Add Rot3 for representing 3D rotations

Author: fwcd

lighthouse-protocol/src/utils/mod.rs

@@ -2,6 +2,7 @@ mod color;
 mod direction;
 mod rect;
 mod rem_euclid;
+mod rot3;
 mod rotation;
 mod sqrt;
 mod unity;
@@ -13,6 +14,7 @@ pub use color::*;
 pub use direction::*;
 pub use rect::*;
 pub use rem_euclid::*;
+pub use rot3::*;
 pub use rotation::*;
 pub use sqrt::*;
 pub use unity::*;

lighthouse-protocol/src/utils/rot3.rs

@@ -0,0 +1,32 @@
+use serde::{Deserialize, Serialize};
+
+use super::Zero;
+
+/// A 3D rotation.
+#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash, Serialize, Deserialize)]
+pub struct Rot3<T> {
+    pub alpha: T,
+    pub beta: T,
+    pub gamma: T,
+}
+
+impl<T> Rot3<T> {
+    /// Creates a mew position.
+    pub const fn new(alpha: T, beta: T, gamma: T) -> Self {
+        Self { alpha, beta, gamma }
+    }
+
+    /// Maps a function over the vector.
+    pub fn map<U>(self, mut f: impl FnMut(T) -> U) -> Rot3<U> {
+        Rot3 {
+            alpha: f(self.alpha),
+            beta: f(self.beta),
+            gamma: f(self.gamma),
+        }
+    }
+}
+
+impl<T> Zero for Rot3<T> where T: Zero {
+    /// The origin.
+    const ZERO: Self = Self::new(T::ZERO, T::ZERO, T::ZERO);
+}