837 lines
26 KiB
Rust
837 lines
26 KiB
Rust
use cast::transmute;
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use cmp::Eq;
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use num::from_int;
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use ptr::to_unsafe_ptr;
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use vec::raw::buf_as_slice;
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use std::cmp::FuzzyEq;
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use math::*;
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use ncast::*;
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use quaternion::{Quat, ToQuat};
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use vector::{Vec2, Vec3, Vec4};
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// GLSL equivalent type aliases
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type mat2 = Mat2<f32>; /// a 2×2 single-precision floating-point matrix
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type mat3 = Mat3<f32>; /// a 3×3 single-precision floating-point matrix
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type mat4 = Mat4<f32>; /// a 4×4 single-precision floating-point matrix
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type mat2x2 = Mat2<f32>; /// same as a `mat2`
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// type mat2x3 = /// a single-precision floating-point matrix with 2 columns and 3 rows
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// type mat2x4 = /// a single-precision floating-point matrix with 2 columns and 4 rows
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// type mat3x2 = /// a single-precision floating-point matrix with 3 columns and 2 rows
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type mat3x3 = Mat3<f32>; /// same as a `mat3`
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// type mat3x4 = /// a single-precision floating-point matrix with 3 columns and 4 rows
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// type mat4x2 = /// a single-precision floating-point matrix with 4 columns and 2 rows
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// type mat4x3 = /// a single-precision floating-point matrix with 4 columns and 3 rows
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type mat4x4 = Mat4<f32>; /// same as a `mat4`
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type dmat2 = Mat2<f64>; /// a 2×2 double-precision floating-point matrix
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type dmat3 = Mat3<f64>; /// a 3×3 double-precision floating-point matrix
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type dmat4 = Mat4<f64>; /// a 4×4 double-precision floating-point matrix
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type dmat2x2 = Mat2<f64>; /// same as a `dmat2`
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// type dmat2x3 = /// a double-precision floating-point matrix with 2 columns and 3 rows
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// type dmat2x4 = /// a double-precision floating-point matrix with 2 columns and 4 rows
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// type dmat3x2 = /// a double-precision floating-point matrix with 3 columns and 2 rows
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type dmat3x3 = Mat3<f64>; /// same as a `dmat3`
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// type dmat3x4 = /// a double-precision floating-point matrix with 3 columns and 4 rows
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// type dmat4x2 = /// a double-precision floating-point matrix with 4 columns and 2 rows
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// type dmat4x3 = /// a double-precision floating-point matrix with 4 columns and 3 rows
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type dmat4x4 = Mat4<f64>; /// same as a `dmat4`
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//
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// NxN Matrix
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//
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pub trait Matrix<T, V> {
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pure fn rows() -> uint;
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pure fn cols() -> uint;
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pure fn is_col_major() -> bool;
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pure fn col(i: uint) -> V;
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pure fn row(i: uint) -> V;
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pure fn mul_t(value: T) -> self;
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pure fn mul_v(other: &V) -> V;
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pure fn add_m(other: &self) -> self;
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pure fn sub_m(other: &self) -> self;
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pure fn mul_m(other: &self) -> self;
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// pure fn invert(other: &self) -> self;
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pure fn transpose() -> self;
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pure fn is_identity() -> bool;
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pure fn is_symmetric() -> bool;
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pure fn is_diagonal() -> bool;
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pure fn is_rotated() -> bool;
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}
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//
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// 2x2 Matrix
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//
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pub trait Matrix2<T> {
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pure fn to_Mat3() -> Mat3<T>;
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pure fn to_Mat4() -> Mat4<T>;
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}
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//
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// 3x3 Matrix
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//
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pub trait Matrix3<T> {
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pure fn to_Mat4() -> Mat4<T>;
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}
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//
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// 4x4 Matrix
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//
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pub trait Matrix4<T> {
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}
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//
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// Mat2: A 2x2, column major matrix
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//
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pub struct Mat2<T> { x: Vec2<T>, y: Vec2<T> }
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pub mod Mat2 {
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#[inline(always)]
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pub pure fn new<T>(c0r0: T, c0r1: T,
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c1r0: T, c1r1: T) -> Mat2<T> {
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Mat2::from_cols(Vec2::new(move c0r0, move c0r1),
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Vec2::new(move c1r0, move c1r1))
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}
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#[inline(always)]
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pub pure fn from_cols<T>(c0: Vec2<T>, c1: Vec2<T>) -> Mat2<T> {
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Mat2 { x: move c0,
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y: move c1 }
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}
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#[inline(always)]
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pub pure fn from_value<T:Copy NumCast>(value: T) -> Mat2<T> {
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let _0 = cast(0);
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Mat2::new(value, _0,
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_0, value)
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}
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#[inline(always)]
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pub pure fn zero<T:Copy NumCast>() -> Mat2<T> {
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let _0 = cast(0);
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Mat2::new(_0, _0,
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_0, _0)
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}
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#[inline(always)]
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pub pure fn identity<T:Copy NumCast>() -> Mat2<T> {
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let _0 = cast(0);
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let _1 = cast(1);
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Mat2::new(_1, _0,
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_0, _1)
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}
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}
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pub impl<T:Copy Num NumCast Sqrt FuzzyEq> Mat2<T>: Matrix<T, Vec2<T>> {
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#[inline(always)]
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pure fn rows() -> uint { 2 }
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#[inline(always)]
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pure fn cols() -> uint { 2 }
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#[inline(always)]
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pure fn is_col_major() -> bool { true }
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#[inline(always)]
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pure fn col(i: uint) -> Vec2<T> { self[i] }
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#[inline(always)]
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pure fn row(i: uint) -> Vec2<T> {
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Vec2::new(self[0][i],
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self[1][i])
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}
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#[inline(always)]
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pure fn mul_t(value: T) -> Mat2<T> {
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Mat2::from_cols(self[0].mul_t(value),
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self[1].mul_t(value))
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}
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#[inline(always)]
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pure fn mul_v(other: &Vec2<T>) -> Vec2<T> {
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Vec2::new(self[0][0] * other[0] + self[1][0] * other[1],
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self[0][1] * other[0] + self[1][1] * other[1])
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}
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#[inline(always)]
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pure fn add_m(other: &Mat2<T>) -> Mat2<T> {
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Mat2::from_cols(self[0].add_v(&other[0]),
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self[1].add_v(&other[1]))
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}
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#[inline(always)]
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pure fn sub_m(other: &Mat2<T>) -> Mat2<T> {
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Mat2::from_cols(self[0].sub_v(&other[0]),
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self[1].sub_v(&other[1]))
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}
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#[inline(always)]
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pure fn mul_m(other: &Mat2<T>) -> Mat2<T> {
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Mat2::new(self[0][0] * other[0][0] + self[1][0] * other[0][1],
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self[0][1] * other[0][0] + self[1][1] * other[0][1],
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self[0][0] * other[1][0] + self[1][0] * other[1][1],
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self[0][1] * other[1][0] + self[1][1] * other[1][1])
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}
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// TODO - inversion is harrrd D:
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// #[inline(always)]
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// pure fn invert(other: &Mat2<T>) -> Mat2<T> {}
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#[inline(always)]
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pure fn transpose() -> Mat2<T> {
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Mat2::new(self[0][0], self[1][0],
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self[0][1], self[1][1])
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}
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#[inline(always)]
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pure fn is_identity() -> bool {
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self.fuzzy_eq(&Mat2::identity())
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}
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#[inline(always)]
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pure fn is_symmetric() -> bool {
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self[0][1].fuzzy_eq(&self[1][0]) &&
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self[1][0].fuzzy_eq(&self[0][1])
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}
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#[inline(always)]
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pure fn is_diagonal() -> bool {
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let _0 = cast(0);
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self[0][1].fuzzy_eq(&_0) &&
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self[1][0].fuzzy_eq(&_0)
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}
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#[inline(always)]
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pure fn is_rotated() -> bool {
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!self.fuzzy_eq(&Mat2::identity())
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}
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}
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pub impl<T:Copy Num NumCast Sqrt FuzzyEq> Mat2<T>: Matrix2<T> {
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#[inline(always)]
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pure fn to_Mat3() -> Mat3<T> {
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Mat3::from_Mat2(&self)
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}
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#[inline(always)]
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pure fn to_Mat4() -> Mat4<T> {
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Mat4::from_Mat2(&self)
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}
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}
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pub impl<T:Copy> Mat2<T>: Index<uint, Vec2<T>> {
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#[inline(always)]
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pure fn index(i: uint) -> Vec2<T> {
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unsafe { do buf_as_slice(
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transmute::<*Mat2<T>, *Vec2<T>>(
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to_unsafe_ptr(&self)), 2) |slice| { slice[i] }
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}
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}
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}
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pub impl<T:Copy Neg<T>> Mat2<T>: Neg<Mat2<T>> {
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#[inline(always)]
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pure fn neg() -> Mat2<T> {
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Mat2::from_cols(-self[0], -self[1])
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}
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}
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// TODO: make work for T:Integer
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pub impl<T:Copy FuzzyEq> Mat2<T>: Eq {
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#[inline(always)]
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pure fn eq(other: &Mat2<T>) -> bool {
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self.fuzzy_eq(other)
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}
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#[inline(always)]
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pure fn ne(other: &Mat2<T>) -> bool {
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!(self == *other)
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}
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}
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impl<T:Copy Eq> Mat2<T>: ExactEq {
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#[inline(always)]
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pure fn exact_eq(other: &Mat2<T>) -> bool {
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self[0].exact_eq(&other[0]) &&
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self[1].exact_eq(&other[1])
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}
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}
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pub impl<T:Copy FuzzyEq> Mat2<T>: FuzzyEq {
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#[inline(always)]
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pure fn fuzzy_eq(other: &Mat2<T>) -> bool {
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self[0].fuzzy_eq(&other[0]) &&
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self[1].fuzzy_eq(&other[1])
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}
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}
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//
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// Mat3: A 3x3, column major matrix
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//
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pub struct Mat3<T> { x: Vec3<T>, y: Vec3<T>, z: Vec3<T> }
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pub mod Mat3 {
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#[inline(always)]
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pub pure fn new<T>(c0r0:T, c0r1:T, c0r2:T,
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c1r0:T, c1r1:T, c1r2:T,
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c2r0:T, c2r1:T, c2r2:T) -> Mat3<T> {
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Mat3::from_cols(Vec3::new(move c0r0, move c0r1, move c0r2),
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Vec3::new(move c1r0, move c1r1, move c1r2),
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Vec3::new(move c2r0, move c2r1, move c2r2))
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}
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#[inline(always)]
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pub pure fn from_cols<T>(c0: Vec3<T>, c1: Vec3<T>, c2: Vec3<T>) -> Mat3<T> {
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Mat3 { x: move c0,
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y: move c1,
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z: move c2 }
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}
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#[inline(always)]
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pub pure fn from_value<T:Copy NumCast>(value: T) -> Mat3<T> {
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let _0 = cast(0);
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Mat3::new(value, _0, _0,
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_0, value, _0,
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_0, _0, value)
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}
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#[inline(always)]
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pub pure fn from_Mat2<T:Copy NumCast>(m: &Mat2<T>) -> Mat3<T> {
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let _0 = cast(0);
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let _1 = cast(1);
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Mat3::new(m[0][0], m[0][1], _0,
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m[1][0], m[1][1], _0,
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_0, _0, _1)
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}
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#[inline(always)]
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pub pure fn zero<T:Copy NumCast>() -> Mat3<T> {
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let _0 = cast(0);
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Mat3::new(_0, _0, _0,
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_0, _0, _0,
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_0, _0, _0)
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}
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#[inline(always)]
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pub pure fn identity<T:Copy NumCast>() -> Mat3<T> {
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let _0 = cast(0);
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let _1 = cast(1);
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Mat3::new(_1, _0, _0,
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_0, _1, _0,
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_0, _0, _1)
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}
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}
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pub impl<T:Copy Num NumCast Sqrt FuzzyEq> Mat3<T>: Matrix<T, Vec3<T>> {
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#[inline(always)]
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pure fn rows() -> uint { 3 }
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#[inline(always)]
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pure fn cols() -> uint { 3 }
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#[inline(always)]
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pure fn is_col_major() -> bool { true }
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#[inline(always)]
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pure fn col(i: uint) -> Vec3<T> { self[i] }
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#[inline(always)]
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pure fn row(i: uint) -> Vec3<T> {
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Vec3::new(self[0][i],
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self[1][i],
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self[2][i])
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}
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#[inline(always)]
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pure fn mul_t(value: T) -> Mat3<T> {
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Mat3::from_cols(self[0].mul_t(value),
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self[1].mul_t(value),
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self[2].mul_t(value))
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}
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#[inline(always)]
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pure fn mul_v(other: &Vec3<T>) -> Vec3<T> {
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Vec3::new(self[0][0] * other[0] + self[1][0] * other[1] + self[2][0] * other[2],
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self[0][1] * other[0] + self[1][1] * other[1] + self[2][1] * other[2],
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self[0][2] * other[0] + self[1][2] * other[1] + self[2][2] * other[2])
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}
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#[inline(always)]
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pure fn add_m(other: &Mat3<T>) -> Mat3<T> {
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Mat3::from_cols(self[0].add_v(&other[0]),
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self[1].add_v(&other[1]),
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self[2].add_v(&other[2]))
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}
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#[inline(always)]
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pure fn sub_m(other: &Mat3<T>) -> Mat3<T> {
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Mat3::from_cols(self[0].sub_v(&other[0]),
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self[1].sub_v(&other[1]),
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self[2].sub_v(&other[2]))
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}
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#[inline(always)]
|
||
pure fn mul_m(other: &Mat3<T>) -> Mat3<T> {
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Mat3::new(self[0][0] * other[0][0] + self[1][0] * other[0][1] + self[2][0] * other[0][2],
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self[0][1] * other[0][0] + self[1][1] * other[0][1] + self[2][1] * other[0][2],
|
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self[0][2] * other[0][0] + self[1][2] * other[0][1] + self[2][2] * other[0][2],
|
||
|
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self[0][0] * other[1][0] + self[1][0] * other[1][1] + self[2][0] * other[1][2],
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self[0][1] * other[1][0] + self[1][1] * other[1][1] + self[2][1] * other[1][2],
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self[0][2] * other[1][0] + self[1][2] * other[1][1] + self[2][2] * other[1][2],
|
||
|
||
self[0][0] * other[2][0] + self[1][0] * other[2][1] + self[2][0] * other[2][2],
|
||
self[0][1] * other[2][0] + self[1][1] * other[2][1] + self[2][1] * other[2][2],
|
||
self[0][2] * other[2][0] + self[1][2] * other[2][1] + self[2][2] * other[2][2])
|
||
}
|
||
|
||
// TODO - inversion is harrrd D:
|
||
// #[inline(always)]
|
||
// pure fn invert(other: &Mat3) -> Mat3 {}
|
||
|
||
#[inline(always)]
|
||
pure fn transpose() -> Mat3<T> {
|
||
Mat3::new(self[0][0], self[1][0], self[2][0],
|
||
self[0][1], self[1][1], self[2][1],
|
||
self[0][2], self[1][2], self[2][2])
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn is_identity() -> bool {
|
||
self.fuzzy_eq(&Mat3::identity())
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn is_symmetric() -> bool {
|
||
self[0][1].fuzzy_eq(&self[1][0]) &&
|
||
self[0][2].fuzzy_eq(&self[2][0]) &&
|
||
|
||
self[1][0].fuzzy_eq(&self[0][1]) &&
|
||
self[1][2].fuzzy_eq(&self[2][1]) &&
|
||
|
||
self[2][0].fuzzy_eq(&self[0][2]) &&
|
||
self[2][1].fuzzy_eq(&self[1][2])
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn is_diagonal() -> bool {
|
||
let _0 = cast(0);
|
||
self[0][1].fuzzy_eq(&_0) &&
|
||
self[0][2].fuzzy_eq(&_0) &&
|
||
|
||
self[1][0].fuzzy_eq(&_0) &&
|
||
self[1][2].fuzzy_eq(&_0) &&
|
||
|
||
self[2][0].fuzzy_eq(&_0) &&
|
||
self[2][1].fuzzy_eq(&_0)
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn is_rotated() -> bool {
|
||
!self.fuzzy_eq(&Mat3::identity())
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy Num NumCast Sqrt FuzzyEq> Mat3<T>: Matrix3<T> {
|
||
#[inline(always)]
|
||
pure fn to_Mat4() -> Mat4<T> {
|
||
Mat4::from_Mat3(&self)
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy Num NumCast Ord> 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]);
|
||
|
||
if trace >= from_int(0) {
|
||
s = (trace + 1f).sqrt();
|
||
w = 0.5 * s;
|
||
s = 0.5 / s;
|
||
x = (self[1][2] - self[2][1]).cast::<float>() * s;
|
||
y = (self[2][0] - self[0][2]).cast::<float>() * s;
|
||
z = (self[0][1] - self[1][0]).cast::<float>() * s;
|
||
} else if (self[0][0] > self[1][1]) && (self[0][0] > self[2][2]) {
|
||
s = (1f + (self[0][0] - self[1][1] - self[2][2]).cast::<float>()).sqrt();
|
||
w = 0.5 * s;
|
||
s = 0.5 / s;
|
||
x = (self[0][1] - self[1][0]).cast::<float>() * s;
|
||
y = (self[2][0] - self[0][2]).cast::<float>() * s;
|
||
z = (self[1][2] - self[2][1]).cast::<float>() * s;
|
||
} else if self[1][1] > self[2][2] {
|
||
s = (1f + (self[1][1] - self[0][0] - self[2][2]).cast::<float>()).sqrt();
|
||
w = 0.5 * s;
|
||
s = 0.5 / s;
|
||
x = (self[0][1] - self[1][0]).cast::<float>() * s;
|
||
y = (self[1][2] - self[2][1]).cast::<float>() * s;
|
||
z = (self[2][0] - self[0][2]).cast::<float>() * s;
|
||
} else {
|
||
s = (1f + (self[2][2] - self[0][0] - self[1][1]).cast::<float>()).sqrt();
|
||
w = 0.5 * s;
|
||
s = 0.5 / s;
|
||
x = (self[2][0] - self[0][2]).cast::<float>() * s;
|
||
y = (self[1][2] - self[2][1]).cast::<float>() * s;
|
||
z = (self[0][1] - self[1][0]).cast::<float>() * s;
|
||
}
|
||
|
||
Quat::new(cast(w), cast(x), cast(y), cast(z))
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy> Mat3<T>: Index<uint, Vec3<T>> {
|
||
#[inline(always)]
|
||
pure fn index(i: uint) -> Vec3<T> {
|
||
unsafe { do buf_as_slice(
|
||
transmute::<*Mat3<T>, *Vec3<T>>(
|
||
to_unsafe_ptr(&self)), 3) |slice| { slice[i] }
|
||
}
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy Neg<T>> Mat3<T>: Neg<Mat3<T>> {
|
||
#[inline(always)]
|
||
pure fn neg() -> Mat3<T> {
|
||
Mat3::from_cols(-self[0], -self[1], -self[2])
|
||
}
|
||
}
|
||
|
||
// TODO: make work for T:Integer
|
||
pub impl<T:Copy FuzzyEq> Mat3<T>: Eq {
|
||
#[inline(always)]
|
||
pure fn eq(other: &Mat3<T>) -> bool {
|
||
self.fuzzy_eq(other)
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn ne(other: &Mat3<T>) -> bool {
|
||
!(self == *other)
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy Eq> Mat3<T>: ExactEq {
|
||
#[inline(always)]
|
||
pure fn exact_eq(other: &Mat3<T>) -> bool {
|
||
self[0].exact_eq(&other[0]) &&
|
||
self[1].exact_eq(&other[1]) &&
|
||
self[2].exact_eq(&other[2])
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy FuzzyEq> Mat3<T>: FuzzyEq {
|
||
#[inline(always)]
|
||
pure fn fuzzy_eq(other: &Mat3<T>) -> bool {
|
||
self[0].fuzzy_eq(&other[0]) &&
|
||
self[1].fuzzy_eq(&other[1]) &&
|
||
self[2].fuzzy_eq(&other[2])
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy> Mat3<T>: ToPtr<T> {
|
||
#[inline(always)]
|
||
pure fn to_ptr() -> *T {
|
||
self[0].to_ptr()
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
//
|
||
// Mat4: A 4x4, column major matrix
|
||
//
|
||
pub struct Mat4<T> { x: Vec4<T>, y: Vec4<T>, z: Vec4<T>, w: Vec4<T> }
|
||
|
||
pub mod Mat4 {
|
||
|
||
#[inline(always)]
|
||
pub pure fn new<T>(c0r0: T, c0r1: T, c0r2: T, c0r3: T,
|
||
c1r0: T, c1r1: T, c1r2: T, c1r3: T,
|
||
c2r0: T, c2r1: T, c2r2: T, c2r3: T,
|
||
c3r0: T, c3r1: T, c3r2: T, c3r3: T) -> Mat4<T> {
|
||
Mat4::from_cols(Vec4::new(move c0r0, move c0r1, move c0r2, move c0r3),
|
||
Vec4::new(move c1r0, move c1r1, move c1r2, move c1r3),
|
||
Vec4::new(move c2r0, move c2r1, move c2r2, move c2r3),
|
||
Vec4::new(move c3r0, move c3r1, move c3r2, move c3r3))
|
||
}
|
||
|
||
#[inline(always)]
|
||
pub pure fn from_cols<T>(c0: Vec4<T>, c1: Vec4<T>, c2: Vec4<T>, c3: Vec4<T>) -> Mat4<T> {
|
||
Mat4 { x: move c0,
|
||
y: move c1,
|
||
z: move c2,
|
||
w: move c3 }
|
||
}
|
||
|
||
#[inline(always)]
|
||
pub pure fn from_value<T:Copy NumCast>(value: T) -> Mat4<T> {
|
||
let _0 = cast(0);
|
||
Mat4::new(value, _0, _0, _0,
|
||
_0, value, _0, _0,
|
||
_0, _0, value, _0,
|
||
_0, _0, _0, value)
|
||
}
|
||
|
||
#[inline(always)]
|
||
pub pure fn from_Mat2<T:Copy NumCast>(m: &Mat2<T>) -> Mat4<T> {
|
||
let _0 = cast(0);
|
||
let _1 = cast(1);
|
||
Mat4::new(m[0][0], m[0][1], _0, _0,
|
||
m[1][0], m[1][1], _0, _0,
|
||
_0, _0, _1, _0,
|
||
_0, _0, _0, _1)
|
||
}
|
||
|
||
#[inline(always)]
|
||
pub pure fn from_Mat3<T:Copy NumCast>(m: &Mat3<T>) -> Mat4<T> {
|
||
let _0 = cast(0);
|
||
let _1 = cast(1);
|
||
Mat4::new(m[0][0], m[0][1], m[0][2], _0,
|
||
m[1][0], m[1][1], m[1][2], _0,
|
||
m[2][0], m[2][1], m[2][2], _0,
|
||
_0, _0, _0, _1)
|
||
}
|
||
|
||
#[inline(always)]
|
||
pub pure fn zero<T:Copy NumCast>() -> Mat4<T> {
|
||
let _0 = cast(0);
|
||
Mat4::new(_0, _0, _0, _0,
|
||
_0, _0, _0, _0,
|
||
_0, _0, _0, _0,
|
||
_0, _0, _0, _0)
|
||
}
|
||
|
||
#[inline(always)]
|
||
pub pure fn identity<T:Copy NumCast>() -> Mat4<T> {
|
||
let _0 = cast(0);
|
||
let _1 = cast(1);
|
||
Mat4::new(_1, _0, _0, _0,
|
||
_0, _1, _0, _0,
|
||
_0, _0, _1, _0,
|
||
_0, _0, _0, _1)
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy Num NumCast Sqrt FuzzyEq> Mat4<T>: Matrix<T, Vec4<T>> {
|
||
#[inline(always)]
|
||
pure fn rows() -> uint { 4 }
|
||
|
||
#[inline(always)]
|
||
pure fn cols() -> uint { 4 }
|
||
|
||
#[inline(always)]
|
||
pure fn is_col_major() -> bool { true }
|
||
|
||
#[inline(always)]
|
||
pure fn col(i: uint) -> Vec4<T> { self[i] }
|
||
|
||
#[inline(always)]
|
||
pure fn row(i: uint) -> Vec4<T> {
|
||
Vec4::new(self[0][i],
|
||
self[1][i],
|
||
self[2][i],
|
||
self[3][i])
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn mul_t(value: T) -> Mat4<T> {
|
||
Mat4::from_cols(self[0].mul_t(value),
|
||
self[1].mul_t(value),
|
||
self[2].mul_t(value),
|
||
self[3].mul_t(value))
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn mul_v(other: &Vec4<T>) -> Vec4<T> {
|
||
Vec4::new(self[0][0] * other[0] + self[1][0] * other[1] + self[2][0] * other[2] + self[3][0] * other[3],
|
||
self[0][1] * other[0] + self[1][1] * other[1] + self[2][1] * other[2] + self[3][1] * other[3],
|
||
self[0][2] * other[0] + self[1][2] * other[1] + self[2][2] * other[2] + self[3][2] * other[3],
|
||
self[0][3] * other[0] + self[1][3] * other[1] + self[2][3] * other[2] + self[3][3] * other[3])
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn add_m(other: &Mat4<T>) -> Mat4<T> {
|
||
Mat4::from_cols(self[0].add_v(&other[0]),
|
||
self[1].add_v(&other[1]),
|
||
self[2].add_v(&other[2]),
|
||
self[3].add_v(&other[3]))
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn sub_m(other: &Mat4<T>) -> Mat4<T> {
|
||
Mat4::from_cols(self[0].sub_v(&other[0]),
|
||
self[1].sub_v(&other[1]),
|
||
self[2].sub_v(&other[2]),
|
||
self[3].sub_v(&other[3]))
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn mul_m(other: &Mat4<T>) -> Mat4<T> {
|
||
Mat4::new(self[0][0] * other[0][0] + self[1][0] * other[0][1] + self[2][0] * other[0][2] + self[3][0] * other[0][3],
|
||
self[0][1] * other[0][0] + self[1][1] * other[0][1] + self[2][1] * other[0][2] + self[3][1] * other[0][3],
|
||
self[0][2] * other[0][0] + self[1][2] * other[0][1] + self[2][2] * other[0][2] + self[3][2] * other[0][3],
|
||
self[0][3] * other[0][0] + self[1][3] * other[0][1] + self[2][3] * other[0][2] + self[3][3] * other[0][3],
|
||
|
||
self[0][0] * other[1][0] + self[1][0] * other[1][1] + self[2][0] * other[1][2] + self[3][0] * other[1][3],
|
||
self[0][1] * other[1][0] + self[1][1] * other[1][1] + self[2][1] * other[1][2] + self[3][1] * other[1][3],
|
||
self[0][2] * other[1][0] + self[1][2] * other[1][1] + self[2][2] * other[1][2] + self[3][2] * other[1][3],
|
||
self[0][3] * other[1][0] + self[1][3] * other[1][1] + self[2][3] * other[1][2] + self[3][3] * other[1][3],
|
||
|
||
self[0][0] * other[2][0] + self[1][0] * other[2][1] + self[2][0] * other[2][2] + self[3][0] * other[2][3],
|
||
self[0][1] * other[2][0] + self[1][1] * other[2][1] + self[2][1] * other[2][2] + self[3][1] * other[2][3],
|
||
self[0][2] * other[2][0] + self[1][2] * other[2][1] + self[2][2] * other[2][2] + self[3][2] * other[2][3],
|
||
self[0][3] * other[2][0] + self[1][3] * other[2][1] + self[2][3] * other[2][2] + self[3][3] * other[2][3],
|
||
|
||
self[0][0] * other[3][0] + self[1][0] * other[3][1] + self[2][0] * other[3][2] + self[3][0] * other[3][3],
|
||
self[0][1] * other[3][0] + self[1][1] * other[3][1] + self[2][1] * other[3][2] + self[3][1] * other[3][3],
|
||
self[0][2] * other[3][0] + self[1][2] * other[3][1] + self[2][2] * other[3][2] + self[3][2] * other[3][3],
|
||
self[0][3] * other[3][0] + self[1][3] * other[3][1] + self[2][3] * other[3][2] + self[3][3] * other[3][3])
|
||
}
|
||
|
||
// TODO - inversion is harrrd D:
|
||
// #[inline(always)]
|
||
// pure fn invert(other: &Mat4<T>) -> Mat4<T> {}
|
||
|
||
#[inline(always)]
|
||
pure fn transpose() -> Mat4<T> {
|
||
Mat4::new(self[0][0], self[1][0], self[2][0], self[3][0],
|
||
self[0][1], self[1][1], self[2][1], self[3][1],
|
||
self[0][2], self[1][2], self[2][2], self[3][2],
|
||
self[0][3], self[1][3], self[2][3], self[3][3])
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn is_identity() -> bool {
|
||
self.fuzzy_eq(&Mat4::identity())
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn is_symmetric() -> bool {
|
||
self[0][1].fuzzy_eq(&self[1][0]) &&
|
||
self[0][2].fuzzy_eq(&self[2][0]) &&
|
||
self[0][3].fuzzy_eq(&self[3][0]) &&
|
||
|
||
self[1][0].fuzzy_eq(&self[0][1]) &&
|
||
self[1][2].fuzzy_eq(&self[2][1]) &&
|
||
self[1][3].fuzzy_eq(&self[3][1]) &&
|
||
|
||
self[2][0].fuzzy_eq(&self[0][2]) &&
|
||
self[2][1].fuzzy_eq(&self[1][2]) &&
|
||
self[2][3].fuzzy_eq(&self[3][2]) &&
|
||
|
||
self[3][0].fuzzy_eq(&self[0][3]) &&
|
||
self[3][1].fuzzy_eq(&self[1][3]) &&
|
||
self[3][2].fuzzy_eq(&self[2][3])
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn is_diagonal() -> bool {
|
||
let _0 = cast(0);
|
||
self[0][1].fuzzy_eq(&_0) &&
|
||
self[0][2].fuzzy_eq(&_0) &&
|
||
self[0][3].fuzzy_eq(&_0) &&
|
||
|
||
self[1][0].fuzzy_eq(&_0) &&
|
||
self[1][2].fuzzy_eq(&_0) &&
|
||
self[1][3].fuzzy_eq(&_0) &&
|
||
|
||
self[2][0].fuzzy_eq(&_0) &&
|
||
self[2][1].fuzzy_eq(&_0) &&
|
||
self[2][3].fuzzy_eq(&_0) &&
|
||
|
||
self[3][0].fuzzy_eq(&_0) &&
|
||
self[3][1].fuzzy_eq(&_0) &&
|
||
self[3][2].fuzzy_eq(&_0)
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn is_rotated() -> bool {
|
||
!self.fuzzy_eq(&Mat4::identity())
|
||
}
|
||
}
|
||
|
||
pub impl<T> Mat4<T>: Matrix4<T> {
|
||
|
||
}
|
||
|
||
pub impl<T:Copy> Mat4<T>: Index<uint, Vec4<T>> {
|
||
#[inline(always)]
|
||
pure fn index(i: uint) -> Vec4<T> {
|
||
unsafe { do buf_as_slice(
|
||
transmute::<*Mat4<T>, *Vec4<T>>(
|
||
to_unsafe_ptr(&self)), 4) |slice| { slice[i] }
|
||
}
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy Neg<T>> Mat4<T>: Neg<Mat4<T>> {
|
||
#[inline(always)]
|
||
pure fn neg() -> Mat4<T> {
|
||
Mat4::from_cols(-self[0], -self[1], -self[2], -self[3])
|
||
}
|
||
}
|
||
|
||
// TODO: make work for T:Integer
|
||
pub impl<T:Copy FuzzyEq> Mat4<T>: Eq {
|
||
#[inline(always)]
|
||
pure fn eq(other: &Mat4<T>) -> bool {
|
||
self.fuzzy_eq(other)
|
||
}
|
||
|
||
#[inline(always)]
|
||
pure fn ne(other: &Mat4<T>) -> bool {
|
||
!(self == *other)
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy Eq> Mat4<T>: ExactEq {
|
||
#[inline(always)]
|
||
pure fn exact_eq(other: &Mat4<T>) -> bool {
|
||
self[0].exact_eq(&other[0]) &&
|
||
self[1].exact_eq(&other[1]) &&
|
||
self[2].exact_eq(&other[2]) &&
|
||
self[3].exact_eq(&other[3])
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy FuzzyEq> Mat4<T>: FuzzyEq {
|
||
#[inline(always)]
|
||
pure fn fuzzy_eq(other: &Mat4<T>) -> bool {
|
||
self[0].fuzzy_eq(&other[0]) &&
|
||
self[1].fuzzy_eq(&other[1]) &&
|
||
self[2].fuzzy_eq(&other[2]) &&
|
||
self[3].fuzzy_eq(&other[3])
|
||
}
|
||
}
|
||
|
||
pub impl<T:Copy> Mat4<T>: ToPtr<T> {
|
||
#[inline(always)]
|
||
pure fn to_ptr() -> *T {
|
||
self[0].to_ptr()
|
||
}
|
||
} |