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use cgmath::BaseNum;
use cgmath::prelude::*;
pub trait Continuous<RHS> {
type Result;
fn intersection(&self, _: &RHS) -> Option<Self::Result>;
}
pub trait Discrete<RHS> {
fn intersects(&self, _: &RHS) -> bool;
}
pub trait Contains<RHS> {
#[inline]
fn contains(&self, _: &RHS) -> bool;
}
pub trait SurfaceArea {
type Scalar: BaseNum;
fn surface_area(&self) -> Self::Scalar;
}
pub trait Union<RHS = Self> {
type Output;
fn union(&self, _: &RHS) -> Self::Output;
}
pub trait Bound {
type Point: EuclideanSpace;
fn min_extent(&self) -> Self::Point;
fn max_extent(&self) -> Self::Point;
fn with_margin(&self, add: <Self::Point as EuclideanSpace>::Diff) -> Self;
fn transform_volume<T>(&self, transform: &T) -> Self
where
T: Transform<Self::Point>;
fn empty() -> Self;
}
pub trait HasBound {
type Bound: Bound;
fn bound(&self) -> &Self::Bound;
}
pub trait ComputeBound<B>
where
B: Bound,
{
fn compute_bound(&self) -> B;
}
pub trait Primitive {
type Point: EuclideanSpace;
fn support_point<T>(
&self,
direction: &<Self::Point as EuclideanSpace>::Diff,
transform: &T,
) -> Self::Point
where
T: Transform<Self::Point>;
}
pub trait DiscreteTransformed<RHS> {
type Point: EuclideanSpace;
fn intersects_transformed<T>(&self, _: &RHS, _: &T) -> bool
where
T: Transform<Self::Point>;
}
pub trait ContinuousTransformed<RHS> {
type Point: EuclideanSpace;
type Result: EuclideanSpace;
fn intersection_transformed<T>(&self, _: &RHS, _: &T) -> Option<Self::Result>
where
T: Transform<Self::Point>;
}
pub trait Interpolate<S> {
fn interpolate(&self, other: &Self, amount: S) -> Self;
}
pub trait TranslationInterpolate<S> {
fn translation_interpolate(&self, other: &Self, amount: S) -> Self;
}
mod interpolate {
use super::{Interpolate, TranslationInterpolate};
use cgmath::{BaseFloat, Basis2, Basis3, Decomposed, Quaternion, Rad};
use cgmath::prelude::*;
impl<S> Interpolate<S> for Quaternion<S>
where
S: BaseFloat,
{
fn interpolate(&self, other: &Self, amount: S) -> Self {
self.lerp(*other, amount)
}
}
impl<S> Interpolate<S> for Basis3<S>
where
S: BaseFloat,
{
fn interpolate(&self, other: &Self, amount: S) -> Self {
Basis3::from(
Quaternion::from(*self.as_ref()).lerp(Quaternion::from(*other.as_ref()), amount),
)
}
}
impl<S> Interpolate<S> for Basis2<S>
where
S: BaseFloat,
{
fn interpolate(&self, other: &Self, amount: S) -> Self {
let self_mat = self.as_ref();
let other_mat = other.as_ref();
let self_c = self_mat.x;
let other_c = other_mat.x;
let c = self_c.lerp(other_c, amount);
Rotation2::from_angle(Rad(c.x.acos()))
}
}
impl<V, R> Interpolate<V::Scalar> for Decomposed<V, R>
where
V: VectorSpace + InnerSpace,
R: Interpolate<V::Scalar>,
V::Scalar: BaseFloat,
{
fn interpolate(&self, other: &Self, amount: V::Scalar) -> Self {
Decomposed {
disp: self.disp.lerp(other.disp, amount),
rot: self.rot.interpolate(&other.rot, amount),
scale: self.scale * (V::Scalar::one() - amount) + other.scale * amount,
}
}
}
impl<V, R> TranslationInterpolate<V::Scalar> for Decomposed<V, R>
where
V: VectorSpace + InnerSpace,
R: Clone,
V::Scalar: BaseFloat,
{
fn translation_interpolate(&self, other: &Self, amount: V::Scalar) -> Self {
Decomposed {
disp: self.disp.lerp(other.disp, amount),
rot: other.rot.clone(),
scale: other.scale,
}
}
}
}