1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
use std::f64::consts::PI;
use super::{Quaternion, UnitQuaternion, Vector3};
pub trait Transducer: Sized {
fn get_direction(dir: Vector3, rotation: &UnitQuaternion) -> Vector3 {
let dir: UnitQuaternion = UnitQuaternion::from_quaternion(Quaternion::from_imag(dir));
(rotation * dir * rotation.conjugate()).imag().normalize()
}
fn new(id: usize, pos: Vector3, rot: UnitQuaternion) -> Self;
fn align_phase_at(&self, dist: f64) -> f64 {
dist * self.wavenumber()
}
fn position(&self) -> &Vector3;
fn rotation(&self) -> &UnitQuaternion;
fn id(&self) -> usize;
fn x_direction(&self) -> Vector3 {
Self::get_direction(Vector3::x(), self.rotation())
}
fn y_direction(&self) -> Vector3 {
Self::get_direction(Vector3::y(), self.rotation())
}
fn z_direction(&self) -> Vector3 {
Self::get_direction(Vector3::z(), self.rotation())
}
fn cycle(&self) -> u16;
fn frequency(&self) -> f64;
fn mod_delay(&self) -> u16;
fn set_mod_delay(&mut self, value: u16);
fn sound_speed(&self) -> f64;
fn set_sound_speed(&mut self, value: f64);
fn attenuation(&self) -> f64;
fn set_attenuation(&mut self, value: f64);
fn wavelength(&self) -> f64 {
self.sound_speed() / self.frequency()
}
fn wavenumber(&self) -> f64 {
2.0 * PI * self.frequency() / self.sound_speed()
}
}