] #[inline]
fn invert_self(&mut self) { fail!("Not yet implemented"); } fn invert_self(&mut self) {
self.a = (-self.a).normalize()
}
} }
impl<S: Float, A: Angle<S>> ApproxEq<S> for AxisAngle<S, A> { impl<S: Float, A: Angle<S>> ApproxEq<S> for AxisAngle<S, A> {