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Add mul_v method and from_axis_angle function (thanks Dzmitry)

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This commit is contained in:
Brendan Zabarauskas 2012-11-10 11:12:27 +10:00
parent b7681954d7
commit eddffbc0dc
1 changed files with 14 additions and 2 deletions
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16
src/quaternion.rs
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@ -29,7 +29,7 @@ pub trait Quaternion<T> {
pure fn mul_t(value: T) -> self;
pure fn div_t(value: T) -> self;
// pure fn mul_v(other: &Vec3) -> Vec3;
pure fn mul_v(vec: &Vec3<T>) -> Vec3<T>;
pure fn add_q(other: &self) -> self;
pure fn sub_q(other: &self) -> self;
@ -62,7 +62,6 @@ pub trait ToQuat<T> {
pub struct Quat<T> { w: T, x: T, y: T, z: T }
pub mod Quat {
#[inline(always)]
pub pure fn new<T>(w: T, x: T, y: T, z: T) -> Quat<T> {
Quat { w: move w, x: move x, y: move y, z: move z }
@ -72,6 +71,12 @@ pub mod Quat {
pub pure fn from_sv<T:Copy>(s: T, v: Vec3<T>) -> Quat<T> {
Quat::new(s, v.x, v.y, v.z)
}
#[inline(always)]
pub pure fn from_axis_angle<T:Copy Num NumCast Trig AngleConv>(axis: Vec3<T>, theta: T) -> Quat<T> {
let half = radians(&theta) / cast(2);
from_sv(cos(&half), axis.mul_t(sin(&half)))
}
#[inline(always)]
pub pure fn zero<T:Copy NumCast>() -> Quat<T> {
@ -105,6 +110,13 @@ pub impl<T:Copy Num NumCast Trig Exp Extent Ord FuzzyEq> Quat<T>: Quaternion<T>
self[2] / value,
self[3] / value)
}
#[inline(always)]
pure fn mul_v(vec: &Vec3<T>) -> Vec3<T> {
let base = Vec3{ x:self.x, y:self.y, z:self.z };
let tmp = base.cross(vec).add_v(&vec.mul_t(self.w));
base.cross(&tmp).mul_t(cast(2)).add_v(vec)
}
#[inline(always)]
pure fn add_q(other: &Quat<T>) -> Quat<T> {