feo_math/rotation/
rotor.rs

1//! Construct that represents a rotor.
2//! 
3//! TODO
4//! 
5use crate::{Construct, One, Two, Zero, axes::Axes, linear_algebra::{matrix3::Matrix3, vector3::Vector3}};
6
7use super::{Rotation, euler::Euler, quaternion::Quaternion};
8
9/// TODO
10pub struct Rotor<T>(pub T, pub T, pub T, pub T);
11
12impl<T> Rotor<T> {
13    pub fn new(x_rot: T, y_rot: T, z_rot: T, w_rot: T) -> Self {
14        Rotor(x_rot, y_rot, z_rot, w_rot)
15    }
16}
17
18impl<T> Rotation<T> for Rotor<T> where T: Construct<T> {
19    fn look_at_xy(_pos: Vector3<T>, _look_at: Vector3<T>) -> Self {
20        todo!()
21    }
22
23    fn look_at_xz(_pos: Vector3<T>, _look_at: Vector3<T>) -> Self {
24        todo!()
25    }
26
27    fn look_at_yz(_pos: Vector3<T>, _look_at: Vector3<T>) -> Self {
28        todo!()
29    }
30
31    fn look_at_lock(_pos: Vector3<T>, _look_at: Vector3<T>, _locked_axis: Vector3<T>) -> Self {
32        todo!()
33    }
34
35    fn camera_look_at_xy(pos: Vector3<T>, look_at: Vector3<T>) -> Self { Rotor::look_at_xy(look_at, pos) }
36
37    fn camera_look_at_xz(pos: Vector3<T>, look_at: Vector3<T>) -> Self { Rotor::look_at_xz(look_at, pos) }
38
39    fn camera_look_at_yz(pos: Vector3<T>, look_at: Vector3<T>) -> Self { Rotor::look_at_yz(look_at, pos) }
40
41    fn camera_look_at_lock(pos: Vector3<T>, look_at: Vector3<T>, locked_axis: Vector3<T>) -> Self {
42        Rotor::look_at_lock(look_at, pos, locked_axis)
43    }
44}
45
46impl<T> From<Rotor<T>> for Matrix3<T> {
47    fn from(_: Rotor<T>) -> Matrix3<T> {
48        todo!()
49    }
50}
51
52impl<T> From<Matrix3<T>> for Rotor<T> {
53    fn from(_: Matrix3<T>) -> Self {
54        todo!()
55    }
56}
57
58impl<T> From<Axes<T>> for Rotor<T>
59where T: Copy {
60    fn from(other: Axes<T>) -> Self {
61        Into::<Matrix3<T>>::into(other).into()
62    }
63}
64
65impl<T> From<Euler<T>> for Rotor<T> 
66where T: Construct<T> + Copy {
67    fn from(e: Euler<T>) -> Self {
68        Into::<Matrix3<T>>::into(e).into()
69    }
70}
71
72impl<T> From<Quaternion<T>> for Rotor<T> 
73where T: Construct<T> + Copy {
74    fn from(q: Quaternion<T>) -> Self {
75        Into::<Matrix3<T>>::into(q).into()
76    }
77}
78impl<T> Zero for Rotor<T> where T: Zero { const ZERO: Self = Rotor(T::ZERO, T::ZERO, T::ZERO, T::ZERO); }
79impl<T> One for Rotor<T> where T: One + Zero { const ONE: Self = Rotor(T::ZERO, T::ZERO, T::ZERO, T::ONE); }
80impl<T> Two for Rotor<T> where T: Two + Zero { const TWO: Self = Rotor(T::ZERO, T::ZERO, T::ZERO, T::TWO); }
feo_math/rotation/rotor.rs

feo_math/rotation/
rotor.rs
