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nalgebra
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Merge pull request #782 from dimforge/dev 

Release v0.23.0
This commit is contained in:
Sébastien Crozet 2020-10-26 09:50:46 +01:00 committed by GitHub
parent d5cbe56332 a2b128c4e4
commit 04e4e11154
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60 changed files with 1689 additions and 454 deletions
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4
.circleci/config.yml
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@ -47,10 +47,10 @@ jobs:
- checkout
- run:
name: test
command: cargo test --all-features
command: cargo test --features arbitrary --features serde-serialize --features abomonation-serialize --features sparse --features debug --features io --features compare --features libm
- run:
name: test nalgebra-glm
command: cargo test -p nalgebra-glm --all-features
command: cargo test -p nalgebra-glm --features arbitrary --features serde-serialize --features abomonation-serialize --features sparse --features debug --features io --features compare --features libm
build-wasm:
executor: rust-executor
steps:

4
.github/FUNDING.yml vendored
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@ -1,7 +1,7 @@
# These are supported funding model platforms
github: [ "sebcrozet" ] # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
patreon: sebcrozet # Replace with a single Patreon username
github: [ "dimforge" ] # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
patreon: # Replace with a single Patreon username
open_collective: # Replace with a single Open Collective username
ko_fi: # Replace with a single Ko-fi username
tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel

26
CHANGELOG.md
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@ -4,15 +4,37 @@ documented here.
This project adheres to [Semantic Versioning](https://semver.org/).
## [0.22.0] - WIP
## [0.23.0] - WIP
### Added
* The `.inverse_transform_unit_vector(v)` was added to `Rotation2/3`, `Isometry2/3`, `UnitQuaternion`, and `UnitComplex`.
It applies the corresponding rotation to a unit vector `Unit<Vector2/3>`.
* The `Point.map(f)` and `Point.apply(f)` to apply a function to each component of the point, similarly to `Vector.map(f)`
and `Vector.apply(f)`.
* The `Quaternion::from([N; 4])` conversion to build a quaternion from an array of four elements.
* The `Isometry::from(Translation)` conversion to build an isometry from a translation.
* The `Vector::ith_axis(i)` which build a unit vector, e.g., `Unit<Vector3<f32>>` with its i-th component set to 1.0 and the
others set to zero.
* The `Isometry.lerp_slerp` and `Isometry.try_lerp_slerp` methods to interpolate between two isometries using linear
interpolation for the translational part, and spherical interpolation for the rotational part.
* The `Rotation2.slerp`, `Rotation3.slerp`, and `UnitQuaternion.slerp` method for
spherical interpolation.
## [0.22.0]
In this release, we are using the new version 0.2 of simba. One major change of that version is that the
use of `libm` is now opt-in when building targetting `no-std` environment. If you are using floating-point
operations with nalgebra in a `no-std` environment, you will need to enable the new `libm` feature
of nalgebra for your code to compile again.
### Added
* The `libm` feature that enables `libm` when building for `no-std` environment.
* The `libm-force` feature that enables `libm` even when building for a not `no-std` environment.
* `Cholesky::new_unchecked` which build a Cholesky decomposition without checking that its input is
positive-definite. It can be use with SIMD types.
* The `Default` trait is now implemented for matrices, and quaternions. They are all filled with zeros,
except for `UnitQuaternion` which is initialized with the identity.
* Matrix exponential `matrix.exp()`.
* The `Vector::ith(i, x)` that builds a vector filled with zeros except for the `i`-th component set to `x`.
## [0.21.0]
In this release, we are no longer relying on traits from the __alga__ crate for our generic code.

38
Cargo.toml
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@ -1,6 +1,6 @@
[package]
name = "nalgebra"
version = "0.21.1"
version = "0.23.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ]
description = "Linear algebra library with transformations and statically-sized or dynamically-sized matrices."
@ -10,7 +10,7 @@ repository = "https://github.com/rustsim/nalgebra"
readme = "README.md"
categories = [ "science" ]
keywords = [ "linear", "algebra", "matrix", "vector", "math" ]
license = "BSD-3-Clause"
license = "Apache-2.0"
edition = "2018"
exclude = ["/ci/*", "/.travis.yml", "/Makefile"]
@ -24,32 +24,36 @@ default = [ "std" ]
std = [ "matrixmultiply", "rand/std", "rand_distr", "simba/std" ]
stdweb = [ "rand/stdweb" ]
arbitrary = [ "quickcheck" ]
serde-serialize = [ "serde", "serde_derive", "num-complex/serde" ]
serde-serialize = [ "serde", "num-complex/serde" ]
abomonation-serialize = [ "abomonation" ]
sparse = [ ]
debug = [ "approx/num-complex", "rand/std" ]
alloc = [ ]
io = [ "pest", "pest_derive" ]
compare = [ "matrixcompare-core" ]
libm = [ "simba/libm" ]
libm-force = [ "simba/libm_force" ]
[dependencies]
typenum = "1.11"
generic-array = "0.13"
typenum = "1.12"
generic-array = "0.14"
rand = { version = "0.7", default-features = false }
num-traits = { version = "0.2", default-features = false }
num-complex = { version = "0.2", default-features = false }
num-rational = { version = "0.2", default-features = false }
approx = { version = "0.3", default-features = false }
simba = { version = "0.1", default-features = false }
num-complex = { version = "0.3", default-features = false }
num-rational = { version = "0.3", default-features = false }
approx = { version = "0.4", default-features = false }
simba = { version = "0.3", default-features = false }
alga = { version = "0.9", default-features = false, optional = true }
rand_distr = { version = "0.2", optional = true }
rand_distr = { version = "0.3", optional = true }
matrixmultiply = { version = "0.2", optional = true }
serde = { version = "1.0", optional = true }
serde_derive = { version = "1.0", optional = true }
serde = { version = "1.0", features = [ "derive" ], optional = true }
abomonation = { version = "0.7", optional = true }
mint = { version = "0.5", optional = true }
quickcheck = { version = "0.9", optional = true }
pest = { version = "2.0", optional = true }
pest_derive = { version = "2.0", optional = true }
pest = { version = "2", optional = true }
pest_derive = { version = "2", optional = true }
matrixcompare-core = { version = "0.1", optional = true }
[dev-dependencies]
serde_json = "1.0"
@ -61,6 +65,9 @@ rand_isaac = "0.2"
### https://github.com/rust-lang/cargo/issues/4866
#criterion = "0.2.10"
# For matrix comparison macro
matrixcompare = "0.1.3"
[workspace]
members = [ "nalgebra-lapack", "nalgebra-glm" ]
@ -71,6 +78,3 @@ path = "benches/lib.rs"
[profile.bench]
lto = true
#[patch.crates-io]
#simba = { path = "../simba" }

218
LICENSE
View File

@ -1,27 +1,201 @@
Copyright (c) 2013, Sébastien Crozet
All rights reserved.
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Redistribution and use in source and binary forms, with or without
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To apply the Apache License to your work, attach the following
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4
Makefile
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@ -1,5 +1,5 @@
all:
cargo test --features "debug arbitrary serde-serialize abomonation-serialize"
cargo test --features "debug arbitrary serde-serialize abomonation-serialize compare"
# cargo check --features "debug arbitrary serde-serialize"
doc:
@ -9,4 +9,4 @@ bench:
cargo bench
test:
cargo test --features "debug arbitrary serde-serialize abomonation-serialize"
cargo test --features "debug arbitrary serde-serialize abomonation-serialize compare"

16
README.md
View File

@ -5,14 +5,14 @@
<a href="https://discord.gg/vt9DJSW">
<img src="https://img.shields.io/discord/507548572338880513.svg?logo=discord&colorB=7289DA">
</a>
<a href="https://travis-ci.org/rustsim/nalgebra">
<img src="https://travis-ci.org/rustsim/nalgebra.svg?branch=master" alt="Build status">
<a href="https://travis-ci.org/dimforge/nalgebra">
<img src="https://travis-ci.org/dimforge/nalgebra.svg?branch=master" alt="Build status">
</a>
<a href="https://crates.io/crates/nalgebra">
<img src="https://meritbadge.herokuapp.com/nalgebra?style=flat-square" alt="crates.io">
</a>
<a href="https://opensource.org/licenses/BSD-3-Clause">
<img src="https://img.shields.io/badge/license-BSD%203--Clause-blue.svg?style=flat">
<a href="https://opensource.org/licenses/Apache-2.0">
<img src="https://img.shields.io/badge/License-Apache%202.0-blue.svg">
</a>
</p>
<p align = "center">
@ -29,11 +29,3 @@
</p>
-----
<p align = "center">
 <i>Click this button if you wish to donate to support the development of</i> <b>nalgebra</b>:
</p>
<p align = "center">
<a href="https://www.patreon.com/bePatron?u=7111380" ><img src="https://c5.patreon.com/external/logo/become_a_patron_button.png" alt="Become a Patron!" /></a>
</p>

82
examples/matrixcompare.rs Normal file
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@ -0,0 +1,82 @@
extern crate nalgebra as na;
use matrixcompare::comparators::{AbsoluteElementwiseComparator, ExactElementwiseComparator};
use matrixcompare::compare_matrices;
use na::{MatrixMN, U3, U4};
fn compare_integers_fail() {
println!("Comparing two integer matrices.");
#[rustfmt::skip]
let a = MatrixMN::<_, U3, U4>::from_row_slice(&[
0, 1, 2, 3,
4, 5, 6, 7,
8, 9, -2, 11
]);
#[rustfmt::skip]
let b = MatrixMN::<_, U3, U4>::from_row_slice(&[
0, 1, 2, 3,
4, 5, 6, 7,
8, 9, 10, 11
]);
if let Err(err) = compare_matrices(a, b, &ExactElementwiseComparator) {
println!("{}", err);
}
}
fn compare_different_size() {
println!("Comparing matrices of different size.");
#[rustfmt::skip]
let a = MatrixMN::<_, U3, U3>::from_row_slice(&[
0, 1, 2,
4, 5, 6,
8, 9, 10,
]);
#[rustfmt::skip]
let b = MatrixMN::<_, U3, U4>::from_row_slice(&[
0, 1, 2, 3,
4, 5, 6, 7,
8, 9, 10, 11
]);
if let Err(err) = compare_matrices(a, b, &ExactElementwiseComparator) {
println!("{}", err);
}
}
fn compare_f64_abs_tol_fail() {
println!("Comparing two f64 matrices.");
#[rustfmt::skip]
let a = MatrixMN::<f64, U3, U3>::from_row_slice(&[
0.0, 1.0, 2.0 + 1e-10,
4.0, 5.0, 6.0,
8.0, 9.0, 10.0,
]);
#[rustfmt::skip]
let b = MatrixMN::<_, U3, U3>::from_row_slice(&[
0.0, 1.0, 2.0,
4.0, 5.0, 6.0,
8.0, 9.0, 10.0
]);
let cmp = AbsoluteElementwiseComparator { tol: 1e-12 };
if let Err(err) = compare_matrices(a, b, &cmp) {
println!("{}", err);
}
}
fn main() {
// This example mostly serves the purpose of demonstrating the kind of error messages
// that are given upon comparison failure.
// The more typical use case is using `assert_matrix_eq!` in tests.
compare_integers_fail();
println!("======================================================");
compare_f64_abs_tol_fail();
println!("======================================================");
compare_different_size();
}

54
examples/reshaping.rs Normal file
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@ -0,0 +1,54 @@
#![cfg_attr(rustfmt, rustfmt_skip)]
extern crate nalgebra as na;
use na::{DMatrix, Dynamic, Matrix2x3, Matrix3x2, U2, U3};
fn main() {
// Matrices can be reshaped in-place without moving or copying values.
let m1 = Matrix2x3::new(
1.1, 1.2, 1.3,
2.1, 2.2, 2.3
);
let m2 = Matrix3x2::new(
1.1, 2.2,
2.1, 1.3,
1.2, 2.3
);
let m3 = m1.reshape_generic(U3, U2);
assert_eq!(m3, m2);
// Note that, for statically sized matrices, invalid reshapes will not compile:
//let m4 = m3.reshape_generic(U3, U3);
// If dynamically sized matrices are used, the reshaping is checked at run-time.
let dm1 = DMatrix::from_row_slice(
4,
3,
&[
1.0, 0.0, 0.0,
0.0, 0.0, 1.0,
0.0, 0.0, 0.0,
0.0, 1.0, 0.0
],
);
let dm2 = DMatrix::from_row_slice(
6,
2,
&[
1.0, 0.0,
0.0, 1.0,
0.0, 0.0,
0.0, 1.0,
0.0, 0.0,
0.0, 0.0,
],
);
let dm3 = dm1.reshape_generic(Dynamic::new(6), Dynamic::new(2));
assert_eq!(dm3, dm2);
// Invalid reshapings of dynamic matrices will panic at run-time.
//let dm4 = dm3.reshape_generic(Dynamic::new(6), Dynamic::new(6));
}

8
nalgebra-glm/Cargo.toml
View File

@ -1,6 +1,6 @@
[package]
name = "nalgebra-glm"
version = "0.7.0"
version = "0.9.0"
authors = ["sebcrozet <developer@crozet.re>"]
description = "A computer-graphics oriented API for nalgebra, inspired by the C++ GLM library."
@ -23,6 +23,6 @@ abomonation-serialize = [ "nalgebra/abomonation-serialize" ]
[dependencies]
num-traits = { version = "0.2", default-features = false }
approx = { version = "0.3", default-features = false }
simba = { version = "0.1", default-features = false }
nalgebra = { path = "..", version = "0.21", default-features = false }
approx = { version = "0.4", default-features = false }
simba = { version = "0.3", default-features = false }
nalgebra = { path = "..", version = "0.23", default-features = false }

8
nalgebra-glm/src/ext/matrix_clip_space.rs
View File

@ -530,7 +530,7 @@ pub fn perspective_lh_no<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> T
);
assert!(
!relative_eq!(aspect, N::zero()),
"The apsect ratio must not be zero."
"The aspect ratio must not be zero."
);
let one = N::one();
@ -566,7 +566,7 @@ pub fn perspective_lh_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> T
);
assert!(
!relative_eq!(aspect, N::zero()),
"The apsect ratio must not be zero."
"The aspect ratio must not be zero."
);
let one = N::one();
@ -632,7 +632,7 @@ pub fn perspective_rh_no<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> T
);
assert!(
!relative_eq!(aspect, N::zero()),
"The apsect ratio must not be zero."
"The aspect ratio must not be zero."
);
let negone = -N::one();
@ -669,7 +669,7 @@ pub fn perspective_rh_zo<N: RealField>(aspect: N, fovy: N, near: N, far: N) -> T
);
assert!(
!relative_eq!(aspect, N::zero()),
"The apsect ratio must not be zero."
"The aspect ratio must not be zero."
);
let negone = -N::one();

8
nalgebra-lapack/Cargo.toml
View File

@ -1,6 +1,6 @@
[package]
name = "nalgebra-lapack"
version = "0.13.0"
version = "0.14.0"
authors = [ "Sébastien Crozet <developer@crozet.re>", "Andrew Straw <strawman@astraw.com>" ]
description = "Linear algebra library with transformations and satically-sized or dynamically-sized matrices."
@ -23,10 +23,10 @@ accelerate = ["lapack-src/accelerate"]
intel-mkl = ["lapack-src/intel-mkl"]
[dependencies]
nalgebra = { version = "0.21", path = ".." }
nalgebra = { version = "0.22" } # , path = ".." }
num-traits = "0.2"
num-complex = { version = "0.2", default-features = false }
simba = "0.1"
simba = "0.2"
serde = { version = "1.0", optional = true }
serde_derive = { version = "1.0", optional = true }
lapack = { version = "0.16", default-features = false }
@ -34,7 +34,7 @@ lapack-src = { version = "0.5", default-features = false }
# clippy = "*"
[dev-dependencies]
nalgebra = { version = "0.21", path = "..", features = [ "arbitrary" ] }
nalgebra = { version = "0.22", features = [ "arbitrary" ] } # path = ".." }
quickcheck = "0.9"
approx = "0.3"
rand = "0.7"

3
rustfmt.toml
View File

@ -1,3 +0,0 @@
unstable_features = true
indent_style = "Block"
where_single_line = true

23
src/base/array_storage.rs
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@ -24,7 +24,9 @@ use typenum::Prod;
use crate::base::allocator::Allocator;
use crate::base::default_allocator::DefaultAllocator;
use crate::base::dimension::{DimName, U1};
use crate::base::storage::{ContiguousStorage, ContiguousStorageMut, Owned, Storage, StorageMut};
use crate::base::storage::{
ContiguousStorage, ContiguousStorageMut, Owned, ReshapableStorage, Storage, StorageMut,
};
use crate::base::Scalar;
/*
@ -267,6 +269,25 @@ where
{
}
impl<N, R1, C1, R2, C2> ReshapableStorage<N, R1, C1, R2, C2> for ArrayStorage<N, R1, C1>
where
N: Scalar,
R1: DimName,
C1: DimName,
R1::Value: Mul<C1::Value>,
Prod<R1::Value, C1::Value>: ArrayLength<N>,
R2: DimName,
C2: DimName,
R2::Value: Mul<C2::Value, Output = Prod<R1::Value, C1::Value>>,
Prod<R2::Value, C2::Value>: ArrayLength<N>,
{
type Output = ArrayStorage<N, R2, C2>;
fn reshape_generic(self, _: R2, _: C2) -> Self::Output {
ArrayStorage { data: self.data }
}
}
/*
*
* Allocation-less serde impls.

20
src/base/blas.rs
View File

@ -284,7 +284,16 @@ where
{
assert!(
self.nrows() == rhs.nrows(),
"Dot product dimensions mismatch."
"Dot product dimensions mismatch for shapes {:?} and {:?}: left rows != right rows.",
self.shape(),
rhs.shape(),
);
assert!(
self.ncols() == rhs.ncols(),
"Dot product dimensions mismatch for shapes {:?} and {:?}: left cols != right cols.",
self.shape(),
rhs.shape(),
);
// So we do some special cases for common fixed-size vectors of dimension lower than 8
@ -361,8 +370,8 @@ where
while self.nrows() - i >= 8 {
acc0 += unsafe {
conjugate(self.get_unchecked((i + 0, j)).inlined_clone())
* rhs.get_unchecked((i + 0, j)).inlined_clone()
conjugate(self.get_unchecked((i, j)).inlined_clone())
* rhs.get_unchecked((i, j)).inlined_clone()
};
acc1 += unsafe {
conjugate(self.get_unchecked((i + 1, j)).inlined_clone())
@ -496,8 +505,9 @@ where
ShapeConstraint: DimEq<C, R2> + DimEq<R, C2>,
{
let (nrows, ncols) = self.shape();
assert!(
(ncols, nrows) == rhs.shape(),
assert_eq!(
(ncols, nrows),
rhs.shape(),
"Transposed dot product dimension mismatch."
);

54
src/base/cg.rs
View File

@ -11,11 +11,12 @@ use crate::base::allocator::Allocator;
use crate::base::dimension::{DimName, DimNameDiff, DimNameSub, U1};
use crate::base::storage::{Storage, StorageMut};
use crate::base::{
DefaultAllocator, Matrix3, Matrix4, MatrixN, Scalar, SquareMatrix, Unit, Vector, Vector3,
VectorN,
DefaultAllocator, Matrix3, Matrix4, MatrixN, Scalar, SquareMatrix, Unit, Vector, Vector2,
Vector3, VectorN,
};
use crate::geometry::{
Isometry, IsometryMatrix3, Orthographic3, Perspective3, Point, Point3, Rotation2, Rotation3,
Isometry, IsometryMatrix3, Orthographic3, Perspective3, Point, Point2, Point3, Rotation2,
Rotation3,
};
use simba::scalar::{ClosedAdd, ClosedMul, RealField};
@ -70,6 +71,26 @@ impl<N: RealField> Matrix3<N> {
pub fn new_rotation(angle: N) -> Self {
Rotation2::new(angle).to_homogeneous()
}
/// Creates a new homogeneous matrix that applies a scaling factor for each dimension with respect to point.
///
/// Can be used to implement "zoom_to" functionality.
#[inline]
pub fn new_nonuniform_scaling_wrt_point(scaling: &Vector2<N>, pt: &Point2<N>) -> Self {
let _0 = N::zero();
let _1 = N::one();
Matrix3::new(
scaling.x,
_0,
pt.x - pt.x * scaling.x,
_0,
scaling.y,
pt.y - pt.y * scaling.y,
_0,
_0,
_1,
)
}
}
impl<N: RealField> Matrix4<N> {
@ -90,6 +111,33 @@ impl<N: RealField> Matrix4<N> {
Isometry::rotation_wrt_point(rot, pt).to_homogeneous()
}
/// Creates a new homogeneous matrix that applies a scaling factor for each dimension with respect to point.
///
/// Can be used to implement "zoom_to" functionality.
#[inline]
pub fn new_nonuniform_scaling_wrt_point(scaling: &Vector3<N>, pt: &Point3<N>) -> Self {
let _0 = N::zero();
let _1 = N::one();
Matrix4::new(
scaling.x,
_0,
_0,
pt.x - pt.x * scaling.x,
_0,
scaling.y,
_0,
pt.y - pt.y * scaling.y,
_0,
_0,
scaling.z,
pt.z - pt.z * scaling.z,
_0,
_0,
_0,
_1,
)
}
/// Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).
///
/// Returns the identity matrix if the given argument is zero.

14
src/base/construction.rs
View File

@ -1011,6 +1011,20 @@ where
N: Scalar + Zero + One,
DefaultAllocator: Allocator<N, R>,
{
/// The column vector with `val` as its i-th component.
#[inline]
pub fn ith(i: usize, val: N) -> Self {
let mut res = Self::zeros();
res[i] = val;
res
}
/// The column unit vector with `N::one()` as its i-th component.
#[inline]
pub fn ith_axis(i: usize) -> Unit<Self> {
Unit::new_unchecked(Self::ith(i, N::one()))
}
/// The column vector with a 1 as its first component, and zero elsewhere.
#[inline]
pub fn x() -> Self

2
src/base/dimension.rs
View File

@ -23,7 +23,7 @@ impl Dynamic {
/// A dynamic size equal to `value`.
#[inline]
pub fn new(value: usize) -> Self {
Self { value: value }
Self { value }
}
}

78
src/base/edition.rs
View File

@ -13,7 +13,7 @@ use crate::base::dimension::Dynamic;
use crate::base::dimension::{
Dim, DimAdd, DimDiff, DimMin, DimMinimum, DimName, DimSub, DimSum, U1,
};
use crate::base::storage::{Storage, StorageMut};
use crate::base::storage::{ReshapableStorage, Storage, StorageMut};
#[cfg(any(feature = "std", feature = "alloc"))]
use crate::base::DMatrix;
use crate::base::{DefaultAllocator, Matrix, MatrixMN, RowVector, Scalar, Vector};
@ -745,7 +745,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
self.resize_generic(R2::name(), C2::name(), val)
}
/// Resizes `self` such that it has dimensions `new_nrows × now_ncols`.
/// Resizes `self` such that it has dimensions `new_nrows × new_ncols`.
///
/// The values are copied such that `self[(i, j)] == result[(i, j)]`. If the result has more
/// rows and/or columns than `self`, then the extra rows or columns are filled with `val`.
@ -813,6 +813,80 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
}
}
impl<N, R, C, S> Matrix<N, R, C, S>
where
N: Scalar,
R: Dim,
C: Dim,
{
/// Reshapes `self` such that it has dimensions `new_nrows × new_ncols`.
///
/// This will reinterpret `self` as if it is a matrix with `new_nrows` rows and `new_ncols`
/// columns. The arrangements of the component in the output matrix are the same as what
/// would be obtained by `Matrix::from_slice_generic(self.as_slice(), new_nrows, new_ncols)`.
///
/// If `self` is a dynamically-sized matrix, then its components are neither copied nor moved.
/// If `self` is staticyll-sized, then a copy may happen in some situations.
/// This function will panic if the given dimensions are such that the number of elements of
/// the input matrix are not equal to the number of elements of the output matrix.
///
/// # Examples
///
/// ```
/// # use nalgebra::{Matrix3x2, Matrix2x3, DMatrix, U2, U3, Dynamic};
///
/// let m1 = Matrix2x3::new(
/// 1.1, 1.2, 1.3,
/// 2.1, 2.2, 2.3
/// );
/// let m2 = Matrix3x2::new(
/// 1.1, 2.2,
/// 2.1, 1.3,
/// 1.2, 2.3
/// );
/// let reshaped = m1.reshape_generic(U3, U2);
/// assert_eq!(reshaped, m2);
///
/// let dm1 = DMatrix::from_row_slice(
/// 4,
/// 3,
/// &[
/// 1.0, 0.0, 0.0,
/// 0.0, 0.0, 1.0,
/// 0.0, 0.0, 0.0,
/// 0.0, 1.0, 0.0
/// ],
/// );
/// let dm2 = DMatrix::from_row_slice(
/// 6,
/// 2,
/// &[
/// 1.0, 0.0,
/// 0.0, 1.0,
/// 0.0, 0.0,
/// 0.0, 1.0,
/// 0.0, 0.0,
/// 0.0, 0.0,
/// ],
/// );
/// let reshaped = dm1.reshape_generic(Dynamic::new(6), Dynamic::new(2));
/// assert_eq!(reshaped, dm2);
/// ```
pub fn reshape_generic<R2, C2>(
self,
new_nrows: R2,
new_ncols: C2,
) -> Matrix<N, R2, C2, S::Output>
where
R2: Dim,
C2: Dim,
S: ReshapableStorage<N, R, C, R2, C2>,
{
let data = self.data.reshape_generic(new_nrows, new_ncols);
Matrix::from_data(data)
}
}
#[cfg(any(feature = "std", feature = "alloc"))]
impl<N: Scalar> DMatrix<N> {
/// Resizes this matrix in-place.

98
src/base/matrix.rs
View File

@ -159,13 +159,39 @@ impl<N: Scalar, R: Dim, C: Dim, S: Abomonation> Abomonation for Matrix<N, R, C,
}
}
#[cfg(feature = "compare")]
impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> matrixcompare_core::Matrix<N>
for Matrix<N, R, C, S>
{
fn rows(&self) -> usize {
self.nrows()
}
fn cols(&self) -> usize {
self.ncols()
}
fn access(&self) -> matrixcompare_core::Access<N> {
matrixcompare_core::Access::Dense(self)
}
}
#[cfg(feature = "compare")]
impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> matrixcompare_core::DenseAccess<N>
for Matrix<N, R, C, S>
{
fn fetch_single(&self, row: usize, col: usize) -> N {
self.index((row, col)).clone()
}
}
impl<N: Scalar, R: Dim, C: Dim, S> Matrix<N, R, C, S> {
/// Creates a new matrix with the given data without statically checking that the matrix
/// dimension matches the storage dimension.
#[inline]
pub unsafe fn from_data_statically_unchecked(data: S) -> Matrix<N, R, C, S> {
Matrix {
data: data,
data,
_phantoms: PhantomData,
}
}
@ -538,8 +564,9 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
let mut res = unsafe { MatrixMN::new_uninitialized_generic(nrows, ncols) };
assert!(
(nrows.value(), ncols.value()) == rhs.shape(),
assert_eq!(
(nrows.value(), ncols.value()),
rhs.shape(),
"Matrix simultaneous traversal error: dimension mismatch."
);
@ -578,9 +605,14 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
let mut res = unsafe { MatrixMN::new_uninitialized_generic(nrows, ncols) };
assert!(
(nrows.value(), ncols.value()) == b.shape()
&& (nrows.value(), ncols.value()) == c.shape(),
assert_eq!(
(nrows.value(), ncols.value()),
b.shape(),
"Matrix simultaneous traversal error: dimension mismatch."
);
assert_eq!(
(nrows.value(), ncols.value()),
c.shape(),
"Matrix simultaneous traversal error: dimension mismatch."
);
@ -636,8 +668,9 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
let mut res = init;
assert!(
(nrows.value(), ncols.value()) == rhs.shape(),
assert_eq!(
(nrows.value(), ncols.value()),
rhs.shape(),
"Matrix simultaneous traversal error: dimension mismatch."
);
@ -884,8 +917,9 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
{
let (nrows, ncols) = self.shape();
assert!(
(nrows, ncols) == rhs.shape(),
assert_eq!(
(nrows, ncols),
rhs.shape(),
"Matrix simultaneous traversal error: dimension mismatch."
);
@ -922,12 +956,14 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
{
let (nrows, ncols) = self.shape();
assert!(
(nrows, ncols) == b.shape(),
assert_eq!(
(nrows, ncols),
b.shape(),
"Matrix simultaneous traversal error: dimension mismatch."
);
assert!(
(nrows, ncols) == c.shape(),
assert_eq!(
(nrows, ncols),
c.shape(),
"Matrix simultaneous traversal error: dimension mismatch."
);
@ -1427,8 +1463,9 @@ where
#[inline]
fn lt(&self, right: &Self) -> bool {
assert!(
self.shape() == right.shape(),
assert_eq!(
self.shape(),
right.shape(),
"Matrix comparison error: dimensions mismatch."
);
self.iter().zip(right.iter()).all(|(a, b)| a.lt(b))
@ -1436,8 +1473,9 @@ where
#[inline]
fn le(&self, right: &Self) -> bool {
assert!(
self.shape() == right.shape(),
assert_eq!(
self.shape(),
right.shape(),
"Matrix comparison error: dimensions mismatch."
);
self.iter().zip(right.iter()).all(|(a, b)| a.le(b))
@ -1445,8 +1483,9 @@ where
#[inline]
fn gt(&self, right: &Self) -> bool {
assert!(
self.shape() == right.shape(),
assert_eq!(
self.shape(),
right.shape(),
"Matrix comparison error: dimensions mismatch."
);
self.iter().zip(right.iter()).all(|(a, b)| a.gt(b))
@ -1454,8 +1493,9 @@ where
#[inline]
fn ge(&self, right: &Self) -> bool {
assert!(
self.shape() == right.shape(),
assert_eq!(
self.shape(),
right.shape(),
"Matrix comparison error: dimensions mismatch."
);
self.iter().zip(right.iter()).all(|(a, b)| a.ge(b))
@ -1602,7 +1642,11 @@ impl<N: Scalar + ClosedAdd + ClosedSub + ClosedMul, R: Dim, C: Dim, S: Storage<N
+ SameNumberOfRows<R2, U2>
+ SameNumberOfColumns<C2, U1>,
{
assert!(self.shape() == (2, 1), "2D perpendicular product ");
assert!(
self.shape() == (2, 1),
"2D perpendicular product requires (2, 1) vector but found {:?}",
self.shape()
);
unsafe {
self.get_unchecked((0, 0)).inlined_clone() * b.get_unchecked((1, 0)).inlined_clone()
@ -1626,13 +1670,11 @@ impl<N: Scalar + ClosedAdd + ClosedSub + ClosedMul, R: Dim, C: Dim, S: Storage<N
ShapeConstraint: SameNumberOfRows<R, R2> + SameNumberOfColumns<C, C2>,
{
let shape = self.shape();
assert!(
shape == b.shape(),
"Vector cross product dimension mismatch."
);
assert_eq!(shape, b.shape(), "Vector cross product dimension mismatch.");
assert!(
(shape.0 == 3 && shape.1 == 1) || (shape.0 == 1 && shape.1 == 3),
"Vector cross product dimension mismatch."
"Vector cross product dimension mismatch: must be (3, 1) or (1, 3) but found {:?}.",
shape
);
if shape.0 == 3 {

28
src/base/ops.rs
View File

@ -154,8 +154,8 @@ macro_rules! componentwise_binop_impl(
out: &mut Matrix<N, R3, C3, SC>)
where SB: Storage<N, R2, C2>,
SC: StorageMut<N, R3, C3> {
assert!(self.shape() == rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
assert!(self.shape() == out.shape(), "Matrix addition/subtraction output dimensions mismatch.");
assert_eq!(self.shape(), rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
assert_eq!(self.shape(), out.shape(), "Matrix addition/subtraction output dimensions mismatch.");
// This is the most common case and should be deduced at compile-time.
// FIXME: use specialization instead?
@ -188,7 +188,7 @@ macro_rules! componentwise_binop_impl(
C2: Dim,
SA: StorageMut<N, R1, C1>,
SB: Storage<N, R2, C2> {
assert!(self.shape() == rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
assert_eq!(self.shape(), rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
// This is the most common case and should be deduced at compile-time.
// FIXME: use specialization instead?
@ -218,7 +218,7 @@ macro_rules! componentwise_binop_impl(
where R2: Dim,
C2: Dim,
SB: StorageMut<N, R2, C2> {
assert!(self.shape() == rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
assert_eq!(self.shape(), rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
// This is the most common case and should be deduced at compile-time.
// FIXME: use specialization instead?
@ -277,7 +277,7 @@ macro_rules! componentwise_binop_impl(
#[inline]
fn $method(self, rhs: &'b Matrix<N, R2, C2, SB>) -> Self::Output {
assert!(self.shape() == rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
assert_eq!(self.shape(), rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
let mut res = self.into_owned_sum::<R2, C2>();
res.$method_assign_statically_unchecked(rhs);
res
@ -296,7 +296,7 @@ macro_rules! componentwise_binop_impl(
#[inline]
fn $method(self, rhs: Matrix<N, R2, C2, SB>) -> Self::Output {
let mut rhs = rhs.into_owned_sum::<R1, C1>();
assert!(self.shape() == rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
assert_eq!(self.shape(), rhs.shape(), "Matrix addition/subtraction dimensions mismatch.");
self.$method_assign_statically_unchecked_rhs(&mut rhs);
rhs
}
@ -728,11 +728,21 @@ where
assert!(
nrows1 == nrows2,
"Matrix multiplication dimensions mismatch."
"Matrix multiplication dimensions mismatch {:?} and {:?}: left rows != right rows.",
self.shape(),
rhs.shape()
);
assert!(
nrows3 == ncols1 && ncols3 == ncols2,
"Matrix multiplication output dimensions mismatch."
ncols1 == nrows3,
"Matrix multiplication output dimensions mismatch {:?} and {:?}: left cols != right rows.",
self.shape(),
out.shape()
);
assert!(
ncols2 == ncols3,
"Matrix multiplication output dimensions mismatch {:?} and {:?}: left cols != right cols",
rhs.shape(),
out.shape()
);
for i in 0..ncols1 {

20
src/base/storage.rs
View File

@ -171,7 +171,7 @@ pub unsafe trait StorageMut<N: Scalar, R: Dim, C: Dim = U1>: Storage<N, R, C> {
/// A matrix storage that is stored contiguously in memory.
///
/// The storage requirement means that for any value of `i` in `[0, nrows * ncols[`, the value
/// The storage requirement means that for any value of `i` in `[0, nrows * ncols - 1]`, the value
/// `.get_unchecked_linear` returns one of the matrix component. This trait is unsafe because
/// failing to comply to this may cause Undefined Behaviors.
pub unsafe trait ContiguousStorage<N: Scalar, R: Dim, C: Dim = U1>:
@ -181,10 +181,26 @@ pub unsafe trait ContiguousStorage<N: Scalar, R: Dim, C: Dim = U1>:
/// A mutable matrix storage that is stored contiguously in memory.
///
/// The storage requirement means that for any value of `i` in `[0, nrows * ncols[`, the value
/// The storage requirement means that for any value of `i` in `[0, nrows * ncols - 1]`, the value
/// `.get_unchecked_linear` returns one of the matrix component. This trait is unsafe because
/// failing to comply to this may cause Undefined Behaviors.
pub unsafe trait ContiguousStorageMut<N: Scalar, R: Dim, C: Dim = U1>:
ContiguousStorage<N, R, C> + StorageMut<N, R, C>
{
}
/// A matrix storage that can be reshaped in-place.
pub trait ReshapableStorage<N, R1, C1, R2, C2>: Storage<N, R1, C1>
where
N: Scalar,
R1: Dim,
C1: Dim,
R2: Dim,
C2: Dim,
{
/// The reshaped storage type.
type Output: Storage<N, R2, C2>;
/// Reshapes the storage into the output storage type.
fn reshape_generic(self, nrows: R2, ncols: C2) -> Self::Output;
}

82
src/base/vec_storage.rs
View File

@ -8,7 +8,9 @@ use crate::base::allocator::Allocator;
use crate::base::constraint::{SameNumberOfRows, ShapeConstraint};
use crate::base::default_allocator::DefaultAllocator;
use crate::base::dimension::{Dim, DimName, Dynamic, U1};
use crate::base::storage::{ContiguousStorage, ContiguousStorageMut, Owned, Storage, StorageMut};
use crate::base::storage::{
ContiguousStorage, ContiguousStorageMut, Owned, ReshapableStorage, Storage, StorageMut,
};
use crate::base::{Scalar, Vector};
#[cfg(feature = "abomonation-serialize")]
@ -41,11 +43,7 @@ impl<N, R: Dim, C: Dim> VecStorage<N, R, C> {
nrows.value() * ncols.value() == data.len(),
"Data storage buffer dimension mismatch."
);
Self {
data: data,
nrows: nrows,
ncols: ncols,
}
Self { data, nrows, ncols }
}
/// The underlying data storage.
@ -229,6 +227,42 @@ unsafe impl<N: Scalar, C: Dim> ContiguousStorageMut<N, Dynamic, C> for VecStorag
{
}
impl<N, C1, C2> ReshapableStorage<N, Dynamic, C1, Dynamic, C2> for VecStorage<N, Dynamic, C1>
where
N: Scalar,
C1: Dim,
C2: Dim,
{
type Output = VecStorage<N, Dynamic, C2>;
fn reshape_generic(self, nrows: Dynamic, ncols: C2) -> Self::Output {
assert_eq!(nrows.value() * ncols.value(), self.data.len());
VecStorage {
data: self.data,
nrows,
ncols,
}
}
}
impl<N, C1, R2> ReshapableStorage<N, Dynamic, C1, R2, Dynamic> for VecStorage<N, Dynamic, C1>
where
N: Scalar,
C1: Dim,
R2: DimName,
{
type Output = VecStorage<N, R2, Dynamic>;
fn reshape_generic(self, nrows: R2, ncols: Dynamic) -> Self::Output {
assert_eq!(nrows.value() * ncols.value(), self.data.len());
VecStorage {
data: self.data,
nrows,
ncols,
}
}
}
unsafe impl<N: Scalar, R: DimName> StorageMut<N, R, Dynamic> for VecStorage<N, R, Dynamic>
where
DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>,
@ -244,6 +278,42 @@ where
}
}
impl<N, R1, C2> ReshapableStorage<N, R1, Dynamic, Dynamic, C2> for VecStorage<N, R1, Dynamic>
where
N: Scalar,
R1: DimName,
C2: Dim,
{
type Output = VecStorage<N, Dynamic, C2>;
fn reshape_generic(self, nrows: Dynamic, ncols: C2) -> Self::Output {
assert_eq!(nrows.value() * ncols.value(), self.data.len());
VecStorage {
data: self.data,
nrows,
ncols,
}
}
}
impl<N, R1, R2> ReshapableStorage<N, R1, Dynamic, R2, Dynamic> for VecStorage<N, R1, Dynamic>
where
N: Scalar,
R1: DimName,
R2: DimName,
{
type Output = VecStorage<N, R2, Dynamic>;
fn reshape_generic(self, nrows: R2, ncols: Dynamic) -> Self::Output {
assert_eq!(nrows.value() * ncols.value(), self.data.len());
VecStorage {
data: self.data,
nrows,
ncols,
}
}
}
#[cfg(feature = "abomonation-serialize")]
impl<N: Abomonation, R: Dim, C: Dim> Abomonation for VecStorage<N, R, C> {
unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {

17
src/geometry/abstract_rotation.rs
View File

@ -1,6 +1,6 @@
use crate::allocator::Allocator;
use crate::geometry::{Rotation, UnitComplex, UnitQuaternion};
use crate::{DefaultAllocator, DimName, Point, Scalar, SimdRealField, VectorN, U2, U3};
use crate::{DefaultAllocator, DimName, Point, Scalar, SimdRealField, Unit, VectorN, U2, U3};
use simba::scalar::ClosedMul;
@ -24,6 +24,13 @@ pub trait AbstractRotation<N: Scalar, D: DimName>: PartialEq + ClosedMul + Clone
fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>
where
DefaultAllocator: Allocator<N, D>;
/// Apply the inverse rotation to the given unit vector.
fn inverse_transform_unit_vector(&self, v: &Unit<VectorN<N, D>>) -> Unit<VectorN<N, D>>
where
DefaultAllocator: Allocator<N, D>,
{
Unit::new_unchecked(self.inverse_transform_vector(&**v))
}
/// Apply the inverse rotation to the given point.
fn inverse_transform_point(&self, p: &Point<N, D>) -> Point<N, D>
where
@ -74,6 +81,14 @@ where
self.inverse_transform_vector(v)
}
#[inline]
fn inverse_transform_unit_vector(&self, v: &Unit<VectorN<N, D>>) -> Unit<VectorN<N, D>>
where
DefaultAllocator: Allocator<N, D>,
{
self.inverse_transform_unit_vector(v)
}
#[inline]
fn inverse_transform_point(&self, p: &Point<N, D>) -> Point<N, D>
where

249
src/geometry/isometry.rs
View File

@ -14,10 +14,12 @@ use simba::scalar::{RealField, SubsetOf};
use simba::simd::SimdRealField;
use crate::base::allocator::Allocator;
use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1, U2, U3};
use crate::base::storage::Owned;
use crate::base::{DefaultAllocator, MatrixN, Scalar, VectorN};
use crate::geometry::{AbstractRotation, Point, Translation};
use crate::base::{DefaultAllocator, MatrixN, Scalar, Unit, VectorN};
use crate::geometry::{
AbstractRotation, Point, Rotation2, Rotation3, Translation, UnitComplex, UnitQuaternion,
};
/// A direct isometry, i.e., a rotation followed by a translation, aka. a rigid-body motion, aka. an element of a Special Euclidean (SE) group.
#[repr(C)]
@ -82,21 +84,23 @@ where
}
}
impl<N: Scalar + Copy, D: DimName + Copy, R: AbstractRotation<N, D> + Copy> Copy
for Isometry<N, D, R>
impl<N: Scalar + Copy, D: DimName + Copy, R: Copy> Copy for Isometry<N, D, R>
where
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: Copy,
{
}
impl<N: Scalar, D: DimName, R: AbstractRotation<N, D> + Clone> Clone for Isometry<N, D, R>
impl<N: Scalar, D: DimName, R: Clone> Clone for Isometry<N, D, R>
where
DefaultAllocator: Allocator<N, D>,
{
#[inline]
fn clone(&self) -> Self {
Self::from_parts(self.translation.clone(), self.rotation.clone())
Self {
rotation: self.rotation.clone(),
translation: self.translation.clone(),
}
}
}
@ -348,6 +352,237 @@ where
pub fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
self.rotation.inverse_transform_vector(v)
}
/// Transform the given unit vector by the inverse of this isometry, ignoring the
/// translation component of the isometry. This may be
/// less expensive than computing the entire isometry inverse and then
/// transforming the point.
///
/// # Example
///
/// ```
/// # #[macro_use] extern crate approx;
/// # use std::f32;
/// # use nalgebra::{Isometry3, Translation3, UnitQuaternion, Vector3};
/// let tra = Translation3::new(0.0, 0.0, 3.0);
/// let rot = UnitQuaternion::from_scaled_axis(Vector3::z() * f32::consts::FRAC_PI_2);
/// let iso = Isometry3::from_parts(tra, rot);
///
/// let transformed_point = iso.inverse_transform_unit_vector(&Vector3::x_axis());
/// assert_relative_eq!(transformed_point, -Vector3::y_axis(), epsilon = 1.0e-6);
/// ```
#[inline]
pub fn inverse_transform_unit_vector(&self, v: &Unit<VectorN<N, D>>) -> Unit<VectorN<N, D>> {
self.rotation.inverse_transform_unit_vector(v)
}
}
impl<N: SimdRealField> Isometry<N, U3, UnitQuaternion<N>> {
/// Interpolates between two isometries using a linear interpolation for the translation part,
/// and a spherical interpolation for the rotation part.
///
/// Panics if the angle between both rotations is 180 degrees (in which case the interpolation
/// is not well-defined). Use `.try_lerp_slerp` instead to avoid the panic.
///
/// # Examples:
///
/// ```
/// # use nalgebra::{Vector3, Translation3, Isometry3, UnitQuaternion};
///
/// let t1 = Translation3::new(1.0, 2.0, 3.0);
/// let t2 = Translation3::new(4.0, 8.0, 12.0);
/// let q1 = UnitQuaternion::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
/// let q2 = UnitQuaternion::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
/// let iso1 = Isometry3::from_parts(t1, q1);
/// let iso2 = Isometry3::from_parts(t2, q2);
///
/// let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);
///
/// assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
/// assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
/// ```
#[inline]
pub fn lerp_slerp(&self, other: &Self, t: N) -> Self
where
N: RealField,
{
let tr = self.translation.vector.lerp(&other.translation.vector, t);
let rot = self.rotation.slerp(&other.rotation, t);
Self::from_parts(tr.into(), rot)
}
/// Attempts to interpolate between two isometries using a linear interpolation for the translation part,
/// and a spherical interpolation for the rotation part.
///
/// Retuns `None` if the angle between both rotations is 180 degrees (in which case the interpolation
/// is not well-defined).
///
/// # Examples:
///
/// ```
/// # use nalgebra::{Vector3, Translation3, Isometry3, UnitQuaternion};
///
/// let t1 = Translation3::new(1.0, 2.0, 3.0);
/// let t2 = Translation3::new(4.0, 8.0, 12.0);
/// let q1 = UnitQuaternion::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
/// let q2 = UnitQuaternion::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
/// let iso1 = Isometry3::from_parts(t1, q1);
/// let iso2 = Isometry3::from_parts(t2, q2);
///
/// let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);
///
/// assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
/// assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
/// ```
#[inline]
pub fn try_lerp_slerp(&self, other: &Self, t: N, epsilon: N) -> Option<Self>
where
N: RealField,
{
let tr = self.translation.vector.lerp(&other.translation.vector, t);
let rot = self.rotation.try_slerp(&other.rotation, t, epsilon)?;
Some(Self::from_parts(tr.into(), rot))
}
}
impl<N: SimdRealField> Isometry<N, U3, Rotation3<N>> {
/// Interpolates between two isometries using a linear interpolation for the translation part,
/// and a spherical interpolation for the rotation part.
///
/// Panics if the angle between both rotations is 180 degrees (in which case the interpolation
/// is not well-defined). Use `.try_lerp_slerp` instead to avoid the panic.
///
/// # Examples:
///
/// ```
/// # use nalgebra::{Vector3, Translation3, Rotation3, IsometryMatrix3};
///
/// let t1 = Translation3::new(1.0, 2.0, 3.0);
/// let t2 = Translation3::new(4.0, 8.0, 12.0);
/// let q1 = Rotation3::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
/// let q2 = Rotation3::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
/// let iso1 = IsometryMatrix3::from_parts(t1, q1);
/// let iso2 = IsometryMatrix3::from_parts(t2, q2);
///
/// let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);
///
/// assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
/// assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
/// ```
#[inline]
pub fn lerp_slerp(&self, other: &Self, t: N) -> Self
where
N: RealField,
{
let tr = self.translation.vector.lerp(&other.translation.vector, t);
let rot = self.rotation.slerp(&other.rotation, t);
Self::from_parts(tr.into(), rot)
}
/// Attempts to interpolate between two isometries using a linear interpolation for the translation part,
/// and a spherical interpolation for the rotation part.
///
/// Retuns `None` if the angle between both rotations is 180 degrees (in which case the interpolation
/// is not well-defined).
///
/// # Examples:
///
/// ```
/// # use nalgebra::{Vector3, Translation3, Rotation3, IsometryMatrix3};
///
/// let t1 = Translation3::new(1.0, 2.0, 3.0);
/// let t2 = Translation3::new(4.0, 8.0, 12.0);
/// let q1 = Rotation3::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
/// let q2 = Rotation3::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
/// let iso1 = IsometryMatrix3::from_parts(t1, q1);
/// let iso2 = IsometryMatrix3::from_parts(t2, q2);
///
/// let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);
///
/// assert_eq!(iso3.translation.vector, Vector3::new(2.0, 4.0, 6.0));
/// assert_eq!(iso3.rotation.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
/// ```
#[inline]
pub fn try_lerp_slerp(&self, other: &Self, t: N, epsilon: N) -> Option<Self>
where
N: RealField,
{
let tr = self.translation.vector.lerp(&other.translation.vector, t);
let rot = self.rotation.try_slerp(&other.rotation, t, epsilon)?;
Some(Self::from_parts(tr.into(), rot))
}
}
impl<N: SimdRealField> Isometry<N, U2, UnitComplex<N>> {
/// Interpolates between two isometries using a linear interpolation for the translation part,
/// and a spherical interpolation for the rotation part.
///
/// Panics if the angle between both rotations is 180 degrees (in which case the interpolation
/// is not well-defined). Use `.try_lerp_slerp` instead to avoid the panic.
///
/// # Examples:
///
/// ```
/// # #[macro_use] extern crate approx;
/// # use nalgebra::{Vector2, Translation2, UnitComplex, Isometry2};
///
/// let t1 = Translation2::new(1.0, 2.0);
/// let t2 = Translation2::new(4.0, 8.0);
/// let q1 = UnitComplex::new(std::f32::consts::FRAC_PI_4);
/// let q2 = UnitComplex::new(-std::f32::consts::PI);
/// let iso1 = Isometry2::from_parts(t1, q1);
/// let iso2 = Isometry2::from_parts(t2, q2);
///
/// let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);
///
/// assert_eq!(iso3.translation.vector, Vector2::new(2.0, 4.0));
/// assert_relative_eq!(iso3.rotation.angle(), std::f32::consts::FRAC_PI_2);
/// ```
#[inline]
pub fn lerp_slerp(&self, other: &Self, t: N) -> Self
where
N: RealField,
{
let tr = self.translation.vector.lerp(&other.translation.vector, t);
let rot = self.rotation.slerp(&other.rotation, t);
Self::from_parts(tr.into(), rot)
}
}
impl<N: SimdRealField> Isometry<N, U2, Rotation2<N>> {
/// Interpolates between two isometries using a linear interpolation for the translation part,
/// and a spherical interpolation for the rotation part.
///
/// Panics if the angle between both rotations is 180 degrees (in which case the interpolation
/// is not well-defined). Use `.try_lerp_slerp` instead to avoid the panic.
///
/// # Examples:
///
/// ```
/// # #[macro_use] extern crate approx;
/// # use nalgebra::{Vector2, Translation2, Rotation2, IsometryMatrix2};
///
/// let t1 = Translation2::new(1.0, 2.0);
/// let t2 = Translation2::new(4.0, 8.0);
/// let q1 = Rotation2::new(std::f32::consts::FRAC_PI_4);
/// let q2 = Rotation2::new(-std::f32::consts::PI);
/// let iso1 = IsometryMatrix2::from_parts(t1, q1);
/// let iso2 = IsometryMatrix2::from_parts(t2, q2);
///
/// let iso3 = iso1.lerp_slerp(&iso2, 1.0 / 3.0);
///
/// assert_eq!(iso3.translation.vector, Vector2::new(2.0, 4.0));
/// assert_relative_eq!(iso3.rotation.angle(), std::f32::consts::FRAC_PI_2);
/// ```
#[inline]
pub fn lerp_slerp(&self, other: &Self, t: N) -> Self
where
N: RealField,
{
let tr = self.translation.vector.lerp(&other.translation.vector, t);
let rot = self.rotation.slerp(&other.rotation, t);
Self::from_parts(tr.into(), rot)
}
}
// NOTE: we don't require `R: Rotation<...>` here because this is not useful for the implementation

12
src/geometry/isometry_alias.rs
View File

@ -13,3 +13,15 @@ pub type IsometryMatrix2<N> = Isometry<N, U2, Rotation2<N>>;
/// A 3-dimensional direct isometry using a rotation matrix for its rotational part. Also known as a rigid-body motion, or as an element of SE(3).
pub type IsometryMatrix3<N> = Isometry<N, U3, Rotation3<N>>;
// This tests that the types correctly implement `Copy`, without having to run tests
// (when targeting no-std for example).
#[allow(dead_code)]
fn ensure_copy() {
fn is_copy<T: Copy>() {}
is_copy::<IsometryMatrix2<f32>>();
is_copy::<IsometryMatrix3<f32>>();
is_copy::<Isometry2<f32>>();
is_copy::<Isometry3<f32>>();
}

11
src/geometry/isometry_conversion.rs
View File

@ -151,6 +151,17 @@ where
}
}
impl<N: SimdRealField, D: DimName, R: AbstractRotation<N, D>> From<Translation<N, D>>
for Isometry<N, D, R>
where
DefaultAllocator: Allocator<N, D>,
{
#[inline]
fn from(tra: Translation<N, D>) -> Self {
Self::from_parts(tra, R::identity())
}
}
impl<N: SimdRealField, D: DimName, R> From<Isometry<N, D, R>> for MatrixN<N, DimNameSum<D, U1>>
where
D: DimNameAdd<U1>,

26
src/geometry/isometry_ops.rs
View File

@ -149,6 +149,7 @@ isometry_binop_impl_all!(
[ref ref] => {
let shift = self.rotation.transform_vector(&rhs.translation.vector);
#[allow(clippy::suspicious_arithmetic_impl)]
Isometry::from_parts(Translation::from(&self.translation.vector + shift),
self.rotation.clone() * rhs.rotation.clone()) // FIXME: too bad we have to clone.
};
@ -157,10 +158,10 @@ isometry_binop_impl_all!(
isometry_binop_impl_all!(
Div, div;
self: Isometry<N, D, R>, rhs: Isometry<N, D, R>, Output = Isometry<N, D, R>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.inverse();
[ref ref] => self * rhs.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
);
// Isometry ×= Translation
@ -289,6 +290,7 @@ isometry_binop_impl_all!(
[ref val] => self * &right;
[val ref] => &self * right;
[ref ref] => {
#[allow(clippy::suspicious_arithmetic_impl)]
let new_tr = &self.translation.vector + self.rotation.transform_vector(&right.vector);
Isometry::from_parts(Translation::from(new_tr), self.rotation.clone())
};
@ -427,10 +429,10 @@ isometry_from_composition_impl_all!(
self: Rotation<N, D>, right: Isometry<N, D, Rotation<N, D>>,
Output = Isometry<N, D, Rotation<N, D>>;
// FIXME: don't call inverse explicitly?
[val val] => self * right.inverse();
[ref val] => self * right.inverse();
[val ref] => self * right.inverse();
[ref ref] => self * right.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
);
// Isometry × UnitQuaternion
@ -479,10 +481,10 @@ isometry_from_composition_impl_all!(
self: UnitQuaternion<N>, right: Isometry<N, U3, UnitQuaternion<N>>,
Output = Isometry<N, U3, UnitQuaternion<N>>;
// FIXME: don't call inverse explicitly?
[val val] => self * right.inverse();
[ref val] => self * right.inverse();
[val ref] => self * right.inverse();
[ref ref] => self * right.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
);
// Translation × Rotation

4
src/geometry/orthographic.rs
View File

@ -139,7 +139,7 @@ impl<N: RealField> Orthographic3<N> {
/// ```
#[inline]
pub fn from_matrix_unchecked(matrix: Matrix4<N>) -> Self {
Self { matrix: matrix }
Self { matrix }
}
/// Creates a new orthographic projection matrix from an aspect ratio and the vertical field of view.
@ -151,7 +151,7 @@ impl<N: RealField> Orthographic3<N> {
);
assert!(
!relative_eq!(aspect, N::zero()),
"The apsect ratio must not be zero."
"The aspect ratio must not be zero."
);
let half: N = crate::convert(0.5);

8
src/geometry/perspective.rs
View File

@ -75,7 +75,7 @@ impl<N: RealField> Perspective3<N> {
);
assert!(
!relative_eq!(aspect, N::zero()),
"The apsect ratio must not be zero."
"The aspect ratio must not be zero."
);
let matrix = Matrix4::identity();
@ -97,7 +97,7 @@ impl<N: RealField> Perspective3<N> {
/// projection.
#[inline]
pub fn from_matrix_unchecked(matrix: Matrix4<N>) -> Self {
Self { matrix: matrix }
Self { matrix }
}
/// Retrieves the inverse of the underlying homogeneous matrix.
@ -294,7 +294,7 @@ impl<N: RealField + Arbitrary> Arbitrary for Perspective3<N> {
impl<N: RealField> From<Perspective3<N>> for Matrix4<N> {
#[inline]
fn from(orth: Perspective3<N>) -> Self {
orth.into_inner()
fn from(pers: Perspective3<N>) -> Self {
pers.into_inner()
}
}

41
src/geometry/point.rs
View File

@ -102,6 +102,45 @@ impl<N: Scalar, D: DimName> Point<N, D>
where
DefaultAllocator: Allocator<N, D>,
{
/// Returns a point containing the result of `f` applied to each of its entries.
///
/// # Example
/// ```
/// # use nalgebra::{Point2, Point3};
/// let p = Point2::new(1.0, 2.0);
/// assert_eq!(p.map(|e| e * 10.0), Point2::new(10.0, 20.0));
///
/// // This works in any dimension.
/// let p = Point3::new(1.1, 2.1, 3.1);
/// assert_eq!(p.map(|e| e as u32), Point3::new(1, 2, 3));
/// ```
#[inline]
pub fn map<N2: Scalar, F: FnMut(N) -> N2>(&self, f: F) -> Point<N2, D>
where
DefaultAllocator: Allocator<N2, D>,
{
self.coords.map(f).into()
}
/// Replaces each component of `self` by the result of a closure `f` applied on it.
///
/// # Example
/// ```
/// # use nalgebra::{Point2, Point3};
/// let mut p = Point2::new(1.0, 2.0);
/// p.apply(|e| e * 10.0);
/// assert_eq!(p, Point2::new(10.0, 20.0));
///
/// // This works in any dimension.
/// let mut p = Point3::new(1.0, 2.0, 3.0);
/// p.apply(|e| e * 10.0);
/// assert_eq!(p, Point3::new(10.0, 20.0, 30.0));
/// ```
#[inline]
pub fn apply<F: FnMut(N) -> N>(&mut self, f: F) {
self.coords.apply(f)
}
/// Converts this point into a vector in homogeneous coordinates, i.e., appends a `1` at the
/// end of it.
///
@ -135,7 +174,7 @@ where
#[deprecated(note = "Use Point::from(vector) instead.")]
#[inline]
pub fn from_coordinates(coords: VectorN<N, D>) -> Self {
Self { coords: coords }
Self { coords }
}
/// The dimension of this point.

5
src/geometry/point_coordinates.rs
View File

@ -1,4 +1,3 @@
use std::mem;
use std::ops::{Deref, DerefMut};
use crate::base::allocator::Allocator;
@ -22,7 +21,7 @@ macro_rules! deref_impl(
#[inline]
fn deref(&self) -> &Self::Target {
unsafe { mem::transmute(self) }
&*self.coords
}
}
@ -30,7 +29,7 @@ macro_rules! deref_impl(
where DefaultAllocator: Allocator<N, $D> {
#[inline]
fn deref_mut(&mut self) -> &mut Self::Target {
unsafe { mem::transmute(self) }
&mut *self.coords
}
}
}

21
src/geometry/quaternion.rs
View File

@ -389,6 +389,7 @@ where
/// ```
#[inline]
pub fn outer(&self, other: &Self) -> Self {
#[allow(clippy::eq_op)]
(self * other - other * self).half()
}
@ -1542,6 +1543,26 @@ where
pub fn inverse_transform_vector(&self, v: &Vector3<N>) -> Vector3<N> {
self.inverse() * v
}
/// Rotate a vector by the inverse of this unit quaternion. This may be
/// cheaper than inverting the unit quaternion and transforming the
/// vector.
///
/// # Example
///
/// ```
/// # #[macro_use] extern crate approx;
/// # use std::f32;
/// # use nalgebra::{UnitQuaternion, Vector3};
/// let rot = UnitQuaternion::from_axis_angle(&Vector3::z_axis(), f32::consts::FRAC_PI_2);
/// let transformed_vector = rot.inverse_transform_unit_vector(&Vector3::x_axis());
///
/// assert_relative_eq!(transformed_vector, -Vector3::y_axis(), epsilon = 1.0e-6);
/// ```
#[inline]
pub fn inverse_transform_unit_vector(&self, v: &Unit<Vector3<N>>) -> Unit<Vector3<N>> {
self.inverse() * v
}
}
impl<N: RealField> Default for UnitQuaternion<N> {

11
src/geometry/quaternion_construction.rs
View File

@ -374,7 +374,8 @@ where
}
/// The unit quaternion needed to make `a` and `b` be collinear and point toward the same
/// direction.
/// direction. Returns `None` if both `a` and `b` are collinear and point to opposite directions, as then the
/// rotation desired is not unique.
///
/// # Example
/// ```
@ -491,18 +492,18 @@ where
// The cosinus may be out of [-1, 1] because of inaccuracies.
if cos <= -N::one() {
return None;
None
} else if cos >= N::one() {
return Some(Self::identity());
Some(Self::identity())
} else {
return Some(Self::from_axis_angle(&axis, cos.acos() * s));
Some(Self::from_axis_angle(&axis, cos.acos() * s))
}
} else if na.dot(&nb) < N::zero() {
// PI
//
// The rotation axis is undefined but the angle not zero. This is not a
// simple rotation.
return None;
None
} else {
// Zero
Some(Self::identity())

9
src/geometry/quaternion_conversion.rs
View File

@ -265,6 +265,15 @@ impl<N: Scalar + SimdValue> From<Vector4<N>> for Quaternion<N> {
}
}
impl<N: Scalar + SimdValue> From<[N; 4]> for Quaternion<N> {
#[inline]
fn from(coords: [N; 4]) -> Self {
Self {
coords: coords.into(),
}
}
}
impl<N: Scalar + PrimitiveSimdValue> From<[Quaternion<N::Element>; 2]> for Quaternion<N>
where
N: From<[<N as SimdValue>::Element; 2]>,

124
src/geometry/quaternion_ops.rs
View File

@ -121,11 +121,10 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Add, add;
(U4, U1), (U4, U1);
self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
Quaternion::from(self.coords + rhs.coords);
);
Add, add;
(U4, U1), (U4, U1);
self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
Quaternion::from(self.coords + rhs.coords); );
// Quaternion - Quaternion
quaternion_op_impl!(
@ -150,11 +149,10 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Sub, sub;
(U4, U1), (U4, U1);
self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
Quaternion::from(self.coords - rhs.coords);
);
Sub, sub;
(U4, U1), (U4, U1);
self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
Quaternion::from(self.coords - rhs.coords); );
// Quaternion × Quaternion
quaternion_op_impl!(
@ -183,11 +181,10 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
&self * &rhs;
);
Mul, mul;
(U4, U1), (U4, U1);
self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
&self * &rhs; );
// UnitQuaternion × UnitQuaternion
quaternion_op_impl!(
@ -212,18 +209,17 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: UnitQuaternion<N>, rhs: UnitQuaternion<N>, Output = UnitQuaternion<N>;
&self * &rhs;
);
Mul, mul;
(U4, U1), (U4, U1);
self: UnitQuaternion<N>, rhs: UnitQuaternion<N>, Output = UnitQuaternion<N>;
&self * &rhs; );
// UnitQuaternion ÷ UnitQuaternion
quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: &'a UnitQuaternion<N>, rhs: &'b UnitQuaternion<N>, Output = UnitQuaternion<N>;
self * rhs.inverse();
#[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
'a, 'b);
quaternion_op_impl!(
@ -241,11 +237,10 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: UnitQuaternion<N>, rhs: UnitQuaternion<N>, Output = UnitQuaternion<N>;
&self / &rhs;
);
Div, div;
(U4, U1), (U4, U1);
self: UnitQuaternion<N>, rhs: UnitQuaternion<N>, Output = UnitQuaternion<N>;
&self / &rhs; );
// UnitQuaternion × Rotation
quaternion_op_impl!(
@ -274,12 +269,11 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U3);
self: UnitQuaternion<N>, rhs: Rotation<N, U3>,
Output = UnitQuaternion<N> => U3, U3;
self * UnitQuaternion::<N>::from_rotation_matrix(&rhs);
);
Mul, mul;
(U4, U1), (U3, U3);
self: UnitQuaternion<N>, rhs: Rotation<N, U3>,
Output = UnitQuaternion<N> => U3, U3;
self * UnitQuaternion::<N>::from_rotation_matrix(&rhs); );
// UnitQuaternion ÷ Rotation
quaternion_op_impl!(
@ -308,12 +302,11 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Div, div;
(U4, U1), (U3, U3);
self: UnitQuaternion<N>, rhs: Rotation<N, U3>,
Output = UnitQuaternion<N> => U3, U3;
self / UnitQuaternion::<N>::from_rotation_matrix(&rhs);
);
Div, div;
(U4, U1), (U3, U3);
self: UnitQuaternion<N>, rhs: Rotation<N, U3>,
Output = UnitQuaternion<N> => U3, U3;
self / UnitQuaternion::<N>::from_rotation_matrix(&rhs); );
// Rotation × UnitQuaternion
quaternion_op_impl!(
@ -342,12 +335,11 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Mul, mul;
(U3, U3), (U4, U1);
self: Rotation<N, U3>, rhs: UnitQuaternion<N>,
Output = UnitQuaternion<N> => U3, U3;
UnitQuaternion::<N>::from_rotation_matrix(&self) * rhs;
);
Mul, mul;
(U3, U3), (U4, U1);
self: Rotation<N, U3>, rhs: UnitQuaternion<N>,
Output = UnitQuaternion<N> => U3, U3;
UnitQuaternion::<N>::from_rotation_matrix(&self) * rhs; );
// Rotation ÷ UnitQuaternion
quaternion_op_impl!(
@ -376,12 +368,11 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Div, div;
(U3, U3), (U4, U1);
self: Rotation<N, U3>, rhs: UnitQuaternion<N>,
Output = UnitQuaternion<N> => U3, U3;
UnitQuaternion::<N>::from_rotation_matrix(&self) / rhs;
);
Div, div;
(U3, U3), (U4, U1);
self: Rotation<N, U3>, rhs: UnitQuaternion<N>,
Output = UnitQuaternion<N> => U3, U3;
UnitQuaternion::<N>::from_rotation_matrix(&self) / rhs; );
// UnitQuaternion × Vector
quaternion_op_impl!(
@ -415,12 +406,11 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
self: UnitQuaternion<N>, rhs: Vector<N, U3, SB>,
Output = Vector3<N> => U3, U4;
&self * &rhs;
);
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
self: UnitQuaternion<N>, rhs: Vector<N, U3, SB>,
Output = Vector3<N> => U3, U4;
&self * &rhs; );
// UnitQuaternion × Point
quaternion_op_impl!(
@ -448,12 +438,11 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1);
self: UnitQuaternion<N>, rhs: Point3<N>,
Output = Point3<N> => U3, U4;
Point3::from(self * rhs.coords);
);
Mul, mul;
(U4, U1), (U3, U1);
self: UnitQuaternion<N>, rhs: Point3<N>,
Output = Point3<N> => U3, U4;
Point3::from(self * rhs.coords); );
// UnitQuaternion × Unit<Vector>
quaternion_op_impl!(
@ -481,12 +470,11 @@ quaternion_op_impl!(
'b);
quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
self: UnitQuaternion<N>, rhs: Unit<Vector<N, U3, SB>>,
Output = Unit<Vector3<N>> => U3, U4;
Unit::new_unchecked(self * rhs.into_inner());
);
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
self: UnitQuaternion<N>, rhs: Unit<Vector<N, U3, SB>>,
Output = Unit<Vector3<N>> => U3, U4;
Unit::new_unchecked(self * rhs.into_inner()); );
macro_rules! scalar_op_impl(
($($Op: ident, $op: ident, $OpAssign: ident, $op_assign: ident);* $(;)*) => {$(

23
src/geometry/rotation.rs
View File

@ -19,7 +19,7 @@ use simba::simd::SimdRealField;
use crate::base::allocator::Allocator;
use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
use crate::base::{DefaultAllocator, MatrixN, Scalar, VectorN};
use crate::base::{DefaultAllocator, MatrixN, Scalar, Unit, VectorN};
use crate::geometry::Point;
/// A rotation matrix.
@ -255,7 +255,7 @@ where
"Unable to create a rotation from a non-square matrix."
);
Self { matrix: matrix }
Self { matrix }
}
/// Transposes `self`.
@ -441,6 +441,25 @@ where
pub fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
self.matrix().tr_mul(v)
}
/// Rotate the given vector by the inverse of this rotation. This may be
/// cheaper than inverting the rotation and then transforming the given
/// vector.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
/// # use std::f32;
/// # use nalgebra::{Rotation2, Rotation3, UnitQuaternion, Vector3};
/// let rot = Rotation3::new(Vector3::z() * f32::consts::FRAC_PI_2);
/// let transformed_vector = rot.inverse_transform_unit_vector(&Vector3::x_axis());
///
/// assert_relative_eq!(transformed_vector, -Vector3::y_axis(), epsilon = 1.0e-6);
/// ```
#[inline]
pub fn inverse_transform_unit_vector(&self, v: &Unit<VectorN<N, D>>) -> Unit<VectorN<N, D>> {
Unit::new_unchecked(self.inverse_transform_vector(&**v))
}
}
impl<N: Scalar + Eq, D: DimName> Eq for Rotation<N, D> where DefaultAllocator: Allocator<N, D, D> {}

16
src/geometry/rotation_ops.rs
View File

@ -59,10 +59,10 @@ md_impl_all!(
Div, div;
(D, D), (D, D) for D: DimName;
self: Rotation<N, D>, right: Rotation<N, D>, Output = Rotation<N, D>;
[val val] => self * right.inverse();
[ref val] => self * right.inverse();
[val ref] => self * right.inverse();
[ref ref] => self * right.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
);
// Rotation × Matrix
@ -98,10 +98,10 @@ md_impl_all!(
where DefaultAllocator: Allocator<N, R1, D2>
where ShapeConstraint: AreMultipliable<R1, C1, D2, D2>;
self: Matrix<N, R1, C1, SA>, right: Rotation<N, D2>, Output = MatrixMN<N, R1, D2>;
[val val] => self * right.inverse();
[ref val] => self * right.inverse();
[val ref] => self * right.inverse();
[ref ref] => self * right.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
);
// Rotation × Point

72
src/geometry/rotation_specialization.rs
View File

@ -236,6 +236,31 @@ impl<N: SimdRealField> Rotation2<N> {
pub fn scaled_axis(&self) -> VectorN<N, U1> {
Vector1::new(self.angle())
}
/// Spherical linear interpolation between two rotation matrices.
///
/// # Examples:
///
/// ```
/// # #[macro_use] extern crate approx;
/// # use nalgebra::geometry::Rotation2;
///
/// let rot1 = Rotation2::new(std::f32::consts::FRAC_PI_4);
/// let rot2 = Rotation2::new(-std::f32::consts::PI);
///
/// let rot = rot1.slerp(&rot2, 1.0 / 3.0);
///
/// assert_relative_eq!(rot.angle(), std::f32::consts::FRAC_PI_2);
/// ```
#[inline]
pub fn slerp(&self, other: &Self, t: N) -> Self
where
N::Element: SimdRealField,
{
let c1 = UnitComplex::from(*self);
let c2 = UnitComplex::from(*other);
c1.slerp(&c2, t).into()
}
}
impl<N: SimdRealField> Distribution<Rotation2<N>> for Standard
@ -862,6 +887,53 @@ where
Self::identity()
}
}
/// Spherical linear interpolation between two rotation matrices.
///
/// Panics if the angle between both rotations is 180 degrees (in which case the interpolation
/// is not well-defined). Use `.try_slerp` instead to avoid the panic.
///
/// # Examples:
///
/// ```
/// # use nalgebra::geometry::Rotation3;
///
/// let q1 = Rotation3::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
/// let q2 = Rotation3::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
///
/// let q = q1.slerp(&q2, 1.0 / 3.0);
///
/// assert_eq!(q.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
/// ```
#[inline]
pub fn slerp(&self, other: &Self, t: N) -> Self
where
N: RealField,
{
let q1 = UnitQuaternion::from(*self);
let q2 = UnitQuaternion::from(*other);
q1.slerp(&q2, t).into()
}
/// Computes the spherical linear interpolation between two rotation matrices or returns `None`
/// if both rotations are approximately 180 degrees apart (in which case the interpolation is
/// not well-defined).
///
/// # Arguments
/// * `self`: the first rotation to interpolate from.
/// * `other`: the second rotation to interpolate toward.
/// * `t`: the interpolation parameter. Should be between 0 and 1.
/// * `epsilon`: the value below which the sinus of the angle separating both rotations
/// must be to return `None`.
#[inline]
pub fn try_slerp(&self, other: &Self, t: N, epsilon: N) -> Option<Self>
where
N: RealField,
{
let q1 = Rotation3::from(*self);
let q2 = Rotation3::from(*other);
q1.try_slerp(&q2, t, epsilon).map(|q| q.into())
}
}
impl<N: SimdRealField> Distribution<Rotation3<N>> for Standard

43
src/geometry/similarity_ops.rs
View File

@ -158,15 +158,14 @@ similarity_binop_impl_all!(
similarity_binop_impl_all!(
Div, div;
self: Similarity<N, D, R>, rhs: Similarity<N, D, R>, Output = Similarity<N, D, R>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.inverse();
[ref ref] => self * rhs.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
);
// Similarity ×= Translation
similarity_binop_assign_impl_all!(
MulAssign, mul_assign;
self: Similarity<N, D, R>, rhs: Translation<N, D>;
[val] => *self *= &rhs;
@ -281,6 +280,7 @@ similarity_binop_impl_all!(
[ref ref] => {
let shift = self.isometry.rotation.transform_vector(&rhs.translation.vector) * self.scaling();
Similarity::from_parts(
#[allow(clippy::suspicious_arithmetic_impl)]
Translation::from(&self.isometry.translation.vector + shift),
self.isometry.rotation.clone() * rhs.rotation.clone(),
self.scaling())
@ -290,10 +290,10 @@ similarity_binop_impl_all!(
similarity_binop_impl_all!(
Div, div;
self: Similarity<N, D, R>, rhs: Isometry<N, D, R>, Output = Similarity<N, D, R>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.inverse();
[ref ref] => self * rhs.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
);
// Isometry × Similarity
@ -322,10 +322,10 @@ similarity_binop_impl_all!(
similarity_binop_impl_all!(
Div, div;
self: Isometry<N, D, R>, rhs: Similarity<N, D, R>, Output = Similarity<N, D, R>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.inverse();
[ref ref] => self * rhs.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
);
// Similarity × Point
@ -364,6 +364,7 @@ similarity_binop_impl_all!(
[ref ref] => {
let shift = self.isometry.rotation.transform_vector(&right.vector) * self.scaling();
Similarity::from_parts(
#[allow(clippy::suspicious_arithmetic_impl)]
Translation::from(&self.isometry.translation.vector + shift),
self.isometry.rotation.clone(),
self.scaling())
@ -495,10 +496,10 @@ similarity_from_composition_impl_all!(
self: Rotation<N, D>, right: Similarity<N, D, Rotation<N, D>>,
Output = Similarity<N, D, Rotation<N, D>>;
// FIXME: don't call inverse explicitly?
[val val] => self * right.inverse();
[ref val] => self * right.inverse();
[val ref] => self * right.inverse();
[ref ref] => self * right.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
);
// Similarity × UnitQuaternion
@ -556,10 +557,10 @@ similarity_from_composition_impl_all!(
self: UnitQuaternion<N>, right: Similarity<N, U3, UnitQuaternion<N>>,
Output = Similarity<N, U3, UnitQuaternion<N>>;
// FIXME: don't call inverse explicitly?
[val val] => self * right.inverse();
[ref val] => self * right.inverse();
[val ref] => self * right.inverse();
[ref ref] => self * right.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
);
// Similarity × UnitComplex

2
src/geometry/transform.rs
View File

@ -245,7 +245,7 @@ where
#[inline]
pub fn from_matrix_unchecked(matrix: MatrixN<N, DimNameSum<D, U1>>) -> Self {
Transform {
matrix: matrix,
matrix,
_phantom: PhantomData,
}
}

57
src/geometry/transform_ops.rs
View File

@ -143,6 +143,7 @@ md_impl_all!(
if C::has_normalizer() {
let normalizer = self.matrix().fixed_slice::<U1, D>(D::dim(), 0);
#[allow(clippy::suspicious_arithmetic_impl)]
let n = normalizer.tr_dot(&rhs.coords) + unsafe { *self.matrix().get_unchecked((D::dim(), D::dim())) };
if !n.is_zero() {
@ -293,10 +294,10 @@ md_impl_all!(
Div, div where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: SubTCategoryOf<TProjective>;
self: Transform<N, D, CA>, rhs: Transform<N, D, CB>, Output = Transform<N, D, CA::Representative>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.clone().inverse();
[ref ref] => self * rhs.clone().inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.clone().inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.clone().inverse() };
);
// Transform ÷ Rotation
@ -304,10 +305,10 @@ md_impl_all!(
Div, div where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, D) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Transform<N, D, C>, rhs: Rotation<N, D>, Output = Transform<N, D, C::Representative>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.inverse();
[ref ref] => self * rhs.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
);
// Rotation ÷ Transform
@ -315,10 +316,10 @@ md_impl_all!(
Div, div where N: RealField;
(D, D), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Rotation<N, D>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
[val val] => self.inverse() * rhs;
[ref val] => self.inverse() * rhs;
[val ref] => self.inverse() * rhs;
[ref ref] => self.inverse() * rhs;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
);
// Transform ÷ UnitQuaternion
@ -326,10 +327,10 @@ md_impl_all!(
Div, div where N: RealField;
(U4, U4), (U4, U1) for C: TCategoryMul<TAffine>;
self: Transform<N, U3, C>, rhs: UnitQuaternion<N>, Output = Transform<N, U3, C::Representative>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.inverse();
[ref ref] => self * rhs.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
);
// UnitQuaternion ÷ Transform
@ -337,10 +338,10 @@ md_impl_all!(
Div, div where N: RealField;
(U4, U1), (U4, U4) for C: TCategoryMul<TAffine>;
self: UnitQuaternion<N>, rhs: Transform<N, U3, C>, Output = Transform<N, U3, C::Representative>;
[val val] => self.inverse() * rhs;
[ref val] => self.inverse() * rhs;
[val ref] => self.inverse() * rhs;
[ref ref] => self.inverse() * rhs;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
);
// // Transform ÷ Isometry
@ -402,10 +403,10 @@ md_impl_all!(
Div, div where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Transform<N, D, C>, rhs: Translation<N, D>, Output = Transform<N, D, C::Representative>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.inverse();
[ref ref] => self * rhs.inverse();
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
);
// Translation ÷ Transform
@ -414,10 +415,10 @@ md_impl_all!(
(D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Translation<N, D>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
[val val] => self.inverse() * rhs;
[ref val] => self.inverse() * rhs;
[val ref] => self.inverse() * rhs;
[ref ref] => self.inverse() * rhs;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
);
// Transform ×= Transform

2
src/geometry/translation.rs
View File

@ -119,7 +119,7 @@ where
#[inline]
#[deprecated(note = "Use `::from` instead.")]
pub fn from_vector(vector: VectorN<N, D>) -> Translation<N, D> {
Translation { vector: vector }
Translation { vector }
}
/// Inverts `self`.

110
src/geometry/translation_ops.rs
View File

@ -13,44 +13,50 @@ use crate::geometry::{Point, Translation};
add_sub_impl!(Mul, mul, ClosedAdd;
(D, U1), (D, U1) -> (D) for D: DimName;
self: &'a Translation<N, D>, right: &'b Translation<N, D>, Output = Translation<N, D>;
Translation::from(&self.vector + &right.vector); 'a, 'b);
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector + &right.vector) };
'a, 'b);
add_sub_impl!(Mul, mul, ClosedAdd;
(D, U1), (D, U1) -> (D) for D: DimName;
self: &'a Translation<N, D>, right: Translation<N, D>, Output = Translation<N, D>;
Translation::from(&self.vector + right.vector); 'a);
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector + right.vector) };
'a);
add_sub_impl!(Mul, mul, ClosedAdd;
(D, U1), (D, U1) -> (D) for D: DimName;
self: Translation<N, D>, right: &'b Translation<N, D>, Output = Translation<N, D>;
Translation::from(self.vector + &right.vector); 'b);
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector + &right.vector) };
'b);
add_sub_impl!(Mul, mul, ClosedAdd;
(D, U1), (D, U1) -> (D) for D: DimName;
self: Translation<N, D>, right: Translation<N, D>, Output = Translation<N, D>;
Translation::from(self.vector + right.vector); );
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector + right.vector) }; );
// Translation ÷ Translation
// FIXME: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
add_sub_impl!(Div, div, ClosedSub;
(D, U1), (D, U1) -> (D) for D: DimName;
self: &'a Translation<N, D>, right: &'b Translation<N, D>, Output = Translation<N, D>;
Translation::from(&self.vector - &right.vector); 'a, 'b);
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector - &right.vector) };
'a, 'b);
add_sub_impl!(Div, div, ClosedSub;
(D, U1), (D, U1) -> (D) for D: DimName;
self: &'a Translation<N, D>, right: Translation<N, D>, Output = Translation<N, D>;
Translation::from(&self.vector - right.vector); 'a);
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector - right.vector) };
'a);
add_sub_impl!(Div, div, ClosedSub;
(D, U1), (D, U1) -> (D) for D: DimName;
self: Translation<N, D>, right: &'b Translation<N, D>, Output = Translation<N, D>;
Translation::from(self.vector - &right.vector); 'b);
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector - &right.vector) };
'b);
add_sub_impl!(Div, div, ClosedSub;
(D, U1), (D, U1) -> (D) for D: DimName;
self: Translation<N, D>, right: Translation<N, D>, Output = Translation<N, D>;
Translation::from(self.vector - right.vector); );
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector - right.vector) }; );
// Translation × Point
// FIXME: we don't handle properly non-zero origins here. Do we want this to be the intended
@ -58,107 +64,45 @@ add_sub_impl!(Div, div, ClosedSub;
add_sub_impl!(Mul, mul, ClosedAdd;
(D, U1), (D, U1) -> (D) for D: DimName;
self: &'a Translation<N, D>, right: &'b Point<N, D>, Output = Point<N, D>;
right + &self.vector; 'a, 'b);
#[allow(clippy::suspicious_arithmetic_impl)] { right + &self.vector };
'a, 'b);
add_sub_impl!(Mul, mul, ClosedAdd;
(D, U1), (D, U1) -> (D) for D: DimName;
self: &'a Translation<N, D>, right: Point<N, D>, Output = Point<N, D>;
right + &self.vector; 'a);
#[allow(clippy::suspicious_arithmetic_impl)] { right + &self.vector };
'a);
add_sub_impl!(Mul, mul, ClosedAdd;
(D, U1), (D, U1) -> (D) for D: DimName;
self: Translation<N, D>, right: &'b Point<N, D>, Output = Point<N, D>;
right + self.vector; 'b);
#[allow(clippy::suspicious_arithmetic_impl)] { right + self.vector };
'b);
add_sub_impl!(Mul, mul, ClosedAdd;
(D, U1), (D, U1) -> (D) for D: DimName;
self: Translation<N, D>, right: Point<N, D>, Output = Point<N, D>;
right + self.vector; );
#[allow(clippy::suspicious_arithmetic_impl)] { right + self.vector }; );
// Translation *= Translation
add_sub_assign_impl!(MulAssign, mul_assign, ClosedAdd;
(D, U1), (D, U1) for D: DimName;
self: Translation<N, D>, right: &'b Translation<N, D>;
self.vector += &right.vector; 'b);
#[allow(clippy::suspicious_arithmetic_impl)] { self.vector += &right.vector };
'b);
add_sub_assign_impl!(MulAssign, mul_assign, ClosedAdd;
(D, U1), (D, U1) for D: DimName;
self: Translation<N, D>, right: Translation<N, D>;
self.vector += right.vector; );
#[allow(clippy::suspicious_arithmetic_impl)] { self.vector += right.vector }; );
add_sub_assign_impl!(DivAssign, div_assign, ClosedSub;
(D, U1), (D, U1) for D: DimName;
self: Translation<N, D>, right: &'b Translation<N, D>;
self.vector -= &right.vector; 'b);
#[allow(clippy::suspicious_arithmetic_impl)] { self.vector -= &right.vector };
'b);
add_sub_assign_impl!(DivAssign, div_assign, ClosedSub;
(D, U1), (D, U1) for D: DimName;
self: Translation<N, D>, right: Translation<N, D>;
self.vector -= right.vector; );
/*
// Translation × Matrix
add_sub_impl!(Mul, mul;
(D1, D1), (R2, C2) for D1, R2, C2;
self: &'a Translation<N, D1>, right: &'b Matrix<N, R2, C2>, Output = MatrixMN<N, D1, C2>;
self.vector() * right; 'a, 'b);
add_sub_impl!(Mul, mul;
(D1, D1), (R2, C2) for D1, R2, C2;
self: &'a Translation<N, D1>, right: Matrix<N, R2, C2>, Output = MatrixMN<N, D1, C2>;
self.vector() * right; 'a);
add_sub_impl!(Mul, mul;
(D1, D1), (R2, C2) for D1, R2, C2;
self: Translation<N, D1>, right: &'b Matrix<N, R2, C2>, Output = MatrixMN<N, D1, C2>;
self.unwrap() * right; 'b);
add_sub_impl!(Mul, mul;
(D1, D1), (R2, C2) for D1, R2, C2;
self: Translation<N, D1>, right: Matrix<N, R2, C2>, Output = MatrixMN<N, D1, C2>;
self.unwrap() * right; );
// Matrix × Translation
add_sub_impl!(Mul, mul;
(R1, C1), (D2, D2) for R1, C1, D2;
self: &'a Matrix<N, R1, C1>, right: &'b Translation<N, D2>, Output = MatrixMN<N, R1, D2>;
self * right.vector(); 'a, 'b);
add_sub_impl!(Mul, mul;
(R1, C1), (D2, D2) for R1, C1, D2;
self: &'a Matrix<N, R1, C1>, right: Translation<N, D2>, Output = MatrixMN<N, R1, D2>;
self * right.unwrap(); 'a);
add_sub_impl!(Mul, mul;
(R1, C1), (D2, D2) for R1, C1, D2;
self: Matrix<N, R1, C1>, right: &'b Translation<N, D2>, Output = MatrixMN<N, R1, D2>;
self * right.vector(); 'b);
add_sub_impl!(Mul, mul;
(R1, C1), (D2, D2) for R1, C1, D2;
self: Matrix<N, R1, C1>, right: Translation<N, D2>, Output = MatrixMN<N, R1, D2>;
self * right.unwrap(); );
// Matrix *= Translation
md_assign_impl!(MulAssign, mul_assign;
(R1, C1), (C1, C1) for R1, C1;
self: Matrix<N, R1, C1>, right: &'b Translation<N, C1>;
self.mul_assign(right.vector()); 'b);
md_assign_impl!(MulAssign, mul_assign;
(R1, C1), (C1, C1) for R1, C1;
self: Matrix<N, R1, C1>, right: Translation<N, C1>;
self.mul_assign(right.unwrap()); );
md_assign_impl!(DivAssign, div_assign;
(R1, C1), (C1, C1) for R1, C1;
self: Matrix<N, R1, C1>, right: &'b Translation<N, C1>;
self.mul_assign(right.inverse().vector()); 'b);
md_assign_impl!(DivAssign, div_assign;
(R1, C1), (C1, C1) for R1, C1;
self: Matrix<N, R1, C1>, right: Translation<N, C1>;
self.mul_assign(right.inverse().unwrap()); );
*/
#[allow(clippy::suspicious_arithmetic_impl)] { self.vector -= right.vector }; );

37
src/geometry/unit_complex.rs
View File

@ -360,6 +360,43 @@ where
pub fn inverse_transform_vector(&self, v: &Vector2<N>) -> Vector2<N> {
self.inverse() * v
}
/// Rotate the given vector by the inverse of this unit complex number.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
/// # use nalgebra::{UnitComplex, Vector2};
/// # use std::f32;
/// let rot = UnitComplex::new(f32::consts::FRAC_PI_2);
/// let transformed_vector = rot.inverse_transform_unit_vector(&Vector2::x_axis());
/// assert_relative_eq!(transformed_vector, -Vector2::y_axis(), epsilon = 1.0e-6);
/// ```
#[inline]
pub fn inverse_transform_unit_vector(&self, v: &Unit<Vector2<N>>) -> Unit<Vector2<N>> {
self.inverse() * v
}
/// Spherical linear interpolation between two rotations represented as unit complex numbers.
///
/// # Examples:
///
/// ```
/// # #[macro_use] extern crate approx;
/// # use nalgebra::geometry::UnitComplex;
///
/// let rot1 = UnitComplex::new(std::f32::consts::FRAC_PI_4);
/// let rot2 = UnitComplex::new(-std::f32::consts::PI);
///
/// let rot = rot1.slerp(&rot2, 1.0 / 3.0);
///
/// assert_relative_eq!(rot.angle(), std::f32::consts::FRAC_PI_2);
/// ```
#[inline]
pub fn slerp(&self, other: &Self, t: N) -> Self {
Self::new(self.angle() * (N::one() - t) + other.angle() * t)
}
}
impl<N: RealField + fmt::Display> fmt::Display for UnitComplex<N> {

8
src/geometry/unit_complex_ops.rs
View File

@ -96,6 +96,7 @@ where
#[inline]
fn div(self, rhs: Self) -> Self::Output {
#[allow(clippy::suspicious_arithmetic_impl)]
Unit::new_unchecked(self.into_inner() * rhs.conjugate().into_inner())
}
}
@ -108,6 +109,7 @@ where
#[inline]
fn div(self, rhs: UnitComplex<N>) -> Self::Output {
#[allow(clippy::suspicious_arithmetic_impl)]
Unit::new_unchecked(self.complex() * rhs.conjugate().into_inner())
}
}
@ -120,6 +122,7 @@ where
#[inline]
fn div(self, rhs: &'b UnitComplex<N>) -> Self::Output {
#[allow(clippy::suspicious_arithmetic_impl)]
Unit::new_unchecked(self.into_inner() * rhs.conjugate().into_inner())
}
}
@ -132,6 +135,7 @@ where
#[inline]
fn div(self, rhs: &'b UnitComplex<N>) -> Self::Output {
#[allow(clippy::suspicious_arithmetic_impl)]
Unit::new_unchecked(self.complex() * rhs.conjugate().into_inner())
}
}
@ -206,7 +210,7 @@ complex_op_impl_all!(
[val val] => &self / &rhs;
[ref val] => self / &rhs;
[val ref] => &self / rhs;
[ref ref] => self * UnitComplex::from_rotation_matrix(rhs).inverse();
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * UnitComplex::from_rotation_matrix(rhs).inverse() };
);
// Rotation × UnitComplex
@ -228,7 +232,7 @@ complex_op_impl_all!(
[val val] => &self / &rhs;
[ref val] => self / &rhs;
[val ref] => &self / rhs;
[ref ref] => UnitComplex::from_rotation_matrix(self) * rhs.inverse();
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { UnitComplex::from_rotation_matrix(self) * rhs.inverse() };
);
// UnitComplex × Point

8
src/lib.rs
View File

@ -15,7 +15,7 @@ Simply add the following to your `Cargo.toml` file:
```.ignore
[dependencies]
nalgebra = "0.18"
nalgebra = "0.21"
```
@ -90,11 +90,9 @@ an optimized set of tools for computer graphics and physics. Those features incl
#[cfg(feature = "arbitrary")]
extern crate quickcheck;
#[cfg(feature = "serde")]
extern crate serde;
#[cfg(feature = "serde")]
#[cfg(feature = "serde-serialize")]
#[macro_use]
extern crate serde_derive;
extern crate serde;
#[cfg(feature = "abomonation-serialize")]
extern crate abomonation;

4
src/linalg/cholesky.rs
View File

@ -8,7 +8,7 @@ use simba::simd::SimdComplexField;
use crate::allocator::Allocator;
use crate::base::{DefaultAllocator, Matrix, MatrixMN, MatrixN, SquareMatrix, Vector};
use crate::constraint::{SameNumberOfRows, ShapeConstraint};
use crate::dimension::{Dim, DimAdd, DimDiff, DimSub, DimSum, Dynamic, U1};
use crate::dimension::{Dim, DimAdd, DimDiff, DimSub, DimSum, U1};
use crate::storage::{Storage, StorageMut};
/// The Cholesky decomposition of a symmetric-definite-positive matrix.
@ -364,7 +364,7 @@ where
}
}
impl<N: ComplexField, D: DimSub<Dynamic>, S: Storage<N, D, D>> SquareMatrix<N, D, S>
impl<N: ComplexField, D: Dim, S: Storage<N, D, D>> SquareMatrix<N, D, S>
where
DefaultAllocator: Allocator<N, D, D>,
{

83
src/linalg/exp.rs
View File

@ -10,10 +10,12 @@ use crate::{
convert, try_convert, ComplexField, MatrixN, RealField,
};
use crate::num::Zero;
// https://github.com/scipy/scipy/blob/c1372d8aa90a73d8a52f135529293ff4edb98fc8/scipy/sparse/linalg/matfuncs.py
struct ExpmPadeHelper<N, D>
where
N: RealField,
N: ComplexField,
D: DimMin<D>,
DefaultAllocator: Allocator<N, D, D> + Allocator<(usize, usize), DimMinimum<D, D>>,
{
@ -27,20 +29,20 @@ where
a8: Option<MatrixN<N, D>>,
a10: Option<MatrixN<N, D>>,
d4_exact: Option<N>,
d6_exact: Option<N>,
d8_exact: Option<N>,
d10_exact: Option<N>,
d4_exact: Option<N::RealField>,
d6_exact: Option<N::RealField>,
d8_exact: Option<N::RealField>,
d10_exact: Option<N::RealField>,
d4_approx: Option<N>,
d6_approx: Option<N>,
d8_approx: Option<N>,
d10_approx: Option<N>,
d4_approx: Option<N::RealField>,
d6_approx: Option<N::RealField>,
d8_approx: Option<N::RealField>,
d10_approx: Option<N::RealField>,
}
impl<N, D> ExpmPadeHelper<N, D>
where
N: RealField,
N: ComplexField,
D: DimMin<D>,
DefaultAllocator: Allocator<N, D, D> + Allocator<(usize, usize), DimMinimum<D, D>>,
{
@ -110,7 +112,7 @@ where
}
}
fn d4_tight(&mut self) -> N {
fn d4_tight(&mut self) -> N::RealField {
if self.d4_exact.is_none() {
self.calc_a4();
self.d4_exact = Some(one_norm(self.a4.as_ref().unwrap()).powf(convert(0.25)));
@ -118,7 +120,7 @@ where
self.d4_exact.unwrap()
}
fn d6_tight(&mut self) -> N {
fn d6_tight(&mut self) -> N::RealField {
if self.d6_exact.is_none() {
self.calc_a6();
self.d6_exact = Some(one_norm(self.a6.as_ref().unwrap()).powf(convert(1.0 / 6.0)));
@ -126,7 +128,7 @@ where
self.d6_exact.unwrap()
}
fn d8_tight(&mut self) -> N {
fn d8_tight(&mut self) -> N::RealField {
if self.d8_exact.is_none() {
self.calc_a8();
self.d8_exact = Some(one_norm(self.a8.as_ref().unwrap()).powf(convert(1.0 / 8.0)));
@ -134,7 +136,7 @@ where
self.d8_exact.unwrap()
}
fn d10_tight(&mut self) -> N {
fn d10_tight(&mut self) -> N::RealField {
if self.d10_exact.is_none() {
self.calc_a10();
self.d10_exact = Some(one_norm(self.a10.as_ref().unwrap()).powf(convert(1.0 / 10.0)));
@ -142,7 +144,7 @@ where
self.d10_exact.unwrap()
}
fn d4_loose(&mut self) -> N {
fn d4_loose(&mut self) -> N::RealField {
if self.use_exact_norm {
return self.d4_tight();
}
@ -159,7 +161,7 @@ where
self.d4_approx.unwrap()
}
fn d6_loose(&mut self) -> N {
fn d6_loose(&mut self) -> N::RealField {
if self.use_exact_norm {
return self.d6_tight();
}
@ -176,7 +178,7 @@ where
self.d6_approx.unwrap()
}
fn d8_loose(&mut self) -> N {
fn d8_loose(&mut self) -> N::RealField {
if self.use_exact_norm {
return self.d8_tight();
}
@ -193,7 +195,7 @@ where
self.d8_approx.unwrap()
}
fn d10_loose(&mut self) -> N {
fn d10_loose(&mut self) -> N::RealField {
if self.use_exact_norm {
return self.d10_tight();
}
@ -359,15 +361,20 @@ where
fn ell<N, D>(a: &MatrixN<N, D>, m: u64) -> u64
where
N: RealField,
N: ComplexField,
D: Dim,
DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
DefaultAllocator: Allocator<N, D, D>
+ Allocator<N, D>
+ Allocator<N::RealField, D>
+ Allocator<N::RealField, D, D>,
{
// 2m choose m = (2m)!/(m! * (2m-m)!)
let a_abs_onenorm = onenorm_matrix_power_nonm(&a.abs(), 2 * m + 1);
let a_abs = a.map(|x| x.abs());
if a_abs_onenorm == N::zero() {
let a_abs_onenorm = onenorm_matrix_power_nonm(&a_abs, 2 * m + 1);
if a_abs_onenorm == <N as ComplexField>::RealField::zero() {
return 0;
}
@ -399,27 +406,33 @@ where
q.lu().solve(&p).unwrap()
}
fn one_norm<N, D>(m: &MatrixN<N, D>) -> N
fn one_norm<N, D>(m: &MatrixN<N, D>) -> N::RealField
where
N: RealField,
N: ComplexField,
D: Dim,
DefaultAllocator: Allocator<N, D, D>,
{
let mut max = N::zero();
let mut max = <N as ComplexField>::RealField::zero();
for i in 0..m.ncols() {
let col = m.column(i);
max = max.max(col.iter().fold(N::zero(), |a, b| a + b.abs()));
max = max.max(
col.iter()
.fold(<N as ComplexField>::RealField::zero(), |a, b| a + b.abs()),
);
}
max
}
impl<N: RealField, D> MatrixN<N, D>
impl<N: ComplexField, D> MatrixN<N, D>
where
D: DimMin<D, Output = D>,
DefaultAllocator:
Allocator<N, D, D> + Allocator<(usize, usize), DimMinimum<D, D>> + Allocator<N, D>,
DefaultAllocator: Allocator<N, D, D>
+ Allocator<(usize, usize), DimMinimum<D, D>>
+ Allocator<N, D>
+ Allocator<N::RealField, D>
+ Allocator<N::RealField, D, D>,
{
/// Computes exponential of this matrix
pub fn exp(&self) -> Self {
@ -430,19 +443,19 @@ where
let mut h = ExpmPadeHelper::new(self.clone(), true);
let eta_1 = N::max(h.d4_loose(), h.d6_loose());
let eta_1 = N::RealField::max(h.d4_loose(), h.d6_loose());
if eta_1 < convert(1.495585217958292e-002) && ell(&h.a, 3) == 0 {
let (u, v) = h.pade3();
return solve_p_q(u, v);
}
let eta_2 = N::max(h.d4_tight(), h.d6_loose());
let eta_2 = N::RealField::max(h.d4_tight(), h.d6_loose());
if eta_2 < convert(2.539398330063230e-001) && ell(&h.a, 5) == 0 {
let (u, v) = h.pade5();
return solve_p_q(u, v);
}
let eta_3 = N::max(h.d6_tight(), h.d8_loose());
let eta_3 = N::RealField::max(h.d6_tight(), h.d8_loose());
if eta_3 < convert(9.504178996162932e-001) && ell(&h.a, 7) == 0 {
let (u, v) = h.pade7();
return solve_p_q(u, v);
@ -452,11 +465,11 @@ where
return solve_p_q(u, v);
}
let eta_4 = N::max(h.d8_loose(), h.d10_loose());
let eta_5 = N::min(eta_3, eta_4);
let eta_4 = N::RealField::max(h.d8_loose(), h.d10_loose());
let eta_5 = N::RealField::min(eta_3, eta_4);
let theta_13 = convert(4.25);
let mut s = if eta_5 == N::zero() {
let mut s = if eta_5 == N::RealField::zero() {
0
} else {
let l2 = try_convert((eta_5 / theta_13).log2().ceil()).unwrap();

12
src/linalg/full_piv_lu.rs
View File

@ -60,11 +60,7 @@ where
let mut q = PermutationSequence::identity_generic(min_nrows_ncols);
if min_nrows_ncols.value() == 0 {
return Self {
lu: matrix,
p: p,
q: q,
};
return Self { lu: matrix, p, q };
}
for i in 0..min_nrows_ncols.value() {
@ -90,11 +86,7 @@ where
}
}
Self {
lu: matrix,
p: p,
q: q,
}
Self { lu: matrix, p, q }
}
#[doc(hidden)]

4
src/linalg/lu.rs
View File

@ -96,7 +96,7 @@ where
let mut p = PermutationSequence::identity_generic(min_nrows_ncols);
if min_nrows_ncols.value() == 0 {
return LU { lu: matrix, p: p };
return LU { lu: matrix, p };
}
for i in 0..min_nrows_ncols.value() {
@ -117,7 +117,7 @@ where
}
}
LU { lu: matrix, p: p }
LU { lu: matrix, p }
}
#[doc(hidden)]

5
src/linalg/mod.rs
View File

@ -5,6 +5,10 @@ mod bidiagonal;
mod cholesky;
mod convolution;
mod determinant;
// FIXME: this should not be needed. However, the exp uses
// explicit float operations on `f32` and `f64`. We need to
// get rid of these to allow exp to be used on a no-std context.
#[cfg(feature = "std")]
mod exp;
mod full_piv_lu;
pub mod givens;
@ -27,6 +31,7 @@ mod symmetric_tridiagonal;
pub use self::bidiagonal::*;
pub use self::cholesky::*;
pub use self::convolution::*;
#[cfg(feature = "std")]
pub use self::exp::*;
pub use self::full_piv_lu::*;
pub use self::hessenberg::*;

10
src/linalg/qr.rs
View File

@ -57,20 +57,14 @@ where
let mut diag = unsafe { MatrixMN::new_uninitialized_generic(min_nrows_ncols, U1) };
if min_nrows_ncols.value() == 0 {
return QR {
qr: matrix,
diag: diag,
};
return QR { qr: matrix, diag };
}
for ite in 0..min_nrows_ncols.value() {
householder::clear_column_unchecked(&mut matrix, &mut diag[ite], ite, 0, None);
}
QR {
qr: matrix,
diag: diag,
}
QR { qr: matrix, diag }
}
/// Retrieves the upper trapezoidal submatrix `R` of this decomposition.

14
src/linalg/schur.rs
View File

@ -73,10 +73,8 @@ where
pub fn try_new(m: MatrixN<N, D>, eps: N::RealField, max_niter: usize) -> Option<Self> {
let mut work = unsafe { VectorN::new_uninitialized_generic(m.data.shape().0, U1) };
Self::do_decompose(m, &mut work, eps, max_niter, true).map(|(q, t)| Schur {
q: q.unwrap(),
t: t,
})
Self::do_decompose(m, &mut work, eps, max_niter, true)
.map(|(q, t)| Schur { q: q.unwrap(), t })
}
fn do_decompose(
@ -138,9 +136,9 @@ where
let m = end - 1;
let n = end;
let h11 = t[(start + 0, start + 0)];
let h12 = t[(start + 0, start + 1)];
let h21 = t[(start + 1, start + 0)];
let h11 = t[(start, start)];
let h12 = t[(start, start + 1)];
let h21 = t[(start + 1, start)];
let h22 = t[(start + 1, start + 1)];
let h32 = t[(start + 2, start + 1)];
@ -163,7 +161,7 @@ where
if not_zero {
if k > start {
t[(k + 0, k - 1)] = norm;
t[(k, k - 1)] = norm;
t[(k + 1, k - 1)] = N::zero();
t[(k + 2, k - 1)] = N::zero();
}

6
src/linalg/svd.rs
View File

@ -218,9 +218,9 @@ where
}
}
diagonal[k + 0] = subm[(0, 0)];
diagonal[k] = subm[(0, 0)];
diagonal[k + 1] = subm[(1, 1)];
off_diagonal[k + 0] = subm[(0, 1)];
off_diagonal[k] = subm[(0, 1)];
if k != n - 1 {
off_diagonal[k + 1] = subm[(1, 2)];
@ -244,7 +244,7 @@ where
let u2 = u2.map(|u2| GivensRotation::new_unchecked(u2.c(), N::from_real(u2.s())));
let v2 = v2.map(|v2| GivensRotation::new_unchecked(v2.c(), N::from_real(v2.s())));
diagonal[start + 0] = s[0];
diagonal[start] = s[0];
diagonal[start + 1] = s[1];
off_diagonal[start] = N::RealField::zero();

2
src/linalg/symmetric_eigen.rs
View File

@ -192,7 +192,7 @@ where
let eigvals = m.eigenvalues().unwrap();
let basis = Vector2::new(eigvals.x - diag[start + 1], off_diag[start]);
diag[start + 0] = eigvals[0];
diag[start] = eigvals[0];
diag[start + 1] = eigvals[1];
if let Some(ref mut q) = q {

59
tests/core/cg.rs Normal file
View File

@ -0,0 +1,59 @@
use na::{Matrix3, Matrix4, Point2, Point3, Vector2, Vector3};
/// See Example 3.4 of "Graphics and Visualization: Principles & Algorithms"
/// by Theoharis, Papaioannou, Platis, Patrikalakis.
#[test]
fn test_scaling_wrt_point_1() {
let a = Point2::new(0.0, 0.0);
let b = Point2::new(1.0, 1.0);
let c = Point2::new(5.0, 2.0);
let scaling = Vector2::new(2.0, 2.0);
let scale_about = Matrix3::new_nonuniform_scaling_wrt_point(&scaling, &c);
let expected_a = Point2::new(-5.0, -2.0);
let expected_b = Point2::new(-3.0, 0.0);
let result_a = scale_about.transform_point(&a);
let result_b = scale_about.transform_point(&b);
let result_c = scale_about.transform_point(&c);
assert!(expected_a == result_a);
assert!(expected_b == result_b);
assert!(c == result_c);
}
/// Based on the same example as the test above.
#[test]
fn test_scaling_wrt_point_2() {
let a = Point3::new(0.0, 0.0, 1.0);
let b = Point3::new(1.0, 1.0, 1.0);
let c = Point3::new(5.0, 2.0, 1.0);
let scaling = Vector3::new(2.0, 2.0, 1.0);
let scale_about = Matrix4::new_nonuniform_scaling_wrt_point(&scaling, &c);
let expected_a = Point3::new(-5.0, -2.0, 1.0);
let expected_b = Point3::new(-3.0, 0.0, 1.0);
let result_a = scale_about.transform_point(&a);
let result_b = scale_about.transform_point(&b);
let result_c = scale_about.transform_point(&c);
assert!(expected_a == result_a);
assert!(expected_b == result_b);
assert!(c == result_c);
}
/// Based on https://github.com/emlowry/AiE/blob/50bae4068edb686cf8ffacdf6fab8e7cb22e7eb1/Year%201%20Classwork/MathTest/Matrix4x4TestGroup.cpp#L145
#[test]
fn test_scaling_wrt_point_3() {
let about = Point3::new(2.0, 1.0, -2.0);
let scale = Vector3::new(2.0, 0.5, -1.0);
let pt = Point3::new(1.0, 2.0, 3.0);
let scale_about = Matrix4::new_nonuniform_scaling_wrt_point(&scale, &about);
let expected = Point3::new(0.0, 1.5, -7.0);
let result = scale_about.transform_point(&pt);
assert!(result == expected);
}

85
tests/core/matrixcompare.rs Normal file
View File

@ -0,0 +1,85 @@
//! Tests for `matrixcompare` integration.
//!
//! The `matrixcompare` crate itself is responsible for testing the actual comparison.
//! The tests here only check that the necessary trait implementations are correctly implemented,
//! in addition to some sanity checks with example input.
use nalgebra::{DMatrix, MatrixMN, U4, U5};
use matrixcompare::{assert_matrix_eq, DenseAccess};
#[cfg(feature = "arbitrary")]
quickcheck! {
fn fetch_single_is_equivalent_to_index_f64(matrix: DMatrix<f64>) -> bool {
for i in 0 .. matrix.nrows() {
for j in 0 .. matrix.ncols() {
if matrix.fetch_single(i, j) != *matrix.index((i, j)) {
return false;
}
}
}
true
}
fn matrixcompare_shape_agrees_with_matrix(matrix: DMatrix<f64>) -> bool {
matrix.nrows() == <DMatrix<f64> as matrixcompare::Matrix<f64>>::rows(&matrix)
&&
matrix.ncols() == <DMatrix<f64> as matrixcompare::Matrix<f64>>::cols(&matrix)
}
}
#[test]
fn assert_matrix_eq_dense_positive_comparison() {
#[rustfmt::skip]
let a = MatrixMN::<_, U4, U5>::from_row_slice(&[
1210, 1320, 1430, 1540, 1650,
2310, 2420, 2530, 2640, 2750,
3410, 3520, 3630, 3740, 3850,
4510, 4620, 4730, 4840, 4950,
]);
#[rustfmt::skip]
let b = MatrixMN::<_, U4, U5>::from_row_slice(&[
1210, 1320, 1430, 1540, 1650,
2310, 2420, 2530, 2640, 2750,
3410, 3520, 3630, 3740, 3850,
4510, 4620, 4730, 4840, 4950,
]);
// Test matrices of static size
assert_matrix_eq!(a, b);
assert_matrix_eq!(&a, b);
assert_matrix_eq!(a, &b);
assert_matrix_eq!(&a, &b);
// Test matrices of dynamic size
let a_dyn = a.index((0..4, 0..5));
let b_dyn = b.index((0..4, 0..5));
assert_matrix_eq!(a_dyn, b_dyn);
assert_matrix_eq!(a_dyn, &b_dyn);
assert_matrix_eq!(&a_dyn, b_dyn);
assert_matrix_eq!(&a_dyn, &b_dyn);
}
#[test]
#[should_panic]
fn assert_matrix_eq_dense_negative_comparison() {
#[rustfmt::skip]
let a = MatrixMN::<_, U4, U5>::from_row_slice(&[
1210, 1320, 1430, 1540, 1650,
2310, 2420, 2530, 2640, 2750,
3410, 3520, 3630, 3740, 3850,
4510, 4620, -4730, 4840, 4950,
]);
#[rustfmt::skip]
let b = MatrixMN::<_, U4, U5>::from_row_slice(&[
1210, 1320, 1430, 1540, 1650,
2310, 2420, 2530, 2640, 2750,
3410, 3520, 3630, 3740, 3850,
4510, 4620, 4730, 4840, 4950,
]);
assert_matrix_eq!(a, b);
}

4
tests/core/mod.rs
View File

@ -1,6 +1,7 @@
#[cfg(feature = "abomonation-serialize")]
mod abomonation;
mod blas;
mod cg;
mod conversion;
mod edition;
mod empty;
@ -10,5 +11,8 @@ mod matrix_slice;
mod mint;
mod serde;
#[cfg(feature = "compare")]
mod matrixcompare;
#[cfg(feature = "arbitrary")]
pub mod helper;

47
tests/linalg/exp.rs
View File

@ -126,4 +126,51 @@ mod tests {
assert!(relative_eq!(f, m.exp(), epsilon = 1.0e-7));
}
#[test]
fn exp_complex() {
use nalgebra::{Complex, DMatrix, DVector, Matrix2, RealField};
{
let z = Matrix2::<Complex<f64>>::zeros();
let identity = Matrix2::<Complex<f64>>::identity();
assert!((z.exp() - identity).norm() < 1e-7);
}
{
let a = Matrix2::<Complex<f64>>::new(
Complex::<f64>::new(0.0, 1.0),
Complex::<f64>::new(0.0, 2.0),
Complex::<f64>::new(0.0, -1.0),
Complex::<f64>::new(0.0, 3.0),
);
let b = Matrix2::<Complex<f64>>::new(
Complex::<f64>::new(0.42645929666726, 1.89217550966333),
Complex::<f64>::new(-2.13721484276556, -0.97811251808259),
Complex::<f64>::new(1.06860742138278, 0.48905625904129),
Complex::<f64>::new(-1.7107555460983, 0.91406299158075),
);
assert!((a.exp() - b).norm() < 1.0e-07);
}
{
let d1 = Complex::<f64>::new(0.0, <f64 as RealField>::pi());
let d2 = Complex::<f64>::new(0.0, <f64 as RealField>::frac_pi_2());
let d3 = Complex::<f64>::new(0.0, <f64 as RealField>::frac_pi_4());
let m = DMatrix::<Complex<f64>>::from_diagonal(&DVector::from_row_slice(&[d1, d2, d3]));
let res = DMatrix::<Complex<f64>>::from_diagonal(&DVector::from_row_slice(&[
d1.exp(),
d2.exp(),
d3.exp(),
]));
assert!((m.exp() - res).norm() < 1e-07);
}
}
}