rotation_ops.rs - source
Description: Source of the Rust file `/Users/erlendbasso/.cargo/registry/src/github.com-1ecc6299db9ec823/nalgebra-0.32.1/src/geometry/rotation_ops.rs`.
Keywords: rust, rustlang, rust-lang

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    /*
     *
     * This provides the following operator overladings:
     *
     * Index<(usize, usize)>
     *
     * Rotation × Rotation
     * Rotation ÷ Rotation
     * Rotation × Matrix
     * Matrix   × Rotation
     * Matrix   ÷ Rotation
     * Rotation × Point
     * Rotation × Unit<Vector>
     *
     *
     * Rotation ×= Rotation
     * Matrix   ×= Rotation
     */

    use num::{One, Zero};
    use std::ops::{Div, DivAssign, Index, Mul, MulAssign};

    use simba::scalar::{ClosedAdd, ClosedMul};

    use crate::base::allocator::Allocator;
    use crate::base::constraint::{AreMultipliable, ShapeConstraint};
    use crate::base::dimension::{Dim, U1};
    use crate::base::storage::Storage;
    use crate::base::{
        Const, DefaultAllocator, Matrix, OMatrix, SMatrix, SVector, Scalar, Unit, Vector,
    };

    use crate::geometry::{Point, Rotation};

    impl<T: Scalar, const D: usize> Index<(usize, usize)> for Rotation<T, D> {
        type Output = T;

        #[inline]
        fn index(&self, row_col: (usize, usize)) -> &T {
            self.matrix().index(row_col)
        }
    }

    // Rotation × Rotation
    md_impl_all!(
        Mul, mul;
        (Const<D>, Const<D>), (Const<D>, Const<D>)
        const D;
        for;
        where;
        self: Rotation<T, D>, right: Rotation<T, D>, Output = Rotation<T, D>;
        [val val] => Rotation::from_matrix_unchecked(self.into_inner() * right.into_inner());
        [ref val] => Rotation::from_matrix_unchecked(self.matrix() * right.into_inner());
        [val ref] => Rotation::from_matrix_unchecked(self.into_inner() * right.matrix());
        [ref ref] => Rotation::from_matrix_unchecked(self.matrix() * right.matrix());
    );

    // Rotation ÷ Rotation
    // TODO: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
    md_impl_all!(
        Div, div;
        (Const<D>, Const<D>), (Const<D>, Const<D>)
        const D;
        for;
        where;
        self: Rotation<T, D>, right: Rotation<T, D>, Output = Rotation<T, D>;
        [val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
        [ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
        [val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
        [ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
    );

    // Rotation × Matrix
    md_impl_all!(
        Mul, mul;
        (Const<D1>, Const<D1>), (R2, C2)
        const D1;
        for R2, C2, SB;
        where R2: Dim, C2: Dim, SB: Storage<T, R2, C2>,
              DefaultAllocator: Allocator<T, Const<D1>, C2>,
              ShapeConstraint: AreMultipliable<Const<D1>, Const<D1>, R2, C2>;
        self: Rotation<T, D1>, right: Matrix<T, R2, C2, SB>, Output = OMatrix<T, Const<D1>, C2>;
        [val val] => self.into_inner() * right;
        [ref val] => self.matrix() * right;
        [val ref] => self.into_inner() * right;
        [ref ref] => self.matrix() * right;
    );

    // Matrix × Rotation
    md_impl_all!(
        Mul, mul;
        (R1, C1), (Const<D2>, Const<D2>)
        const D2;
        for R1, C1, SA;
        where R1: Dim, C1: Dim, SA: Storage<T, R1, C1>,
              DefaultAllocator: Allocator<T, R1, Const<D2>>,
              ShapeConstraint:  AreMultipliable<R1, C1, Const<D2>, Const<D2>>;
        self: Matrix<T, R1, C1, SA>, right: Rotation<T, D2>, Output = OMatrix<T, R1, Const<D2>>;
        [val val] => self * right.into_inner();
        [ref val] => self * right.into_inner();
        [val ref] => self * right.matrix();
        [ref ref] => self * right.matrix();
    );

    // Matrix ÷ Rotation
    md_impl_all!(
        Div, div;
        (R1, C1), (Const<D2>, Const<D2>)
        const D2;
        for R1, C1, SA;
        where R1: Dim, C1: Dim, SA: Storage<T, R1, C1>,
              DefaultAllocator: Allocator<T, R1, Const<D2>>,
              ShapeConstraint: AreMultipliable<R1, C1, Const<D2>, Const<D2>>;
        self: Matrix<T, R1, C1, SA>, right: Rotation<T, D2>, Output = OMatrix<T, R1, Const<D2>>;
        [val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
        [ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
        [val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
        [ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
    );

    // Rotation × Point
    // TODO: we don't handle properly non-zero origins here. Do we want this to be the intended
    // behavior?
    md_impl_all!(
        Mul, mul;
        (Const<D>, Const<D>), (Const<D>, U1)
        const D;
        for;
        where ShapeConstraint:  AreMultipliable<Const<D>, Const<D>, Const<D>, U1>;
        self: Rotation<T, D>, right: Point<T, D>, Output = Point<T, D>;
        [val val] => self.into_inner() * right;
        [ref val] => self.matrix() * right;
        [val ref] => self.into_inner() * right;
        [ref ref] => self.matrix() * right;
    );

    // Rotation × Unit<Vector>
    md_impl_all!(
        Mul, mul;
        (Const<D>, Const<D>), (Const<D>, U1)
        const D;
        for S;
        where S: Storage<T, Const<D>>,
              ShapeConstraint: AreMultipliable<Const<D>, Const<D>, Const<D>, U1>;
        self: Rotation<T, D>, right: Unit<Vector<T, Const<D>, S>>, Output = Unit<SVector<T, D>>;
        [val val] => Unit::new_unchecked(self.into_inner() * right.into_inner());
        [ref val] => Unit::new_unchecked(self.matrix() * right.into_inner());
        [val ref] => Unit::new_unchecked(self.into_inner() * right.as_ref());
        [ref ref] => Unit::new_unchecked(self.matrix() * right.as_ref());
    );

    // Rotation ×= Rotation
    // TODO: try not to call `inverse()` explicitly.

    md_assign_impl_all!(
        MulAssign, mul_assign;
        (Const<D>, Const<D>), (Const<D>, Const<D>)
        const D; for; where;
        self: Rotation<T, D>, right: Rotation<T, D>;
        [val] => self.matrix_mut_unchecked().mul_assign(right.into_inner());
        [ref] => self.matrix_mut_unchecked().mul_assign(right.matrix());
    );

    md_assign_impl_all!(
        DivAssign, div_assign;
        (Const<D>, Const<D>), (Const<D>, Const<D>)
        const D; for; where;
        self: Rotation<T, D>, right: Rotation<T, D>;
        [val] => self.matrix_mut_unchecked().mul_assign(right.inverse().into_inner());
        [ref] => self.matrix_mut_unchecked().mul_assign(right.inverse().matrix());
    );

    // Matrix *= Rotation
    // TODO: try not to call `inverse()` explicitly.
    // TODO: this shares the same limitations as for the current impl. of MulAssign for matrices.
    // (In particular the number of matrix column must be equal to the number of rotation columns,
    // i.e., equal to the rotation dimension.

    md_assign_impl_all!(
        MulAssign, mul_assign;
        (Const<R1>, Const<C1>), (Const<C1>, Const<C1>)
        const R1, C1; for; where;
        self: SMatrix<T, R1, C1>, right: Rotation<T, C1>;
        [val] => self.mul_assign(right.into_inner());
        [ref] => self.mul_assign(right.matrix());
    );

    md_assign_impl_all!(
        DivAssign, div_assign;
        (Const<R1>, Const<C1>), (Const<C1>, Const<C1>)
        const R1, C1; for; where;
        self: SMatrix<T, R1, C1>, right: Rotation<T, C1>;
        [val] => self.mul_assign(right.inverse().into_inner());
        [ref] => self.mul_assign(right.inverse().matrix());
    );