403 lines
No EOL
10 KiB
Rust
403 lines
No EOL
10 KiB
Rust
use core::cast::transmute;
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use core::cmp::Eq;
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use core::ptr::to_unsafe_ptr;
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use core::vec::raw::buf_as_slice;
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use std::cmp::FuzzyEq;
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use angle::Angle;
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use funs::common::*;
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use funs::exponential::*;
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use funs::triganomic::{sin, cos};
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use num::types::{Float, Number};
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use vec::Vec2;
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/**
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* A 2 x 2 column major matrix
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*
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* # Type parameters
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*
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* * `T` - The type of the elements of the matrix. Should be a floating point type.
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*
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* # Fields
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*
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* * `x` - the first column vector of the matrix
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* * `y` - the second column vector of the matrix
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* * `z` - the third column vector of the matrix
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*/
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pub struct Mat2<T> { x: Vec2<T>, y: Vec2<T> }
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pub impl<T:Copy Float> Mat2<T> {
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/**
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* Construct a 2 x 2 matrix
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*
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* # Arguments
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*
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* * `c0r0`, `c0r1` - the first column of the matrix
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* * `c1r0`, `c1r1` - the second column of the matrix
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*
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* ~~~
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* c0 c1
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* +------+------+
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* r0 | c0r0 | c1r0 |
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* +------+------+
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* r1 | c0r1 | c1r1 |
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* +------+------+
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* ~~~
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*/
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#[inline(always)]
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static pure fn new(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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/**
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* Construct a 2 x 2 matrix from column vectors
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*
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* # Arguments
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*
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* * `c0` - the first column vector of the matrix
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* * `c1` - the second column vector of the matrix
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*
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* ~~~
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* c0 c1
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* +------+------+
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* r0 | c0.x | c1.x |
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* +------+------+
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* r1 | c0.y | c1.y |
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* +------+------+
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* ~~~
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*/
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#[inline(always)]
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static pure fn from_cols(c0: Vec2<T>,
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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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/**
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* Construct a 2 x 2 diagonal matrix with the major diagonal set to `value`
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*
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* # Arguments
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*
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* * `value` - the value to set the major diagonal to
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*
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* ~~~
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* c0 c1
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* +-----+-----+
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* r0 | val | 0 |
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* +-----+-----+
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* r1 | 0 | val |
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* +-----+-----+
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* ~~~
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*/
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#[inline(always)]
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static pure fn from_value(value: T) -> Mat2<T> {
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let _0 = Number::from(0);
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Mat2::new(value, _0,
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_0, value)
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}
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// FIXME: An interim solution to the issues with static functions
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#[inline(always)]
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static pure fn from_angle<A:Angle<T>>(theta: A) -> Mat2<T> {
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let cos_theta = cos(&theta.to_radians());
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let sin_theta = sin(&theta.to_radians());
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Mat2::new(cos_theta, -sin_theta,
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sin_theta, cos_theta)
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}
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// FIXME: An interim solution to the issues with static functions
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#[inline(always)]
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static pure fn identity() -> Mat2<T> {
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let _0 = Number::from(0);
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let _1 = Number::from(1);
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Mat2::new(_1, _0,
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_0, _1)
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}
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// FIXME: An interim solution to the issues with static functions
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#[inline(always)]
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static pure fn zero() -> Mat2<T> {
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let _0 = Number::from(0);
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Mat2::new(_0, _0,
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_0, _0)
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}
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}
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pub impl<T:Copy Float> Mat2<T>: Matrix<T, Vec2<T>> {
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#[inline(always)]
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pure fn col(&self, i: uint) -> Vec2<T> { self[i] }
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#[inline(always)]
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pure fn row(&self, 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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/**
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* Returns the multiplicative identity matrix
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* ~~~
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* c0 c1
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* +----+----+
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* r0 | 1 | 0 |
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* +----+----+
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* r1 | 0 | 1 |
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* +----+----+
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* ~~~
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*/
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#[inline(always)]
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static pure fn identity() -> Mat2<T> {
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let _0 = Number::from(0);
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let _1 = Number::from(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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* Returns the additive identity matrix
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* ~~~
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* c0 c1
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* +----+----+
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* r0 | 0 | 0 |
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* +----+----+
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* r1 | 0 | 0 |
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* +----+----+
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* ~~~
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*/
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#[inline(always)]
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static pure fn zero() -> Mat2<T> {
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let _0 = Number::from(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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pure fn mul_t(&self, 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(&self, vec: &Vec2<T>) -> Vec2<T> {
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Vec2::new(self.row(0).dot(vec),
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self.row(1).dot(vec))
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}
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#[inline(always)]
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pure fn add_m(&self, 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(&self, 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(&self, other: &Mat2<T>) -> Mat2<T> {
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Mat2::new(self.row(0).dot(&other.col(0)), self.row(1).dot(&other.col(0)),
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self.row(0).dot(&other.col(1)), self.row(1).dot(&other.col(1)))
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}
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pure fn dot(&self, other: &Mat2<T>) -> T {
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other.transpose().mul_m(self).trace()
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}
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pure fn determinant(&self) -> T {
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self[0][0] * self[1][1] - self[1][0] * self[0][1]
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}
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pure fn trace(&self) -> T {
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self[0][0] + self[1][1]
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}
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#[inline(always)]
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pure fn inverse(&self) -> Option<Mat2<T>> {
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let d = self.determinant();
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if d.fuzzy_eq(&Number::from(0)) {
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None
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} else {
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Some(Mat2::new( self[1][1]/d, -self[0][1]/d,
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-self[1][0]/d, self[0][0]/d))
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}
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}
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#[inline(always)]
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pure fn transpose(&self) -> 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(&self) -> bool {
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// self.fuzzy_eq(&Matrix::identity()) // FIXME: there's something wrong with static functions here!
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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_diagonal(&self) -> bool {
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let _0 = Number::from(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(&self) -> bool {
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// !self.fuzzy_eq(&Matrix::identity()) // FIXME: there's something wrong with static functions here!
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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(&self) -> 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_invertible(&self) -> bool {
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!self.determinant().fuzzy_eq(&Number::from(0))
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}
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#[inline(always)]
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pure fn to_ptr(&self) -> *T {
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unsafe {
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transmute::<*Mat2<T>, *T>(
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to_unsafe_ptr(self)
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)
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}
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}
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}
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pub impl<T:Copy Float Sign> Mat2<T>: MutableMatrix<T, Vec2<T>> {
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#[inline(always)]
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fn col_mut(&mut self, i: uint) -> &self/mut Vec2<T> {
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match i {
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0 => &mut self.x,
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1 => &mut self.y,
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_ => fail(fmt!("index out of bounds: expected an index from 0 to 1, but found %u", i))
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}
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}
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#[inline(always)]
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fn swap_cols(&mut self, a: uint, b: uint) {
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util::swap(self.col_mut(a),
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self.col_mut(b));
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}
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#[inline(always)]
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fn swap_rows(&mut self, a: uint, b: uint) {
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self.x.swap(a, b);
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self.y.swap(a, b);
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}
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#[inline(always)]
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fn set(&mut self, other: &Mat2<T>) {
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(*self) = (*other);
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}
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#[inline(always)]
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fn to_identity(&mut self) {
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(*self) = Mat2::identity();
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}
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#[inline(always)]
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fn to_zero(&mut self) {
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(*self) = Mat2::zero();
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}
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#[inline(always)]
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fn mul_self_t(&mut self, value: T) {
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self.col_mut(0).mul_self_t(&value);
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self.col_mut(1).mul_self_t(&value);
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}
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#[inline(always)]
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fn add_self_m(&mut self, other: &Mat2<T>) {
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self.col_mut(0).add_self_v(&other[0]);
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self.col_mut(1).add_self_v(&other[1]);
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}
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#[inline(always)]
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fn sub_self_m(&mut self, other: &Mat2<T>) {
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self.col_mut(0).sub_self_v(&other[0]);
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self.col_mut(1).sub_self_v(&other[1]);
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}
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#[inline(always)]
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fn invert_self(&mut self) {
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match self.inverse() {
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Some(m) => (*self) = m,
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None => fail(~"Couldn't invert the matrix!")
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}
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}
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#[inline(always)]
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fn transpose_self(&mut self) {
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util::swap(self.col_mut(0).index_mut(1), self.col_mut(1).index_mut(0));
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util::swap(self.col_mut(1).index_mut(0), self.col_mut(0).index_mut(1));
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}
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}
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pub impl<T:Copy Float> Mat2<T>: Matrix2<T, Vec2<T>> {
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#[inline(always)]
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pure fn to_mat3(&self) -> Mat3<T> {
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let _0 = Number::from(0);
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let _1 = Number::from(1);
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Mat3::new(self[0][0], self[0][1], _0,
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self[1][0], self[1][1], _0,
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_0, _0, _1)
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}
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#[inline(always)]
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pure fn to_mat4(&self) -> Mat4<T> {
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let _0 = Number::from(0);
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let _1 = Number::from(1);
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Mat4::new(self[0][0], self[0][1], _0, _0,
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self[1][0], self[1][1], _0, _0,
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_0, _0, _1, _0,
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_0, _0, _0, _1)
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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(&self, 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 Float> Mat2<T>: Neg<Mat2<T>> {
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#[inline(always)]
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pure fn neg(&self) -> 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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pub impl<T:Copy Float> Mat2<T>: Eq {
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#[inline(always)]
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pure fn eq(&self, other: &Mat2<T>) -> bool {
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self[0] == other[0] &&
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self[1] == other[1]
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}
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#[inline(always)]
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pure fn ne(&self, other: &Mat2<T>) -> bool {
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!(self == other)
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}
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}
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pub impl<T:Copy Float> 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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} |