feo_math/rotation/
euler.rs

1//! Construct that represents euler rotations.
2//! 
3//! Very simple but flawed.
4//! TODO
5//! 
6use std::{fmt, ops::{Add, Div, Mul, Neg, Rem, Sub}};
7
8use crate::{Construct, F32Fmt, One, SignOps, /*Sum,*/ Two, Zero, axes::Axes, linear_algebra::{matrix3::Matrix3, vector3::Vector3}};
9
10use super::{Rotation, quaternion::Quaternion, rotor::Rotor};
11
12/// Rotations around the x y and z axes in radians radian = value/PI do not include PI
13#[derive(Copy, Clone)]
14pub struct Euler<T>(pub T, pub T, pub T);
15
16impl<T> PartialEq for Euler<T>
17where Self: Rem<T, Output = Self>, T: Add<T, Output = T> + One + PartialEq + Copy {
18    fn eq(&self, other: &Self) -> bool {
19        let two = T::ONE + T::ONE;
20        let spa0 = *self % two;
21        let spa1 = *other % two;
22        spa0.0 == spa1.0 && spa0.1 == spa1.1 && spa0.2 == spa1.2
23    }
24}
25
26impl<T> Euler<T>{
27    pub fn new(x_rot: T, y_rot: T, z_rot: T) -> Self {
28        Euler(x_rot, y_rot, z_rot)
29    }
30}
31
32impl<T> Construct<T> for Euler<T> where T: Construct<T> {}
33impl<T> Rotation<T> for Euler<T> where T: Construct<T> {
34    fn look_at_xy(_pos: Vector3<T>, _look_at: Vector3<T>) -> Self {
35        todo!()
36    }
37
38    fn look_at_xz(_pos: Vector3<T>, _look_at: Vector3<T>) -> Self {
39        todo!()
40    }
41
42    fn look_at_yz(_pos: Vector3<T>, _look_at: Vector3<T>) -> Self {
43        todo!()
44    }
45
46    fn look_at_lock(_pos: Vector3<T>, _look_at: Vector3<T>, _locked_axis: Vector3<T>) -> Self {
47        todo!()
48    }
49
50    fn camera_look_at_xy(_pos: Vector3<T>, _look_at: Vector3<T>) -> Self {
51        todo!()
52    }
53
54    fn camera_look_at_xz(_pos: Vector3<T>, _look_at: Vector3<T>) -> Self {
55        todo!()
56    }
57
58    fn camera_look_at_yz(_pos: Vector3<T>, _look_at: Vector3<T>) -> Self {
59        todo!()
60    }
61
62    fn camera_look_at_lock(_pos: Vector3<T>, _look_at: Vector3<T>, _locked_axis: Vector3<T>) -> Self {
63        todo!()
64    }
65}
66
67impl<T> fmt::Debug for Euler<T> 
68where T: fmt::Debug + Copy {
69    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
70        write!(f, "Euler({:?}, {:?}, {:?})", self.0, self.1, self.2)
71    }
72}
73
74impl<T> From<Euler<T>> for Matrix3<T> {
75    fn from(_: Euler<T>) -> Matrix3<T> {
76        todo!()
77    }
78}
79
80impl<T> From<Matrix3<T>> for Euler<T> {
81    fn from(_: Matrix3<T>) -> Self {
82        todo!()
83    }
84}
85
86impl<T> From<Axes<T>> for Euler<T> 
87where T: Copy {
88    fn from(a: Axes<T>) -> Self {
89        Into::<Matrix3<T>>::into(a).into()
90    }
91}
92
93impl<T> From<Rotor<T>> for Euler<T> 
94where T: Construct<T> + Copy {
95    fn from(r: Rotor<T>) -> Self {
96        Into::<Matrix3<T>>::into(r).into()
97    }
98}
99
100impl<T> From<Quaternion<T>> for Euler<T> 
101where T: Construct<T> + Copy {
102    fn from(q: Quaternion<T>) -> Self {
103        Into::<Matrix3<T>>::into(q).into()
104    }
105}
106
107impl<T> Add for Euler<T> 
108where T: Add<T, Output = T> + Copy {
109    type Output = Self;
110
111    fn add(self, rhs: Euler<T>) -> Self::Output {
112        Euler(self.0 + rhs.0, self.1 + rhs.1, self.2 + rhs.2)
113    }
114}
115
116impl<T> Add<T> for Euler<T> 
117where T: Add<T, Output = T> + Copy {
118    type Output = Self;
119
120    fn add(self, rhs: T) -> Self::Output {
121        Euler(self.0 + rhs, self.1 + rhs, self.2 + rhs)
122    }
123}
124
125impl<T> Sub for Euler<T> 
126where T: Sub<T, Output = T> + Copy {
127    type Output = Self;
128
129    fn sub(self, rhs: Euler<T>) -> Self::Output {
130        Euler(self.0 - rhs.0, self.1 - rhs.1, self.2 - rhs.2)
131    }
132}
133
134impl<T> Sub<T> for Euler<T> 
135where T: Sub<T, Output = T> + Copy {
136    type Output = Self;
137
138    fn sub(self, rhs: T) -> Self::Output {
139        Euler(self.0 - rhs, self.1 - rhs, self.2 - rhs)
140    }
141}
142
143impl<T> Mul for Euler<T> 
144where T: Mul<T, Output = T> + Copy {
145    type Output = Self;
146
147    fn mul(self, rhs: Euler<T>) -> Self::Output {
148        Euler(self.0 * rhs.0, self.1 * rhs.1, self.2 * rhs.2)
149    }
150}
151
152impl<T> Mul<T> for Euler<T> 
153where T: Mul<T, Output = T> + Copy {
154    type Output = Self;
155
156    fn mul(self, rhs: T) -> Self::Output {
157        Euler(self.0 * rhs, self.1 * rhs, self.2 * rhs)
158    }
159}
160
161impl<T> Div for Euler<T> 
162where T: Div<T, Output = T> + Copy {
163    type Output = Self;
164
165    fn div(self, rhs: Euler<T>) -> Self::Output {
166        Euler(self.0 / rhs.0, self.1 / rhs.1, self.2 / rhs.2)
167    }
168}
169
170impl<T> Div<T> for Euler<T> 
171where T: Div<T, Output = T> + Copy {
172    type Output = Self;
173
174    fn div(self, rhs: T) -> Self::Output {
175        Euler(self.0 / rhs, self.1 / rhs, self.2 / rhs)
176    }
177}
178
179impl<T> Rem for Euler<T> 
180where T: Rem<T, Output = T> + Copy {
181    type Output = Self;
182
183    fn rem(self, rhs: Euler<T>) -> Self::Output {
184        Euler(self.0 % rhs.0, self.1 % rhs.1, self.2 % rhs.2)
185    }
186}
187
188impl<T> Rem<T> for Euler<T> 
189where T: Rem<T, Output = T> + Copy {
190    type Output = Self;
191
192    fn rem(self, rhs: T) -> Self::Output {
193        Euler(self.0 % rhs, self.1 % rhs, self.2 % rhs)
194    }
195}
196
197impl<T> Neg for Euler<T> 
198where T: Neg<Output = T> + Copy {
199    type Output = Self;
200
201    fn neg(self) -> Self::Output {
202        Euler(-self.0, -self.1, -self.2)
203    }
204}
205
206impl<T> Zero for Euler<T> where T: Zero { const ZERO: Self = Euler(T::ZERO, T::ZERO, T::ZERO); }
207impl<T> One for Euler<T> where T: One { const ONE: Self = Euler(T::ONE, T::ONE, T::ONE); }
208impl<T> Two for Euler<T> where T: Two { const TWO: Self = Euler(T::TWO, T::TWO, T::TWO); }
209
210impl<T: F32Fmt> F32Fmt for Euler<T> { 
211    type F32Fmt = Euler<T::F32Fmt>;
212    #[inline]
213    fn intoF32Fmt(self) -> Self::F32Fmt {
214        Euler(self.0.intoF32Fmt(), self.1.intoF32Fmt(), self.2.intoF32Fmt())
215    }
216    #[inline]
217    fn fromF32Fmt(f32_fmt: Self::F32Fmt) -> Self {
218        Euler(T::fromF32Fmt(f32_fmt.0), T::fromF32Fmt(f32_fmt.1), T::fromF32Fmt(f32_fmt.2))
219    }
220
221    fn sqrt(self) -> Self {
222        Euler(self.0.sqrt(), self.1.sqrt(), self.2.sqrt())
223    }
224
225    fn cbrt(self) -> Self {
226        Euler(self.0.cbrt(), self.1.cbrt(), self.2.cbrt())
227    }
228
229    fn f32_const_mul(self, constant: f32) -> Self {
230        Euler(self.0.f32_const_mul(constant), self.1.f32_const_mul(constant), self.2.f32_const_mul(constant))
231    }
232
233    fn sin_mul(self, _mul_by: Self) -> Self where Self: Mul<Self, Output = Self> + Sized {
234        todo!()
235    }
236
237    fn cos_mul(self, _mul_by: Self) -> Self where Self: Mul<Self, Output = Self> + Sized {
238        todo!()
239    }
240
241    fn tan_mul(self, _mul_by: Self) -> Self where Self: Mul<Self, Output = Self> + Sized {
242        todo!()
243    }
244
245    fn asin_mul(self, _mul_by: Self) -> Self where Self: Mul<Self, Output = Self> + Sized {
246        todo!()
247    }
248
249    fn acos_mul(self, _mul_by: Self) -> Self where Self: Mul<Self, Output = Self> + Sized {
250        todo!()
251    }
252
253    fn atan_mul(self, _mul_by: Self) -> Self where Self: Mul<Self, Output = Self> + Sized {
254        todo!()
255    }
256
257    fn atan2_mul(self, _other: Self, _mul_by: Self) -> Self where Self: Mul<Self, Output = Self> + Sized {
258        todo!()
259    }
260
261    fn sinh_mul(self, _mul_by: Self) -> Self where Self: Mul<Self, Output = Self> + Sized {
262        todo!()
263    }
264
265    fn cosh_mul(self, _mul_by: Self) -> Self where Self: Mul<Self, Output = Self> + Sized {
266        todo!()
267    }
268
269    fn tanh_mul(self, _mul_by: Self) -> Self where Self: Mul<Self, Output = Self> + Sized {
270        todo!()
271    }
272}
273
274impl<T> SignOps for Euler<T> {
275    fn ptcopysign(self, _sign: Self) -> Self {
276        todo!()
277    }
278
279    fn ptsignum(self) -> i8 {
280        todo!()
281    }
282
283    fn abs(self) -> Self {
284        todo!()
285    }
286}
feo_math/rotation/euler.rs

feo_math/rotation/
euler.rs
