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#[cfg(feature = "arbitrary")]
use quickcheck::{Arbitrary, Gen};
use num::One;
use num_complex::Complex;
use rand::distributions::{Distribution, Standard, OpenClosed01};
use rand::Rng;
use alga::general::Real;
use base::allocator::Allocator;
use base::dimension::{U1, U2};
use base::storage::Storage;
use base::{DefaultAllocator, Unit, Vector};
use geometry::{Rotation, UnitComplex};
impl<N: Real> UnitComplex<N> {
#[inline]
pub fn identity() -> Self {
Self::new_unchecked(Complex::new(N::one(), N::zero()))
}
#[inline]
pub fn new(angle: N) -> Self {
let (sin, cos) = angle.sin_cos();
Self::from_cos_sin_unchecked(cos, sin)
}
#[inline]
pub fn from_angle(angle: N) -> Self {
Self::new(angle)
}
#[inline]
pub fn from_cos_sin_unchecked(cos: N, sin: N) -> Self {
UnitComplex::new_unchecked(Complex::new(cos, sin))
}
#[inline]
pub fn from_scaled_axis<SB: Storage<N, U1, U1>>(axisangle: Vector<N, U1, SB>) -> Self {
Self::from_angle(axisangle[0])
}
#[inline]
pub fn from_complex(q: Complex<N>) -> Self {
Self::from_complex_and_get(q).0
}
#[inline]
pub fn from_complex_and_get(q: Complex<N>) -> (Self, N) {
let norm = (q.im * q.im + q.re * q.re).sqrt();
(Self::new_unchecked(q / norm), norm)
}
#[inline]
pub fn from_rotation_matrix(rotmat: &Rotation<N, U2>) -> Self
where
DefaultAllocator: Allocator<N, U2, U2>,
{
Self::new_unchecked(Complex::new(rotmat[(0, 0)], rotmat[(1, 0)]))
}
#[inline]
pub fn rotation_between<SB, SC>(a: &Vector<N, U2, SB>, b: &Vector<N, U2, SC>) -> Self
where
SB: Storage<N, U2, U1>,
SC: Storage<N, U2, U1>,
{
Self::scaled_rotation_between(a, b, N::one())
}
#[inline]
pub fn scaled_rotation_between<SB, SC>(
a: &Vector<N, U2, SB>,
b: &Vector<N, U2, SC>,
s: N,
) -> Self
where
SB: Storage<N, U2, U1>,
SC: Storage<N, U2, U1>,
{
if let (Some(na), Some(nb)) = (
Unit::try_new(a.clone_owned(), N::zero()),
Unit::try_new(b.clone_owned(), N::zero()),
) {
Self::scaled_rotation_between_axis(&na, &nb, s)
} else {
Self::identity()
}
}
#[inline]
pub fn rotation_between_axis<SB, SC>(
a: &Unit<Vector<N, U2, SB>>,
b: &Unit<Vector<N, U2, SC>>,
) -> Self
where
SB: Storage<N, U2>,
SC: Storage<N, U2>,
{
Self::scaled_rotation_between_axis(a, b, N::one())
}
#[inline]
pub fn scaled_rotation_between_axis<SB, SC>(
na: &Unit<Vector<N, U2, SB>>,
nb: &Unit<Vector<N, U2, SC>>,
s: N,
) -> Self
where
SB: Storage<N, U2>,
SC: Storage<N, U2>,
{
let sang = na.perp(&nb);
let cang = na.dot(&nb);
Self::from_angle(sang.atan2(cang) * s)
}
}
impl<N: Real> One for UnitComplex<N> {
#[inline]
fn one() -> Self {
Self::identity()
}
}
impl<N: Real> Distribution<UnitComplex<N>> for Standard
where
OpenClosed01: Distribution<N>,
{
#[inline]
fn sample<'a, R: Rng + ?Sized>(&self, rng: &mut R) -> UnitComplex<N> {
UnitComplex::from_angle(rng.sample(OpenClosed01) * N::two_pi())
}
}
#[cfg(feature = "arbitrary")]
impl<N: Real + Arbitrary> Arbitrary for UnitComplex<N> {
#[inline]
fn arbitrary<G: Gen>(g: &mut G) -> Self {
UnitComplex::from_angle(N::arbitrary(g))
}
}