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dedicated affine type means less math

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Quaternions 2024-09-13 13:22:00 -07:00
parent aae9ba5e80
commit 1a5a48d303
1 changed files with 18 additions and 1 deletions
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19
src/integer.rs
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@ -440,9 +440,9 @@ impl TryFrom<[f32;3]> for Unit32Vec3{
pub type Planar64=fixed_wide::types::I32F32; pub type Planar64=fixed_wide::types::I32F32;
pub type Planar64Vec3=linear_ops::types::Vector3<Planar64>; pub type Planar64Vec3=linear_ops::types::Vector3<Planar64>;
pub type Planar64Mat3=linear_ops::types::Matrix3<Planar64>; pub type Planar64Mat3=linear_ops::types::Matrix3<Planar64>;
pub type Planar64Affine3=linear_ops::types::Matrix4x3<Planar64>;
pub mod vec3{ pub mod vec3{
use super::*; use super::*;
pub use linear_ops::types::Vector3;
pub const ZERO:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO;3]); pub const ZERO:Planar64Vec3=Planar64Vec3::new([Planar64::ZERO;3]);
pub const ZERO_2:linear_ops::types::Vector3<Fixed::<2,64>>=linear_ops::types::Vector3::new([Fixed::<2,64>::ZERO;3]); pub const ZERO_2:linear_ops::types::Vector3<Fixed::<2,64>>=linear_ops::types::Vector3::new([Fixed::<2,64>::ZERO;3]);
pub const X:Planar64Vec3=Planar64Vec3::new([Planar64::ONE,Planar64::ZERO,Planar64::ZERO]); pub const X:Planar64Vec3=Planar64Vec3::new([Planar64::ONE,Planar64::ZERO,Planar64::ZERO]);
@ -464,6 +464,7 @@ pub fn int(value:i32)->Planar64{
} }
pub mod mat3{ pub mod mat3{
use super::*; use super::*;
pub use linear_ops::types::Matrix3;
pub fn from_diagonal(diag:Planar64Vec3)->Planar64Mat3{ pub fn from_diagonal(diag:Planar64Vec3)->Planar64Mat3{
Planar64Mat3::new([ Planar64Mat3::new([
[diag.x,Planar64::ZERO,Planar64::ZERO], [diag.x,Planar64::ZERO,Planar64::ZERO],
@ -479,6 +480,22 @@ pub mod mat3{
} }
} }
#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)]
pub struct Planar64Affine3{
pub matrix3:Planar64Mat3,//includes scale above 1
pub translation:Planar64Vec3,
}
impl Planar64Affine3{
#[inline]
pub const fn new(matrix3:Planar64Mat3,translation:Planar64Vec3)->Self{
Self{matrix3,translation}
}
#[inline]
pub fn transform_point3(&self,point:Planar64Vec3)->vec3::Vector3<Fixed<2,64>>{
self.translation.fix_2()+self.matrix3*point
}
}
#[test] #[test]
fn test_sqrt(){ fn test_sqrt(){
let r=int(400); let r=int(400);