2013-09-22 16:58:21 +08:00
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//! Matrices with dimensions known at compile-time.
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2014-11-01 00:40:47 +08:00
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#![allow(missing_docs)] // we allow missing to avoid having to document the mij components.
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2013-07-24 22:50:40 +08:00
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2015-01-04 16:37:56 +08:00
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use std::ops::{Add, Sub, Mul, Div, Index, IndexMut};
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2014-05-12 07:31:22 +08:00
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use std::mem;
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2014-12-24 02:01:49 +08:00
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use std::slice::{Iter, IterMut};
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2015-02-17 20:32:54 +08:00
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use rand::{Rand, Rng};
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2015-04-18 20:19:43 +08:00
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use num::{Zero, One};
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2015-02-17 20:32:54 +08:00
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use traits::operations::ApproxEq;
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2014-11-26 21:17:34 +08:00
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use structs::vec::{Vec1, Vec2, Vec3, Vec4, Vec5, Vec6};
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use structs::pnt::{Pnt1, Pnt4, Pnt5, Pnt6};
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2014-08-16 18:16:26 +08:00
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use structs::dvec::{DVec1, DVec2, DVec3, DVec4, DVec5, DVec6};
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2013-07-22 16:26:20 +08:00
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2015-05-25 20:47:14 +08:00
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use traits::structure::{Cast, Row, Col, Iterable, IterableMut, Dim, Indexable, Eye, ColSlice,
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RowSlice, Diag, DiagMut, Shape, BaseFloat, BaseNum, Repeat};
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2014-10-27 00:24:33 +08:00
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use traits::operations::{Absolute, Transpose, Inv, Outer, EigenQR};
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2014-10-10 17:23:52 +08:00
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use traits::geometry::{ToHomogeneous, FromHomogeneous, Orig};
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2014-10-27 00:24:33 +08:00
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use linalg;
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2015-01-10 08:36:13 +08:00
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#[cfg(feature="arbitrary")]
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use quickcheck::{Arbitrary, Gen};
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2013-09-07 14:23:09 +08:00
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2013-07-22 16:26:20 +08:00
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2013-08-23 21:59:26 +08:00
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/// Special identity matrix. All its operation are no-ops.
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2015-03-02 04:50:17 +08:00
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#[repr(C)]
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2015-05-25 20:47:14 +08:00
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#[derive(Eq, PartialEq, RustcEncodable, RustcDecodable, Clone, Debug, Copy)]
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2013-11-29 03:14:25 +08:00
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pub struct Identity;
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2013-08-23 21:59:26 +08:00
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impl Identity {
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/// Creates a new identity matrix.
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#[inline]
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pub fn new() -> Identity {
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2013-11-29 03:14:25 +08:00
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Identity
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2013-08-23 21:59:26 +08:00
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}
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}
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2013-07-24 22:50:40 +08:00
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/// Square matrix of dimension 1.
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2015-03-02 04:50:17 +08:00
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#[repr(C)]
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2015-02-17 20:32:54 +08:00
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#[derive(Eq, PartialEq, RustcEncodable, RustcDecodable, Clone, Hash, Debug, Copy)]
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2013-08-05 16:13:44 +08:00
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pub struct Mat1<N> {
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2014-04-02 04:58:06 +08:00
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pub m11: N
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2013-07-24 22:50:40 +08:00
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}
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2013-07-22 16:26:20 +08:00
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2014-12-19 22:33:01 +08:00
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eye_impl!(Mat1, 1, m11);
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2014-05-12 01:46:04 +08:00
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2014-12-19 22:33:01 +08:00
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mat_impl!(Mat1, m11);
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2015-05-25 20:47:14 +08:00
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repeat_impl!(Mat1, m11);
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2014-12-19 22:33:01 +08:00
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as_array_impl!(Mat1, 1);
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mat_cast_impl!(Mat1, m11);
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add_impl!(Mat1, m11);
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sub_impl!(Mat1, m11);
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scalar_add_impl!(Mat1, m11);
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scalar_sub_impl!(Mat1, m11);
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scalar_mul_impl!(Mat1, m11);
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scalar_div_impl!(Mat1, m11);
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absolute_impl!(Mat1, m11);
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zero_impl!(Mat1, m11);
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one_impl!(Mat1, ::one);
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iterable_impl!(Mat1, 1);
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iterable_mut_impl!(Mat1, 1);
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at_fast_impl!(Mat1, 1);
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dim_impl!(Mat1, 1);
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indexable_impl!(Mat1, 1);
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index_impl!(Mat1, 1);
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mat_mul_mat_impl!(Mat1, 1);
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mat_mul_vec_impl!(Mat1, Vec1, 1, ::zero);
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vec_mul_mat_impl!(Mat1, Vec1, 1, ::zero);
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mat_mul_pnt_impl!(Mat1, Pnt1, 1, Orig::orig);
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pnt_mul_mat_impl!(Mat1, Pnt1, 1, Orig::orig);
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// (specialized); inv_impl!(Mat1, 1);
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transpose_impl!(Mat1, 1);
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approx_eq_impl!(Mat1);
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row_impl!(Mat1, Vec1, 1);
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col_impl!(Mat1, Vec1, 1);
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col_slice_impl!(Mat1, Vec1, DVec1, 1);
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row_slice_impl!(Mat1, Vec1, DVec1, 1);
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diag_impl!(Mat1, Vec1, 1);
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to_homogeneous_impl!(Mat1, Mat2, 1, 2);
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from_homogeneous_impl!(Mat1, Mat2, 1, 2);
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outer_impl!(Vec1, Mat1);
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eigen_qr_impl!(Mat1, Vec1);
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2015-01-10 08:36:13 +08:00
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arbitrary_impl!(Mat1, m11);
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2015-02-17 20:32:54 +08:00
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rand_impl!(Mat1, m11);
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2013-07-22 16:26:20 +08:00
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2013-07-24 22:50:40 +08:00
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/// Square matrix of dimension 2.
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2015-03-02 04:50:17 +08:00
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#[repr(C)]
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2015-02-17 20:32:54 +08:00
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#[derive(Eq, PartialEq, RustcEncodable, RustcDecodable, Clone, Hash, Debug, Copy)]
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2013-08-05 16:13:44 +08:00
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pub struct Mat2<N> {
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2014-04-02 04:58:06 +08:00
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pub m11: N, pub m21: N,
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pub m12: N, pub m22: N
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2013-07-22 16:26:20 +08:00
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}
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2014-12-19 22:33:01 +08:00
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eye_impl!(Mat2, 2, m11, m22);
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2014-05-12 01:46:04 +08:00
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2013-07-23 05:42:35 +08:00
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mat_impl!(Mat2, m11, m12,
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2014-12-19 22:33:01 +08:00
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m21, m22);
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2015-05-25 20:47:14 +08:00
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repeat_impl!(Mat2, m11, m12,
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m21, m22);
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2014-12-19 22:33:01 +08:00
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as_array_impl!(Mat2, 2);
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2014-11-26 21:17:34 +08:00
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mat_cast_impl!(Mat2, m11, m12,
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2014-12-19 22:33:01 +08:00
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m21, m22);
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add_impl!(Mat2, m11, m12, m21, m22);
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sub_impl!(Mat2, m11, m12, m21, m22);
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scalar_add_impl!(Mat2, m11, m12, m21, m22);
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scalar_sub_impl!(Mat2, m11, m12, m21, m22);
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scalar_mul_impl!(Mat2, m11, m12, m21, m22);
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scalar_div_impl!(Mat2, m11, m12, m21, m22);
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2013-09-13 16:26:19 +08:00
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absolute_impl!(Mat2, m11, m12,
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2014-12-19 22:33:01 +08:00
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m21, m22);
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2014-11-16 21:04:15 +08:00
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zero_impl!(Mat2, m11, m12,
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2014-12-19 22:33:01 +08:00
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m21, m22);
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2014-11-26 21:17:34 +08:00
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one_impl!(Mat2, ::one, ::zero,
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2014-12-19 22:33:01 +08:00
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::zero, ::one);
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iterable_impl!(Mat2, 2);
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iterable_mut_impl!(Mat2, 2);
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dim_impl!(Mat2, 2);
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indexable_impl!(Mat2, 2);
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index_impl!(Mat2, 2);
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at_fast_impl!(Mat2, 2);
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// (specialized); mul_impl!(Mat2, 2);
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// (specialized); rmul_impl!(Mat2, Vec2, 2);
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// (specialized); lmul_impl!(Mat2, Vec2, 2);
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// (specialized); inv_impl!(Mat2, 2);
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transpose_impl!(Mat2, 2);
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approx_eq_impl!(Mat2);
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row_impl!(Mat2, Vec2, 2);
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col_impl!(Mat2, Vec2, 2);
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col_slice_impl!(Mat2, Vec2, DVec2, 2);
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row_slice_impl!(Mat2, Vec2, DVec2, 2);
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diag_impl!(Mat2, Vec2, 2);
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to_homogeneous_impl!(Mat2, Mat3, 2, 3);
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from_homogeneous_impl!(Mat2, Mat3, 2, 3);
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outer_impl!(Vec2, Mat2);
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eigen_qr_impl!(Mat2, Vec2);
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2015-01-10 08:36:13 +08:00
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arbitrary_impl!(Mat2, m11, m12, m21, m22);
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2015-02-17 20:32:54 +08:00
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rand_impl!(Mat2, m11, m12, m21, m22);
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2013-07-22 16:26:20 +08:00
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2013-07-24 22:50:40 +08:00
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/// Square matrix of dimension 3.
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2015-03-02 04:50:17 +08:00
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#[repr(C)]
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2015-02-17 20:32:54 +08:00
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#[derive(Eq, PartialEq, RustcEncodable, RustcDecodable, Clone, Hash, Debug, Copy)]
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2013-08-05 16:13:44 +08:00
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pub struct Mat3<N> {
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2014-04-02 04:58:06 +08:00
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pub m11: N, pub m21: N, pub m31: N,
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pub m12: N, pub m22: N, pub m32: N,
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pub m13: N, pub m23: N, pub m33: N
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2013-07-22 16:26:20 +08:00
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}
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2014-12-19 22:33:01 +08:00
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eye_impl!(Mat3, 3, m11, m22, m33);
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2014-05-12 01:46:04 +08:00
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2013-07-23 05:42:35 +08:00
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mat_impl!(Mat3, m11, m12, m13,
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m21, m22, m23,
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2014-12-19 22:33:01 +08:00
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m31, m32, m33);
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2015-05-25 20:47:14 +08:00
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repeat_impl!(Mat3, m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33);
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2014-12-19 22:33:01 +08:00
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as_array_impl!(Mat3, 3);
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2014-11-26 21:17:34 +08:00
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mat_cast_impl!(Mat3, m11, m12, m13,
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m21, m22, m23,
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2014-12-19 22:33:01 +08:00
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m31, m32, m33);
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2014-11-26 21:17:34 +08:00
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add_impl!(Mat3,
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2013-09-15 03:11:43 +08:00
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m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33
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2014-12-19 22:33:01 +08:00
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);
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2014-11-26 21:17:34 +08:00
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sub_impl!(Mat3,
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m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33
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2014-12-19 22:33:01 +08:00
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);
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2014-11-26 21:17:34 +08:00
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scalar_add_impl!(Mat3,
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m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33
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2014-12-19 22:33:01 +08:00
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);
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2014-11-26 21:17:34 +08:00
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scalar_sub_impl!(Mat3,
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m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33
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2014-12-19 22:33:01 +08:00
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);
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2014-11-26 21:17:34 +08:00
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scalar_mul_impl!(Mat3,
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m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33
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2014-12-19 22:33:01 +08:00
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);
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2014-11-26 21:17:34 +08:00
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scalar_div_impl!(Mat3,
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2013-09-15 03:11:43 +08:00
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m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33
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2014-12-19 22:33:01 +08:00
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);
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2013-09-15 03:11:43 +08:00
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absolute_impl!(Mat3,
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m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33
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2014-12-19 22:33:01 +08:00
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);
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2014-11-16 21:04:15 +08:00
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zero_impl!(Mat3,
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m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33
|
2014-12-19 22:33:01 +08:00
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);
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2014-11-26 21:17:34 +08:00
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one_impl!(Mat3, ::one , ::zero, ::zero,
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::zero, ::one , ::zero,
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2014-12-19 22:33:01 +08:00
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::zero, ::zero, ::one);
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iterable_impl!(Mat3, 3);
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iterable_mut_impl!(Mat3, 3);
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dim_impl!(Mat3, 3);
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indexable_impl!(Mat3, 3);
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index_impl!(Mat3, 3);
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at_fast_impl!(Mat3, 3);
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// (specialized); mul_impl!(Mat3, 3);
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// (specialized); rmul_impl!(Mat3, Vec3, 3);
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// (specialized); lmul_impl!(Mat3, Vec3, 3);
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// (specialized); inv_impl!(Mat3, 3);
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transpose_impl!(Mat3, 3);
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approx_eq_impl!(Mat3);
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|
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// (specialized); row_impl!(Mat3, Vec3, 3);
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// (specialized); col_impl!(Mat3, Vec3, 3);
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col_slice_impl!(Mat3, Vec3, DVec3, 3);
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row_slice_impl!(Mat3, Vec3, DVec3, 3);
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diag_impl!(Mat3, Vec3, 3);
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to_homogeneous_impl!(Mat3, Mat4, 3, 4);
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from_homogeneous_impl!(Mat3, Mat4, 3, 4);
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outer_impl!(Vec3, Mat3);
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|
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eigen_qr_impl!(Mat3, Vec3);
|
2015-01-10 08:36:13 +08:00
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arbitrary_impl!(Mat3,
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m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33
|
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);
|
2015-02-17 20:32:54 +08:00
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rand_impl!(Mat3,
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|
|
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m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33
|
|
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);
|
2013-07-22 16:26:20 +08:00
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|
|
2013-07-24 22:50:40 +08:00
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/// Square matrix of dimension 4.
|
2015-03-02 04:50:17 +08:00
|
|
|
#[repr(C)]
|
2015-02-17 20:32:54 +08:00
|
|
|
#[derive(Eq, PartialEq, RustcEncodable, RustcDecodable, Clone, Hash, Debug, Copy)]
|
2013-08-05 16:13:44 +08:00
|
|
|
pub struct Mat4<N> {
|
2014-04-02 04:58:06 +08:00
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pub m11: N, pub m21: N, pub m31: N, pub m41: N,
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pub m12: N, pub m22: N, pub m32: N, pub m42: N,
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pub m13: N, pub m23: N, pub m33: N, pub m43: N,
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pub m14: N, pub m24: N, pub m34: N, pub m44: N
|
2013-07-22 16:26:20 +08:00
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|
}
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|
2014-12-19 22:33:01 +08:00
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|
eye_impl!(Mat4, 4, m11, m22, m33, m44);
|
2014-05-12 01:46:04 +08:00
|
|
|
|
2013-07-23 05:42:35 +08:00
|
|
|
mat_impl!(Mat4,
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|
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m11, m12, m13, m14,
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m21, m22, m23, m24,
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m31, m32, m33, m34,
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m41, m42, m43, m44
|
2014-12-19 22:33:01 +08:00
|
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|
);
|
2015-05-25 20:47:14 +08:00
|
|
|
repeat_impl!(Mat4,
|
|
|
|
m11, m12, m13, m14,
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|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
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|
|
m41, m42, m43, m44
|
|
|
|
);
|
2014-12-19 22:33:01 +08:00
|
|
|
as_array_impl!(Mat4, 4);
|
2014-11-26 21:17:34 +08:00
|
|
|
mat_cast_impl!(Mat4,
|
2013-07-22 16:26:20 +08:00
|
|
|
m11, m12, m13, m14,
|
|
|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
|
|
|
m41, m42, m43, m44
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
add_impl!(Mat4,
|
2013-08-12 23:04:53 +08:00
|
|
|
m11, m12, m13, m14,
|
|
|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
|
|
|
m41, m42, m43, m44
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
sub_impl!(Mat4,
|
|
|
|
m11, m12, m13, m14,
|
|
|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
|
|
|
m41, m42, m43, m44
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_add_impl!(Mat4,
|
|
|
|
m11, m12, m13, m14,
|
|
|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
|
|
|
m41, m42, m43, m44
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_sub_impl!(Mat4,
|
|
|
|
m11, m12, m13, m14,
|
|
|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
|
|
|
m41, m42, m43, m44
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_mul_impl!(Mat4,
|
|
|
|
m11, m12, m13, m14,
|
|
|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
|
|
|
m41, m42, m43, m44
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_div_impl!(Mat4,
|
2013-08-12 23:04:53 +08:00
|
|
|
m11, m12, m13, m14,
|
|
|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
|
|
|
m41, m42, m43, m44
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2013-09-13 16:26:19 +08:00
|
|
|
absolute_impl!(Mat4,
|
|
|
|
m11, m12, m13, m14,
|
|
|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
|
|
|
m41, m42, m43, m44
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-16 21:04:15 +08:00
|
|
|
zero_impl!(Mat4,
|
|
|
|
m11, m12, m13, m14,
|
|
|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
|
|
|
m41, m42, m43, m44
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-16 21:04:15 +08:00
|
|
|
one_impl!(Mat4, ::one , ::zero, ::zero, ::zero,
|
|
|
|
::zero, ::one , ::zero, ::zero,
|
|
|
|
::zero, ::zero, ::one , ::zero,
|
2014-12-19 22:33:01 +08:00
|
|
|
::zero, ::zero, ::zero, ::one);
|
|
|
|
iterable_impl!(Mat4, 4);
|
|
|
|
iterable_mut_impl!(Mat4, 4);
|
|
|
|
dim_impl!(Mat4, 4);
|
|
|
|
indexable_impl!(Mat4, 4);
|
|
|
|
index_impl!(Mat4, 4);
|
|
|
|
at_fast_impl!(Mat4, 4);
|
|
|
|
mat_mul_mat_impl!(Mat4, 4);
|
|
|
|
mat_mul_vec_impl!(Mat4, Vec4, 4, ::zero);
|
|
|
|
vec_mul_mat_impl!(Mat4, Vec4, 4, ::zero);
|
|
|
|
mat_mul_pnt_impl!(Mat4, Pnt4, 4, Orig::orig);
|
|
|
|
pnt_mul_mat_impl!(Mat4, Pnt4, 4, Orig::orig);
|
|
|
|
inv_impl!(Mat4, 4);
|
|
|
|
transpose_impl!(Mat4, 4);
|
|
|
|
approx_eq_impl!(Mat4);
|
|
|
|
row_impl!(Mat4, Vec4, 4);
|
|
|
|
col_impl!(Mat4, Vec4, 4);
|
|
|
|
col_slice_impl!(Mat4, Vec4, DVec4, 4);
|
|
|
|
row_slice_impl!(Mat4, Vec4, DVec4, 4);
|
|
|
|
diag_impl!(Mat4, Vec4, 4);
|
|
|
|
to_homogeneous_impl!(Mat4, Mat5, 4, 5);
|
|
|
|
from_homogeneous_impl!(Mat4, Mat5, 4, 5);
|
|
|
|
outer_impl!(Vec4, Mat4);
|
|
|
|
eigen_qr_impl!(Mat4, Vec4);
|
2015-01-10 08:36:13 +08:00
|
|
|
arbitrary_impl!(Mat4,
|
|
|
|
m11, m12, m13, m14,
|
|
|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
|
|
|
m41, m42, m43, m44
|
|
|
|
);
|
2015-02-17 20:32:54 +08:00
|
|
|
rand_impl!(Mat4,
|
|
|
|
m11, m12, m13, m14,
|
|
|
|
m21, m22, m23, m24,
|
|
|
|
m31, m32, m33, m34,
|
|
|
|
m41, m42, m43, m44
|
|
|
|
);
|
2013-07-22 16:26:20 +08:00
|
|
|
|
2013-07-24 22:50:40 +08:00
|
|
|
/// Square matrix of dimension 5.
|
2015-03-02 04:50:17 +08:00
|
|
|
#[repr(C)]
|
2015-02-17 20:32:54 +08:00
|
|
|
#[derive(Eq, PartialEq, RustcEncodable, RustcDecodable, Clone, Hash, Debug, Copy)]
|
2013-08-05 16:13:44 +08:00
|
|
|
pub struct Mat5<N> {
|
2014-04-02 04:58:06 +08:00
|
|
|
pub m11: N, pub m21: N, pub m31: N, pub m41: N, pub m51: N,
|
|
|
|
pub m12: N, pub m22: N, pub m32: N, pub m42: N, pub m52: N,
|
|
|
|
pub m13: N, pub m23: N, pub m33: N, pub m43: N, pub m53: N,
|
|
|
|
pub m14: N, pub m24: N, pub m34: N, pub m44: N, pub m54: N,
|
|
|
|
pub m15: N, pub m25: N, pub m35: N, pub m45: N, pub m55: N
|
2013-07-22 16:26:20 +08:00
|
|
|
}
|
|
|
|
|
2014-12-19 22:33:01 +08:00
|
|
|
eye_impl!(Mat5, 5, m11, m22, m33, m44, m55);
|
2014-05-12 01:46:04 +08:00
|
|
|
|
2013-07-23 05:42:35 +08:00
|
|
|
mat_impl!(Mat5,
|
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2015-05-25 20:47:14 +08:00
|
|
|
repeat_impl!(Mat5,
|
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
|
|
|
);
|
2014-12-19 22:33:01 +08:00
|
|
|
as_array_impl!(Mat5, 5);
|
2014-11-26 21:17:34 +08:00
|
|
|
mat_cast_impl!(Mat5,
|
2013-07-22 16:26:20 +08:00
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2013-09-13 16:26:19 +08:00
|
|
|
absolute_impl!(Mat5,
|
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-16 21:04:15 +08:00
|
|
|
zero_impl!(Mat5,
|
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2013-07-22 16:26:20 +08:00
|
|
|
one_impl!(Mat5,
|
2014-11-16 21:04:15 +08:00
|
|
|
::one , ::zero, ::zero, ::zero, ::zero,
|
|
|
|
::zero, ::one , ::zero, ::zero, ::zero,
|
|
|
|
::zero, ::zero, ::one , ::zero, ::zero,
|
|
|
|
::zero, ::zero, ::zero, ::one , ::zero,
|
|
|
|
::zero, ::zero, ::zero, ::zero, ::one
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
add_impl!(Mat5,
|
2013-08-12 22:50:50 +08:00
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
sub_impl!(Mat5,
|
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_add_impl!(Mat5,
|
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_sub_impl!(Mat5,
|
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_mul_impl!(Mat5,
|
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_div_impl!(Mat5,
|
2013-08-12 23:04:53 +08:00
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
|
|
|
iterable_impl!(Mat5, 5);
|
|
|
|
iterable_mut_impl!(Mat5, 5);
|
|
|
|
dim_impl!(Mat5, 5);
|
|
|
|
indexable_impl!(Mat5, 5);
|
|
|
|
index_impl!(Mat5, 5);
|
|
|
|
at_fast_impl!(Mat5, 5);
|
|
|
|
mat_mul_mat_impl!(Mat5, 5);
|
|
|
|
mat_mul_vec_impl!(Mat5, Vec5, 5, ::zero);
|
|
|
|
vec_mul_mat_impl!(Mat5, Vec5, 5, ::zero);
|
|
|
|
mat_mul_pnt_impl!(Mat5, Pnt5, 5, Orig::orig);
|
|
|
|
pnt_mul_mat_impl!(Mat5, Pnt5, 5, Orig::orig);
|
|
|
|
inv_impl!(Mat5, 5);
|
|
|
|
transpose_impl!(Mat5, 5);
|
|
|
|
approx_eq_impl!(Mat5);
|
|
|
|
row_impl!(Mat5, Vec5, 5);
|
|
|
|
col_impl!(Mat5, Vec5, 5);
|
|
|
|
col_slice_impl!(Mat5, Vec5, DVec5, 5);
|
|
|
|
row_slice_impl!(Mat5, Vec5, DVec5, 5);
|
|
|
|
diag_impl!(Mat5, Vec5, 5);
|
|
|
|
to_homogeneous_impl!(Mat5, Mat6, 5, 6);
|
|
|
|
from_homogeneous_impl!(Mat5, Mat6, 5, 6);
|
|
|
|
outer_impl!(Vec5, Mat5);
|
|
|
|
eigen_qr_impl!(Mat5, Vec5);
|
2015-01-10 08:36:13 +08:00
|
|
|
arbitrary_impl!(Mat5,
|
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
|
|
|
);
|
2015-02-17 20:32:54 +08:00
|
|
|
rand_impl!(Mat5,
|
|
|
|
m11, m12, m13, m14, m15,
|
|
|
|
m21, m22, m23, m24, m25,
|
|
|
|
m31, m32, m33, m34, m35,
|
|
|
|
m41, m42, m43, m44, m45,
|
|
|
|
m51, m52, m53, m54, m55
|
|
|
|
);
|
2013-07-22 16:26:20 +08:00
|
|
|
|
2013-07-24 22:50:40 +08:00
|
|
|
/// Square matrix of dimension 6.
|
2015-03-02 04:50:17 +08:00
|
|
|
#[repr(C)]
|
2015-02-17 20:32:54 +08:00
|
|
|
#[derive(Eq, PartialEq, RustcEncodable, RustcDecodable, Clone, Hash, Debug, Copy)]
|
2013-08-05 16:13:44 +08:00
|
|
|
pub struct Mat6<N> {
|
2014-04-02 04:58:06 +08:00
|
|
|
pub m11: N, pub m21: N, pub m31: N, pub m41: N, pub m51: N, pub m61: N,
|
|
|
|
pub m12: N, pub m22: N, pub m32: N, pub m42: N, pub m52: N, pub m62: N,
|
|
|
|
pub m13: N, pub m23: N, pub m33: N, pub m43: N, pub m53: N, pub m63: N,
|
|
|
|
pub m14: N, pub m24: N, pub m34: N, pub m44: N, pub m54: N, pub m64: N,
|
|
|
|
pub m15: N, pub m25: N, pub m35: N, pub m45: N, pub m55: N, pub m65: N,
|
|
|
|
pub m16: N, pub m26: N, pub m36: N, pub m46: N, pub m56: N, pub m66: N
|
2013-07-22 16:26:20 +08:00
|
|
|
}
|
|
|
|
|
2014-12-19 22:33:01 +08:00
|
|
|
eye_impl!(Mat6, 6, m11, m22, m33, m44, m55, m66);
|
2014-05-12 01:46:04 +08:00
|
|
|
|
2013-07-23 05:42:35 +08:00
|
|
|
mat_impl!(Mat6,
|
|
|
|
m11, m12, m13, m14, m15, m16,
|
|
|
|
m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36,
|
|
|
|
m41, m42, m43, m44, m45, m46,
|
|
|
|
m51, m52, m53, m54, m55, m56,
|
|
|
|
m61, m62, m63, m64, m65, m66
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2015-05-25 20:47:14 +08:00
|
|
|
repeat_impl!(Mat6,
|
|
|
|
m11, m12, m13, m14, m15, m16,
|
|
|
|
m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36,
|
|
|
|
m41, m42, m43, m44, m45, m46,
|
|
|
|
m51, m52, m53, m54, m55, m56,
|
|
|
|
m61, m62, m63, m64, m65, m66
|
|
|
|
);
|
2014-12-19 22:33:01 +08:00
|
|
|
as_array_impl!(Mat6, 6);
|
2014-11-26 21:17:34 +08:00
|
|
|
mat_cast_impl!(Mat6,
|
2013-07-22 16:26:20 +08:00
|
|
|
m11, m12, m13, m14, m15, m16,
|
|
|
|
m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36,
|
|
|
|
m41, m42, m43, m44, m45, m46,
|
|
|
|
m51, m52, m53, m54, m55, m56,
|
|
|
|
m61, m62, m63, m64, m65, m66
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
add_impl!(Mat6,
|
2013-08-12 22:50:50 +08:00
|
|
|
m11, m12, m13, m14, m15, m16,
|
|
|
|
m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36,
|
|
|
|
m41, m42, m43, m44, m45, m46,
|
|
|
|
m51, m52, m53, m54, m55, m56,
|
|
|
|
m61, m62, m63, m64, m65, m66
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
sub_impl!(Mat6,
|
|
|
|
m11, m12, m13, m14, m15, m16,
|
|
|
|
m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36,
|
|
|
|
m41, m42, m43, m44, m45, m46,
|
|
|
|
m51, m52, m53, m54, m55, m56,
|
|
|
|
m61, m62, m63, m64, m65, m66
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_add_impl!(Mat6,
|
|
|
|
m11, m12, m13, m14, m15, m16,
|
|
|
|
m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36,
|
|
|
|
m41, m42, m43, m44, m45, m46,
|
|
|
|
m51, m52, m53, m54, m55, m56,
|
|
|
|
m61, m62, m63, m64, m65, m66
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_sub_impl!(Mat6,
|
|
|
|
m11, m12, m13, m14, m15, m16,
|
|
|
|
m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36,
|
|
|
|
m41, m42, m43, m44, m45, m46,
|
|
|
|
m51, m52, m53, m54, m55, m56,
|
|
|
|
m61, m62, m63, m64, m65, m66
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_mul_impl!(Mat6,
|
|
|
|
m11, m12, m13, m14, m15, m16,
|
|
|
|
m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36,
|
|
|
|
m41, m42, m43, m44, m45, m46,
|
|
|
|
m51, m52, m53, m54, m55, m56,
|
|
|
|
m61, m62, m63, m64, m65, m66
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2014-11-26 21:17:34 +08:00
|
|
|
scalar_div_impl!(Mat6,
|
2013-09-13 16:26:19 +08:00
|
|
|
m11, m12, m13, m14, m15, m16,
|
|
|
|
m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36,
|
|
|
|
m41, m42, m43, m44, m45, m46,
|
|
|
|
m51, m52, m53, m54, m55, m56,
|
|
|
|
m61, m62, m63, m64, m65, m66
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
2013-09-15 03:11:43 +08:00
|
|
|
absolute_impl!(Mat6, m11, m12, m13, m14, m15, m16, m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36, m41, m42, m43, m44, m45, m46, m51, m52, m53, m54, m55, m56,
|
2014-12-19 22:33:01 +08:00
|
|
|
m61, m62, m63, m64, m65, m66);
|
2013-09-15 03:11:43 +08:00
|
|
|
|
2014-11-16 21:04:15 +08:00
|
|
|
zero_impl!(Mat6, m11, m12, m13, m14, m15, m16, m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36, m41, m42, m43, m44, m45, m46, m51, m52, m53, m54, m55, m56,
|
2014-12-19 22:33:01 +08:00
|
|
|
m61, m62, m63, m64, m65, m66);
|
2014-11-16 21:04:15 +08:00
|
|
|
|
2013-07-22 16:26:20 +08:00
|
|
|
one_impl!(Mat6,
|
2014-11-16 21:04:15 +08:00
|
|
|
::one , ::zero, ::zero, ::zero, ::zero, ::zero,
|
|
|
|
::zero, ::one , ::zero, ::zero, ::zero, ::zero,
|
|
|
|
::zero, ::zero, ::one , ::zero, ::zero, ::zero,
|
|
|
|
::zero, ::zero, ::zero, ::one , ::zero, ::zero,
|
|
|
|
::zero, ::zero, ::zero, ::zero, ::one , ::zero,
|
|
|
|
::zero, ::zero, ::zero, ::zero, ::zero, ::one
|
2014-12-19 22:33:01 +08:00
|
|
|
);
|
|
|
|
iterable_impl!(Mat6, 6);
|
|
|
|
iterable_mut_impl!(Mat6, 6);
|
|
|
|
dim_impl!(Mat6, 6);
|
|
|
|
indexable_impl!(Mat6, 6);
|
|
|
|
index_impl!(Mat6, 6);
|
|
|
|
at_fast_impl!(Mat6, 6);
|
|
|
|
mat_mul_mat_impl!(Mat6, 6);
|
|
|
|
mat_mul_vec_impl!(Mat6, Vec6, 6, ::zero);
|
|
|
|
vec_mul_mat_impl!(Mat6, Vec6, 6, ::zero);
|
|
|
|
mat_mul_pnt_impl!(Mat6, Pnt6, 6, Orig::orig);
|
|
|
|
pnt_mul_mat_impl!(Mat6, Pnt6, 6, Orig::orig);
|
|
|
|
inv_impl!(Mat6, 6);
|
|
|
|
transpose_impl!(Mat6, 6);
|
|
|
|
approx_eq_impl!(Mat6);
|
|
|
|
row_impl!(Mat6, Vec6, 6);
|
|
|
|
col_impl!(Mat6, Vec6, 6);
|
|
|
|
col_slice_impl!(Mat6, Vec6, DVec6, 6);
|
|
|
|
row_slice_impl!(Mat6, Vec6, DVec6, 6);
|
|
|
|
diag_impl!(Mat6, Vec6, 6);
|
|
|
|
outer_impl!(Vec6, Mat6);
|
|
|
|
eigen_qr_impl!(Mat6, Vec6);
|
2015-01-10 08:36:13 +08:00
|
|
|
arbitrary_impl!(Mat6,
|
|
|
|
m11, m12, m13, m14, m15, m16,
|
|
|
|
m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36,
|
|
|
|
m41, m42, m43, m44, m45, m46,
|
|
|
|
m51, m52, m53, m54, m55, m56,
|
|
|
|
m61, m62, m63, m64, m65, m66
|
|
|
|
);
|
2015-02-17 20:32:54 +08:00
|
|
|
rand_impl!(Mat6,
|
|
|
|
m11, m12, m13, m14, m15, m16,
|
|
|
|
m21, m22, m23, m24, m25, m26,
|
|
|
|
m31, m32, m33, m34, m35, m36,
|
|
|
|
m41, m42, m43, m44, m45, m46,
|
|
|
|
m51, m52, m53, m54, m55, m56,
|
|
|
|
m61, m62, m63, m64, m65, m66
|
|
|
|
);
|