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

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    use crate::geometry::{Rotation, UnitComplex, UnitQuaternion};
    use crate::{Const, OVector, Point, SVector, Scalar, SimdRealField, Unit};

    use simba::scalar::ClosedMul;

    /// Trait implemented by rotations that can be used inside of an `Isometry` or `Similarity`.
    pub trait AbstractRotation<T: Scalar, const D: usize>: PartialEq + ClosedMul + Clone {
        /// The rotation identity.
        fn identity() -> Self;
        /// The rotation inverse.
        fn inverse(&self) -> Self;
        /// Change `self` to its inverse.
        fn inverse_mut(&mut self);
        /// Apply the rotation to the given vector.
        fn transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D>;
        /// Apply the rotation to the given point.
        fn transform_point(&self, p: &Point<T, D>) -> Point<T, D>;
        /// Apply the inverse rotation to the given vector.
        fn inverse_transform_vector(&self, v: &OVector<T, Const<D>>) -> OVector<T, Const<D>>;
        /// Apply the inverse rotation to the given unit vector.
        fn inverse_transform_unit_vector(&self, v: &Unit<SVector<T, D>>) -> Unit<SVector<T, D>> {
            Unit::new_unchecked(self.inverse_transform_vector(&**v))
        }
        /// Apply the inverse rotation to the given point.
        fn inverse_transform_point(&self, p: &Point<T, D>) -> Point<T, D>;
    }

    impl<T: SimdRealField, const D: usize> AbstractRotation<T, D> for Rotation<T, D>
    where
        T::Element: SimdRealField,
    {
        #[inline]
        fn identity() -> Self {
            Self::identity()
        }

        #[inline]
        fn inverse(&self) -> Self {
            self.inverse()
        }

        #[inline]
        fn inverse_mut(&mut self) {
            self.inverse_mut()
        }

        #[inline]
        fn transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D> {
            self * v
        }

        #[inline]
        fn transform_point(&self, p: &Point<T, D>) -> Point<T, D> {
            self * p
        }

        #[inline]
        fn inverse_transform_vector(&self, v: &SVector<T, D>) -> SVector<T, D> {
            self.inverse_transform_vector(v)
        }

        #[inline]
        fn inverse_transform_unit_vector(&self, v: &Unit<SVector<T, D>>) -> Unit<SVector<T, D>> {
            self.inverse_transform_unit_vector(v)
        }

        #[inline]
        fn inverse_transform_point(&self, p: &Point<T, D>) -> Point<T, D> {
            self.inverse_transform_point(p)
        }
    }

    impl<T: SimdRealField> AbstractRotation<T, 3> for UnitQuaternion<T>
    where
        T::Element: SimdRealField,
    {
        #[inline]
        fn identity() -> Self {
            Self::identity()
        }

        #[inline]
        fn inverse(&self) -> Self {
            self.inverse()
        }

        #[inline]
        fn inverse_mut(&mut self) {
            self.inverse_mut()
        }

        #[inline]
        fn transform_vector(&self, v: &SVector<T, 3>) -> SVector<T, 3> {
            self * v
        }

        #[inline]
        fn transform_point(&self, p: &Point<T, 3>) -> Point<T, 3> {
            self * p
        }

        #[inline]
        fn inverse_transform_vector(&self, v: &SVector<T, 3>) -> SVector<T, 3> {
            self.inverse_transform_vector(v)
        }

        #[inline]
        fn inverse_transform_point(&self, p: &Point<T, 3>) -> Point<T, 3> {
            self.inverse_transform_point(p)
        }
    }

    impl<T: SimdRealField> AbstractRotation<T, 2> for UnitComplex<T>
    where
        T::Element: SimdRealField,
    {
        #[inline]
        fn identity() -> Self {
            Self::identity()
        }

        #[inline]
        fn inverse(&self) -> Self {
            self.inverse()
        }

        #[inline]
        fn inverse_mut(&mut self) {
            self.inverse_mut()
        }

        #[inline]
        fn transform_vector(&self, v: &SVector<T, 2>) -> SVector<T, 2> {
            self * v
        }

        #[inline]
        fn transform_point(&self, p: &Point<T, 2>) -> Point<T, 2> {
            self * p
        }

        #[inline]
        fn inverse_transform_vector(&self, v: &SVector<T, 2>) -> SVector<T, 2> {
            self.inverse_transform_vector(v)
        }

        #[inline]
        fn inverse_transform_point(&self, p: &Point<T, 2>) -> Point<T, 2> {
            self.inverse_transform_point(p)
        }
    }