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Merge pull request #261 from bjz/add-matrix-scale-functions

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Add matrix scale functions
This commit is contained in:
Brendan Zabarauskas 2015-12-06 21:08:27 +11:00
commit f75c8aa7f1
1 changed files with 30 additions and 23 deletions
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51
src/matrix.rs
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@ -28,7 +28,7 @@ use rust_num::traits::cast;
use angle::{Rad, sin, cos, sin_cos}; use angle::{Rad, sin, cos, sin_cos};
use approx::ApproxEq; use approx::ApproxEq;
use array::Array; use array::Array;
use num::{BaseFloat, BaseNum}; use num::BaseFloat;
use point::{Point, Point3}; use point::{Point, Point3};
use quaternion::Quaternion; use quaternion::Quaternion;
use vector::{Vector, EuclideanVector}; use vector::{Vector, EuclideanVector};
@ -47,7 +47,7 @@ pub struct Matrix3<S> { pub x: Vector3<S>, pub y: Vector3<S>, pub z: Vector3<S>
pub struct Matrix4<S> { pub x: Vector4<S>, pub y: Vector4<S>, pub z: Vector4<S>, pub w: Vector4<S> } pub struct Matrix4<S> { pub x: Vector4<S>, pub y: Vector4<S>, pub z: Vector4<S>, pub w: Vector4<S> }
impl<S> Matrix2<S> { impl<S: BaseFloat> Matrix2<S> {
/// Create a new matrix, providing values for each index. /// Create a new matrix, providing values for each index.
#[inline] #[inline]
pub fn new(c0r0: S, c0r1: S, pub fn new(c0r0: S, c0r1: S,
@ -61,9 +61,7 @@ impl<S> Matrix2<S> {
pub fn from_cols(c0: Vector2<S>, c1: Vector2<S>) -> Matrix2<S> { pub fn from_cols(c0: Vector2<S>, c1: Vector2<S>) -> Matrix2<S> {
Matrix2 { x: c0, y: c1 } Matrix2 { x: c0, y: c1 }
} }
}
impl<S: BaseFloat> Matrix2<S> {
/// Create a transformation matrix that will cause a vector to point at /// Create a transformation matrix that will cause a vector to point at
/// `dir`, using `up` for orientation. /// `dir`, using `up` for orientation.
pub fn look_at(dir: Vector2<S>, up: Vector2<S>) -> Matrix2<S> { pub fn look_at(dir: Vector2<S>, up: Vector2<S>) -> Matrix2<S> {
@ -90,7 +88,7 @@ impl<S: Copy + Neg<Output = S>> Matrix2<S> {
} }
} }
impl<S> Matrix3<S> { impl<S: BaseFloat> Matrix3<S> {
/// Create a new matrix, providing values for each index. /// Create a new matrix, providing values for each index.
#[inline] #[inline]
pub fn new(c0r0:S, c0r1:S, c0r2:S, pub fn new(c0r0:S, c0r1:S, c0r2:S,
@ -106,10 +104,8 @@ impl<S> Matrix3<S> {
pub fn from_cols(c0: Vector3<S>, c1: Vector3<S>, c2: Vector3<S>) -> Matrix3<S> { pub fn from_cols(c0: Vector3<S>, c1: Vector3<S>, c2: Vector3<S>) -> Matrix3<S> {
Matrix3 { x: c0, y: c1, z: c2 } Matrix3 { x: c0, y: c1, z: c2 }
} }
}
impl<S: BaseFloat> Matrix3<S> { /// Create a rotation matrix that will cause a vector to point at
/// Create a transformation matrix that will cause a vector to point at
/// `dir`, using `up` for orientation. /// `dir`, using `up` for orientation.
pub fn look_at(dir: Vector3<S>, up: Vector3<S>) -> Matrix3<S> { pub fn look_at(dir: Vector3<S>, up: Vector3<S>) -> Matrix3<S> {
let dir = dir.normalize(); let dir = dir.normalize();
@ -119,7 +115,7 @@ impl<S: BaseFloat> Matrix3<S> {
Matrix3::from_cols(side, up, dir).transpose() Matrix3::from_cols(side, up, dir).transpose()
} }
/// Create a matrix from a rotation around the `x` axis (pitch). /// Create a rotation matrix from a rotation around the `x` axis (pitch).
pub fn from_angle_x(theta: Rad<S>) -> Matrix3<S> { pub fn from_angle_x(theta: Rad<S>) -> Matrix3<S> {
// http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations // http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations
let (s, c) = sin_cos(theta); let (s, c) = sin_cos(theta);
@ -128,7 +124,7 @@ impl<S: BaseFloat> Matrix3<S> {
S::zero(), -s.clone(), c.clone()) S::zero(), -s.clone(), c.clone())
} }
/// Create a matrix from a rotation around the `y` axis (yaw). /// Create a rotation matrix from a rotation around the `y` axis (yaw).
pub fn from_angle_y(theta: Rad<S>) -> Matrix3<S> { pub fn from_angle_y(theta: Rad<S>) -> Matrix3<S> {
// http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations // http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations
let (s, c) = sin_cos(theta); let (s, c) = sin_cos(theta);
@ -137,7 +133,7 @@ impl<S: BaseFloat> Matrix3<S> {
s.clone(), S::zero(), c.clone()) s.clone(), S::zero(), c.clone())
} }
/// Create a matrix from a rotation around the `z` axis (roll). /// Create a rotation matrix from a rotation around the `z` axis (roll).
pub fn from_angle_z(theta: Rad<S>) -> Matrix3<S> { pub fn from_angle_z(theta: Rad<S>) -> Matrix3<S> {
// http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations // http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations
let (s, c) = sin_cos(theta); let (s, c) = sin_cos(theta);
@ -146,7 +142,7 @@ impl<S: BaseFloat> Matrix3<S> {
S::zero(), S::zero(), S::one()) S::zero(), S::zero(), S::one())
} }
/// Create a matrix from a set of euler angles. /// Create a rotation matrix from a set of euler angles.
/// ///
/// # Parameters /// # Parameters
/// ///
@ -164,7 +160,7 @@ impl<S: BaseFloat> Matrix3<S> {
sx * sz + cx * sy * cz, -sx * cz + cx * sy * sz, cx * cy) sx * sz + cx * sy * cz, -sx * cz + cx * sy * sz, cx * cy)
} }
/// Create a matrix from a rotation around an arbitrary axis /// Create a rotation matrix from an angle around an arbitrary axis.
pub fn from_axis_angle(axis: Vector3<S>, angle: Rad<S>) -> Matrix3<S> { pub fn from_axis_angle(axis: Vector3<S>, angle: Rad<S>) -> Matrix3<S> {
let (s, c) = sin_cos(angle); let (s, c) = sin_cos(angle);
let _1subc = S::one() - c; let _1subc = S::one() - c;
@ -193,7 +189,7 @@ impl<S: Copy + Neg<Output = S>> Matrix3<S> {
} }
} }
impl<S> Matrix4<S> { impl<S: BaseFloat> Matrix4<S> {
/// Create a new matrix, providing values for each index. /// Create a new matrix, providing values for each index.
#[inline] #[inline]
pub fn new(c0r0: S, c0r1: S, c0r2: S, c0r3: S, pub fn new(c0r0: S, c0r1: S, c0r2: S, c0r3: S,
@ -211,10 +207,8 @@ impl<S> Matrix4<S> {
pub fn from_cols(c0: Vector4<S>, c1: Vector4<S>, c2: Vector4<S>, c3: Vector4<S>) -> Matrix4<S> { pub fn from_cols(c0: Vector4<S>, c1: Vector4<S>, c2: Vector4<S>, c3: Vector4<S>) -> Matrix4<S> {
Matrix4 { x: c0, y: c1, z: c2, w: c3 } Matrix4 { x: c0, y: c1, z: c2, w: c3 }
} }
}
impl<S: BaseNum> Matrix4<S> { /// Create a homogeneous transformation matrix from a translation vector.
/// Create a translation matrix from a Vector3
#[inline] #[inline]
pub fn from_translation(v: Vector3<S>) -> Matrix4<S> { pub fn from_translation(v: Vector3<S>) -> Matrix4<S> {
Matrix4::new(S::one(), S::zero(), S::zero(), S::zero(), Matrix4::new(S::one(), S::zero(), S::zero(), S::zero(),
@ -222,10 +216,23 @@ impl<S: BaseNum> Matrix4<S> {
S::zero(), S::zero(), S::one(), S::zero(), S::zero(), S::zero(), S::one(), S::zero(),
v.x, v.y, v.z, S::one()) v.x, v.y, v.z, S::one())
} }
/// Create a homogeneous transformation matrix from a set of scale values.
#[inline]
pub fn from_scale(x: S, y: S, z: S) -> Matrix4<S> {
Matrix4::new(x, S::zero(), S::zero(), S::zero(),
S::zero(), y, S::zero(), S::zero(),
S::zero(), S::zero(), z, S::zero(),
S::zero(), S::zero(), S::zero(), S::one())
} }
impl<S: BaseFloat> Matrix4<S> { /// Create a homogeneous transformation matrix from a scale value.
/// Create a transformation matrix that will cause a vector to point at #[inline]
pub fn from_uniform_scale(value: S) -> Matrix4<S> {
Matrix4::from_scale(value, value, value)
}
/// Create a homogeneous transformation matrix that will cause a vector to point at
/// `dir`, using `up` for orientation. /// `dir`, using `up` for orientation.
pub fn look_at(eye: Point3<S>, center: Point3<S>, up: Vector3<S>) -> Matrix4<S> { pub fn look_at(eye: Point3<S>, center: Point3<S>, up: Vector3<S>) -> Matrix4<S> {
let f = (center - eye).normalize(); let f = (center - eye).normalize();
@ -1322,7 +1329,7 @@ impl<S: BaseFloat> From<Matrix3<S>> for Quaternion<S> {
} }
} }
impl<S: BaseNum> fmt::Debug for Matrix2<S> { impl<S: BaseFloat> fmt::Debug for Matrix2<S> {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "[[{:?}, {:?}], [{:?}, {:?}]]", write!(f, "[[{:?}, {:?}], [{:?}, {:?}]]",
self[0][0], self[0][1], self[0][0], self[0][1],
@ -1330,7 +1337,7 @@ impl<S: BaseNum> fmt::Debug for Matrix2<S> {
} }
} }
impl<S: BaseNum> fmt::Debug for Matrix3<S> { impl<S: BaseFloat> fmt::Debug for Matrix3<S> {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "[[{:?}, {:?}, {:?}], [{:?}, {:?}, {:?}], [{:?}, {:?}, {:?}]]", write!(f, "[[{:?}, {:?}, {:?}], [{:?}, {:?}, {:?}], [{:?}, {:?}, {:?}]]",
self[0][0], self[0][1], self[0][2], self[0][0], self[0][1], self[0][2],
@ -1339,7 +1346,7 @@ impl<S: BaseNum> fmt::Debug for Matrix3<S> {
} }
} }
impl<S: BaseNum> fmt::Debug for Matrix4<S> { impl<S: BaseFloat> fmt::Debug for Matrix4<S> {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
write!(f, "[[{:?}, {:?}, {:?}, {:?}], [{:?}, {:?}, {:?}, {:?}], [{:?}, {:?}, {:?}, {:?}], [{:?}, {:?}, {:?}, {:?}]]", write!(f, "[[{:?}, {:?}, {:?}, {:?}], [{:?}, {:?}, {:?}, {:?}], [{:?}, {:?}, {:?}, {:?}], [{:?}, {:?}, {:?}, {:?}]]",
self[0][0], self[0][1], self[0][2], self[0][3], self[0][0], self[0][1], self[0][2], self[0][3],