use std::ops::{Index, IndexMut, Add, Sub, Mul, Div, AddAssign, MulAssign, DivAssign, Neg};
use na::{Dimension, ApproxEq, Origin, PointAsVector, Axpy, Translate, NumPoint, PartialOrder,
PartialOrdering, FloatPoint, Bounded, Repeat};
use na;
use shape::Reflection;
use math::{Scalar, Point, Vector};
pub type CSO<'a, M, G1, G2> = MinkowskiSum<'a, M, G1, Reflection<'a, G2>>;
pub type AnnotatedCSO<'a, M, G1, G2> = AnnotatedMinkowskiSum<'a, M, G1, Reflection<'a, G2>>;
#[derive(Debug)]
pub struct MinkowskiSum<'a, M: 'a, G1: ?Sized + 'a, G2: ?Sized + 'a> {
m1: &'a M,
g1: &'a G1,
m2: &'a M,
g2: &'a G2
}
impl<'a, M, G1: ?Sized, G2: ?Sized> MinkowskiSum<'a, M, G1, G2> {
#[inline]
pub fn new(m1: &'a M, g1: &'a G1, m2: &'a M, g2: &'a G2) -> MinkowskiSum<'a, M, G1, G2> {
MinkowskiSum { m1: m1, g1: g1, m2: m2, g2: g2 }
}
#[inline]
pub fn m1(&self) -> &'a M {
self.m1
}
#[inline]
pub fn m2(&self) -> &'a M {
self.m2
}
#[inline]
pub fn g1(&self) -> &'a G1 {
self.g1
}
#[inline]
pub fn g2(&self) -> &'a G2 {
self.g2
}
}
#[derive(Debug)]
pub struct AnnotatedMinkowskiSum<'a, M: 'a, G1: ?Sized + 'a, G2: ?Sized + 'a> {
m1: &'a M,
g1: &'a G1,
m2: &'a M,
g2: &'a G2
}
impl<'a, M, G1: ?Sized, G2: ?Sized> AnnotatedMinkowskiSum<'a, M, G1, G2> {
#[inline]
pub fn new(m1: &'a M, g1: &'a G1, m2: &'a M, g2: &'a G2) -> AnnotatedMinkowskiSum<'a, M, G1, G2> {
AnnotatedMinkowskiSum { m1: m1, g1: g1, m2: m2, g2: g2 }
}
#[inline]
pub fn m1(&self) -> &'a M {
self.m1
}
#[inline]
pub fn m2(&self) -> &'a M {
self.m2
}
#[inline]
pub fn g1(&self) -> &'a G1 {
self.g1
}
#[inline]
pub fn g2(&self) -> &'a G2 {
self.g2
}
}
#[doc(hidden)]
#[derive(Clone, Copy, Debug, RustcEncodable, RustcDecodable)]
pub struct AnnotatedPoint<P> {
orig1: P,
orig2: P,
point: P
}
impl<P> AnnotatedPoint<P> {
#[doc(hidden)]
#[inline]
pub fn new(orig1: P, orig2: P, point: P) -> AnnotatedPoint<P> {
AnnotatedPoint {
orig1: orig1,
orig2: orig2,
point: point
}
}
#[doc(hidden)]
#[inline]
pub fn point<'r>(&'r self) -> &'r P {
&self.point
}
#[doc(hidden)]
#[inline]
pub fn orig1(&self) -> &P {
&self.orig1
}
#[doc(hidden)]
#[inline]
pub fn orig2(&self) -> &P {
&self.orig2
}
#[doc(hidden)]
#[inline]
pub fn translate_1<V: Translate<P>>(&mut self, t: &V) {
self.orig1 = na::translate(t, &self.orig1);
self.point = na::translate(t, &self.point);
}
#[doc(hidden)]
#[inline]
pub fn translate_2<V: Translate<P>>(&mut self, t: &V) {
self.orig2 = na::translate(t, &self.orig2);
self.point = na::translate(t, &self.point);
}
}
impl<P: PointAsVector> PointAsVector for AnnotatedPoint<P> {
type Vector = P::Vector;
#[inline]
fn to_vector(self) -> P::Vector {
self.point.to_vector()
}
#[inline]
fn as_vector<'a>(&'a self) -> &'a P::Vector {
self.point.as_vector()
}
#[inline]
fn set_coords(&mut self, _: P::Vector) {
panic!(".set_coords is not implemented for annotated points.")
}
}
impl<P: Index<usize>> Index<usize> for AnnotatedPoint<P> {
type Output = P::Output;
#[inline]
fn index(&self, i: usize) -> &P::Output {
&self.point[i]
}
}
impl<P: IndexMut<usize>> IndexMut<usize> for AnnotatedPoint<P> {
#[inline]
fn index_mut(&mut self, _: usize) -> &mut P::Output {
unimplemented!()
}
}
impl<P> PartialOrder for AnnotatedPoint<P> {
fn inf(&self, _: &AnnotatedPoint<P>) -> AnnotatedPoint<P> {
unimplemented!()
}
fn sup(&self, _: &AnnotatedPoint<P>) -> AnnotatedPoint<P> {
unimplemented!()
}
fn partial_cmp(&self, _: &AnnotatedPoint<P>) -> PartialOrdering {
unimplemented!()
}
}
impl<P: Origin> Origin for AnnotatedPoint<P> {
#[inline]
fn origin() -> AnnotatedPoint<P> {
AnnotatedPoint::new(na::origin(), na::origin(), na::origin())
}
#[inline]
fn is_origin(&self) -> bool {
self.point.is_origin()
}
}
impl<P> Add<P::Vect> for AnnotatedPoint<P>
where P: Point {
type Output = AnnotatedPoint<P>;
#[inline]
fn add(self, other: P::Vect) -> AnnotatedPoint<P> {
let _0_5: <P::Vect as Vector>::Scalar = na::cast(0.5f64);
AnnotatedPoint::new(
self.orig1 + other * _0_5,
self.orig2 + other * _0_5,
self.point + other
)
}
}
impl<P> AddAssign<P::Vect> for AnnotatedPoint<P>
where P: Point {
#[inline]
fn add_assign(&mut self, other: P::Vect) {
let _0_5: <P::Vect as Vector>::Scalar = na::cast(0.5f64);
self.orig1 += other * _0_5;
self.orig2 += other * _0_5;
self.point += other;
}
}
impl<N, P: Axpy<N>> Axpy<N> for AnnotatedPoint<P> {
#[inline]
fn axpy(&mut self, a: &N, x: &AnnotatedPoint<P>) {
self.orig1.axpy(a, &x.orig1);
self.orig2.axpy(a, &x.orig2);
self.point.axpy(a, &x.point);
}
}
impl<P: Sub<P>> Sub<AnnotatedPoint<P>> for AnnotatedPoint<P> {
type Output = P::Output;
#[inline]
fn sub(self, other: AnnotatedPoint<P>) -> P::Output {
self.point - other.point
}
}
impl<P: Neg<Output = P>> Neg for AnnotatedPoint<P> {
type Output = AnnotatedPoint<P>;
#[inline]
fn neg(self) -> AnnotatedPoint<P> {
AnnotatedPoint::new(-self.orig1, -self.orig2, -self.point)
}
}
impl<P: Dimension> Dimension for AnnotatedPoint<P> {
#[inline]
fn dimension(_: Option<AnnotatedPoint<P>>) -> usize {
na::dimension::<P>()
}
}
impl<N: Copy, P: Div<N, Output = P>> Div<N> for AnnotatedPoint<P> {
type Output = AnnotatedPoint<P>;
#[inline]
fn div(self, n: N) -> AnnotatedPoint<P> {
AnnotatedPoint::new(self.orig1 / n, self.orig2 / n, self.point / n)
}
}
impl<N: Copy, P: DivAssign<N>> DivAssign<N> for AnnotatedPoint<P> {
#[inline]
fn div_assign(&mut self, n: N) {
self.orig1 /= n;
self.orig2 /= n;
self.point /= n;
}
}
impl<N: Copy, P: Mul<N, Output = P>> Mul<N> for AnnotatedPoint<P> {
type Output = AnnotatedPoint<P>;
#[inline]
fn mul(self, n: N) -> AnnotatedPoint<P> {
AnnotatedPoint::new(self.orig1 * n, self.orig2 * n, self.point * n)
}
}
impl<N: Copy, P: MulAssign<N>> MulAssign<N> for AnnotatedPoint<P> {
#[inline]
fn mul_assign(&mut self, n: N) {
self.orig1 *= n;
self.orig2 *= n;
self.point *= n;
}
}
impl<P: PartialEq> PartialEq for AnnotatedPoint<P> {
#[inline]
fn eq(&self, other: &AnnotatedPoint<P>) -> bool {
self.point == other.point
}
#[inline]
fn ne(&self, other: &AnnotatedPoint<P>) -> bool {
self.point != other.point
}
}
impl<N, P> ApproxEq<N> for AnnotatedPoint<P>
where N: Scalar,
P: ApproxEq<N> {
#[inline]
fn approx_epsilon(_: Option<AnnotatedPoint<P>>) -> N {
ApproxEq::approx_epsilon(None::<N>)
}
#[inline]
fn approx_eq_eps(&self, other: &AnnotatedPoint<P>, eps: &N) -> bool {
self.point.approx_eq_eps(&other.point, eps)
}
#[inline]
fn approx_ulps(_: Option<AnnotatedPoint<P>>) -> u32 {
ApproxEq::approx_ulps(None::<N>)
}
#[inline]
fn approx_eq_ulps(&self, other: &AnnotatedPoint<P>, ulps: u32) -> bool {
self.point.approx_eq_ulps(&other.point, ulps)
}
}
impl<P> Bounded for AnnotatedPoint<P> {
fn min_value() -> AnnotatedPoint<P> {
unimplemented!()
}
fn max_value() -> AnnotatedPoint<P> {
unimplemented!()
}
}
impl<P: Point> Repeat<<P::Vect as Vector>::Scalar> for AnnotatedPoint<P> {
fn repeat(_: <P::Vect as Vector>::Scalar) -> AnnotatedPoint<P> {
panic!("`Repeat` is not implemented for `AnnotatedPoint`.");
}
}
impl<P> NumPoint<<P::Vect as Vector>::Scalar> for AnnotatedPoint<P>
where P: Point {
}
impl<P> FloatPoint<<P::Vect as Vector>::Scalar> for AnnotatedPoint<P>
where P: Point {
}
impl<P> Point for AnnotatedPoint<P>
where P: Point {
type Vect = P::Vect;
}