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Fix warnings and compilation with the arbitrary feature.

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This commit is contained in:
sebcrozet 2020-04-05 17:15:43 +02:00
parent c9bedc80dd
commit 191ccbf551
11 changed files with 131 additions and 69 deletions
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16
src/geometry/isometry.rs
View File

@ -3,7 +3,6 @@ use std::fmt;
use std::hash;
#[cfg(feature = "abomonation-serialize")]
use std::io::{Result as IOResult, Write};
use std::marker::PhantomData;
#[cfg(feature = "serde-serialize")]
use serde::{Deserialize, Serialize};
@ -37,7 +36,8 @@ use crate::geometry::{AbstractRotation, Point, Translation};
Owned<N, D>: Deserialize<'de>"))
)]
pub struct Isometry<N: Scalar, D: DimName, R>
where DefaultAllocator: Allocator<N, D>
where
DefaultAllocator: Allocator<N, D>,
{
/// The pure rotational part of this isometry.
pub rotation: R,
@ -91,7 +91,8 @@ where
}
impl<N: Scalar, D: DimName, R: AbstractRotation<N, D> + Clone> Clone for Isometry<N, D, R>
where DefaultAllocator: Allocator<N, D>
where
DefaultAllocator: Allocator<N, D>,
{
#[inline]
fn clone(&self) -> Self {
@ -100,7 +101,8 @@ where DefaultAllocator: Allocator<N, D>
}
impl<N: Scalar, D: DimName, R: AbstractRotation<N, D>> Isometry<N, D, R>
where DefaultAllocator: Allocator<N, D>
where
DefaultAllocator: Allocator<N, D>,
{
/// Creates a new isometry from its rotational and translational parts.
///
@ -353,7 +355,8 @@ where
// This is OK since all constructors of the isometry enforce the Rotation bound already (and
// explicit struct construction is prevented by the dummy ZST field).
impl<N: SimdRealField, D: DimName, R> Isometry<N, D, R>
where DefaultAllocator: Allocator<N, D>
where
DefaultAllocator: Allocator<N, D>,
{
/// Converts this isometry into its equivalent homogeneous transformation matrix.
///
@ -440,8 +443,7 @@ where
other: &Self,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon,
) -> bool
{
) -> bool {
self.translation
.relative_eq(&other.translation, epsilon, max_relative)
&& self

2
src/geometry/isometry_simba.rs
View File

@ -2,7 +2,7 @@ use simba::simd::SimdValue;
use crate::base::allocator::Allocator;
use crate::base::dimension::DimName;
use crate::base::{DefaultAllocator, Scalar};
use crate::base::DefaultAllocator;
use crate::SimdRealField;
use crate::geometry::{AbstractRotation, Isometry, Translation};

5
src/geometry/point_conversion.rs
View File

@ -1,6 +1,6 @@
use num::{One, Zero};
use simba::scalar::{ClosedDiv, SubsetOf, SupersetOf};
use simba::simd::{PrimitiveSimdValue, SimdValue};
use simba::simd::PrimitiveSimdValue;
use crate::base::allocator::Allocator;
use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
@ -143,7 +143,8 @@ where
}
impl<N: Scalar, D: DimName> From<VectorN<N, D>> for Point<N, D>
where DefaultAllocator: Allocator<N, D>
where
DefaultAllocator: Allocator<N, D>,
{
#[inline]
fn from(coords: VectorN<N, D>) -> Self {

63
src/geometry/quaternion_construction.rs
View File

@ -71,7 +71,9 @@ impl<N: SimdRealField> Quaternion<N> {
#[inline]
// FIXME: take a reference to `vector`?
pub fn from_parts<SB>(scalar: N, vector: Vector<N, U3, SB>) -> Self
where SB: Storage<N, U3> {
where
SB: Storage<N, U3>,
{
Self::new(scalar, vector[0], vector[1], vector[2])
}
@ -100,14 +102,17 @@ impl<N: SimdRealField> Quaternion<N> {
// FIXME: merge with the previous block.
impl<N: SimdRealField> Quaternion<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
/// Creates a new quaternion from its polar decomposition.
///
/// Note that `axis` is assumed to be a unit vector.
// FIXME: take a reference to `axis`?
pub fn from_polar_decomposition<SB>(scale: N, theta: N, axis: Unit<Vector<N, U3, SB>>) -> Self
where SB: Storage<N, U3> {
where
SB: Storage<N, U3>,
{
let rot = UnitQuaternion::<N>::from_axis_angle(&axis, theta * crate::convert(2.0f64));
rot.into_inner() * scale
@ -115,7 +120,8 @@ where N::Element: SimdRealField
}
impl<N: SimdRealField> One for Quaternion<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
#[inline]
fn one() -> Self {
@ -124,7 +130,8 @@ where N::Element: SimdRealField
}
impl<N: SimdRealField> Zero for Quaternion<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
#[inline]
fn zero() -> Self {
@ -138,7 +145,8 @@ where N::Element: SimdRealField
}
impl<N: SimdRealField> Distribution<Quaternion<N>> for Standard
where Standard: Distribution<N>
where
Standard: Distribution<N>,
{
#[inline]
fn sample<'a, R: Rng + ?Sized>(&self, rng: &'a mut R) -> Quaternion<N> {
@ -148,7 +156,8 @@ where Standard: Distribution<N>
#[cfg(feature = "arbitrary")]
impl<N: SimdRealField + Arbitrary> Arbitrary for Quaternion<N>
where Owned<N, U4>: Send
where
Owned<N, U4>: Send,
{
#[inline]
fn arbitrary<G: Gen>(g: &mut G) -> Self {
@ -162,7 +171,8 @@ where Owned<N, U4>: Send
}
impl<N: SimdRealField> UnitQuaternion<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
/// The rotation identity.
///
@ -209,7 +219,9 @@ where N::Element: SimdRealField
/// ```
#[inline]
pub fn from_axis_angle<SB>(axis: &Unit<Vector<N, U3, SB>>, angle: N) -> Self
where SB: Storage<N, U3> {
where
SB: Storage<N, U3>,
{
let (sang, cang) = (angle / crate::convert(2.0f64)).simd_sin_cos();
let q = Quaternion::from_parts(cang, axis.as_ref() * sang);
@ -335,7 +347,9 @@ where N::Element: SimdRealField
/// convergence parameters and starting solution.
/// This implements "A Robust Method to Extract the Rotational Part of Deformations" by Müller et al.
pub fn from_matrix(m: &Matrix3<N>) -> Self
where N: RealField {
where
N: RealField,
{
Rotation3::from_matrix(m).into()
}
@ -352,7 +366,9 @@ where N::Element: SimdRealField
/// to the actual solution is provided. Can be set to `UnitQuaternion::identity()` if no other
/// guesses come to mind.
pub fn from_matrix_eps(m: &Matrix3<N>, eps: N, max_iter: usize, guess: Self) -> Self
where N: RealField {
where
N: RealField,
{
let guess = Rotation3::from(guess);
Rotation3::from_matrix_eps(m, eps, max_iter, guess).into()
}
@ -619,7 +635,9 @@ where N::Element: SimdRealField
/// ```
#[inline]
pub fn new<SB>(axisangle: Vector<N, U3, SB>) -> Self
where SB: Storage<N, U3> {
where
SB: Storage<N, U3>,
{
let two: N = crate::convert(2.0f64);
let q = Quaternion::<N>::from_imag(axisangle / two).exp();
Self::new_unchecked(q)
@ -648,7 +666,9 @@ where N::Element: SimdRealField
/// ```
#[inline]
pub fn new_eps<SB>(axisangle: Vector<N, U3, SB>, eps: N) -> Self
where SB: Storage<N, U3> {
where
SB: Storage<N, U3>,
{
let two: N = crate::convert(2.0f64);
let q = Quaternion::<N>::from_imag(axisangle / two).exp_eps(eps);
Self::new_unchecked(q)
@ -678,7 +698,9 @@ where N::Element: SimdRealField
/// ```
#[inline]
pub fn from_scaled_axis<SB>(axisangle: Vector<N, U3, SB>) -> Self
where SB: Storage<N, U3> {
where
SB: Storage<N, U3>,
{
Self::new(axisangle)
}
@ -706,7 +728,9 @@ where N::Element: SimdRealField
/// ```
#[inline]
pub fn from_scaled_axis_eps<SB>(axisangle: Vector<N, U3, SB>, eps: N) -> Self
where SB: Storage<N, U3> {
where
SB: Storage<N, U3>,
{
Self::new_eps(axisangle, eps)
}
@ -736,7 +760,9 @@ where N::Element: SimdRealField
/// ```
#[inline]
pub fn mean_of(unit_quaternions: impl IntoIterator<Item = Self>) -> Self
where N: RealField {
where
N: RealField,
{
let quaternions_matrix: Matrix4<N> = unit_quaternions
.into_iter()
.map(|q| q.as_vector() * q.as_vector().transpose())
@ -765,7 +791,8 @@ where N::Element: SimdRealField
}
impl<N: SimdRealField> One for UnitQuaternion<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
#[inline]
fn one() -> Self {
@ -800,7 +827,7 @@ where
}
#[cfg(feature = "arbitrary")]
impl<N: SimdRealField + Arbitrary> Arbitrary for UnitQuaternion<N>
impl<N: RealField + Arbitrary> Arbitrary for UnitQuaternion<N>
where
Owned<N, U4>: Send,
Owned<N, U3>: Send,

8
src/geometry/quaternion_simba.rs
View File

@ -2,10 +2,11 @@ use simba::simd::SimdValue;
use crate::base::Vector4;
use crate::geometry::{Quaternion, UnitQuaternion};
use crate::{RealField, Scalar};
use crate::Scalar;
impl<N: Scalar + SimdValue> SimdValue for Quaternion<N>
where N::Element: Scalar
where
N::Element: Scalar,
{
type Element = Quaternion<N::Element>;
type SimdBool = N::SimdBool;
@ -47,7 +48,8 @@ where N::Element: Scalar
}
impl<N: Scalar + SimdValue> SimdValue for UnitQuaternion<N>
where N::Element: Scalar
where
N::Element: Scalar,
{
type Element = UnitQuaternion<N::Element>;
type SimdBool = N::SimdBool;

12
src/geometry/similarity_construction.rs
View File

@ -107,15 +107,15 @@ where
#[cfg(feature = "arbitrary")]
impl<N, D: DimName, R> Arbitrary for Similarity<N, D, R>
where
N: SimdRealField + Arbitrary + Send,
N::Element: SimdRealField,
N: RealField + Arbitrary + Send,
N::Element: RealField,
R: AbstractRotation<N, D> + Arbitrary + Send,
DefaultAllocator: Allocator<N, D>,
Owned<N, D>: Send,
{
#[inline]
fn arbitrary<G: Gen>(rng: &mut G) -> Self {
let mut s = Arbitrary::arbitrary(rng);
let mut s: N = Arbitrary::arbitrary(rng);
while s.is_zero() {
s = Arbitrary::arbitrary(rng)
}
@ -132,7 +132,8 @@ where
// 2D similarity.
impl<N: SimdRealField> Similarity<N, U2, Rotation2<N>>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
/// Creates a new similarity from a translation, a rotation, and an uniform scaling factor.
///
@ -157,7 +158,8 @@ where N::Element: SimdRealField
}
impl<N: SimdRealField> Similarity<N, U2, UnitComplex<N>>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
/// Creates a new similarity from a translation and a rotation angle.
///

2
src/geometry/similarity_simba.rs
View File

@ -2,7 +2,7 @@ use simba::simd::{SimdRealField, SimdValue};
use crate::base::allocator::Allocator;
use crate::base::dimension::DimName;
use crate::base::{DefaultAllocator, Scalar};
use crate::base::DefaultAllocator;
use crate::geometry::{AbstractRotation, Isometry, Similarity};

39
src/geometry/translation.rs
View File

@ -11,7 +11,7 @@ use serde::{Deserialize, Deserializer, Serialize, Serializer};
#[cfg(feature = "abomonation-serialize")]
use abomonation::Abomonation;
use simba::scalar::{ClosedAdd, ClosedNeg, ClosedSub, RealField};
use simba::scalar::{ClosedAdd, ClosedNeg, ClosedSub};
use crate::base::allocator::Allocator;
use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
@ -24,7 +24,8 @@ use crate::geometry::Point;
#[repr(C)]
#[derive(Debug)]
pub struct Translation<N: Scalar, D: DimName>
where DefaultAllocator: Allocator<N, D>
where
DefaultAllocator: Allocator<N, D>,
{
/// The translation coordinates, i.e., how much is added to a point's coordinates when it is
/// translated.
@ -87,7 +88,9 @@ where
Owned<N, D>: Serialize,
{
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
where S: Serializer {
where
S: Serializer,
{
self.vector.serialize(serializer)
}
}
@ -99,7 +102,9 @@ where
Owned<N, D>: Deserialize<'a>,
{
fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
where Des: Deserializer<'a> {
where
Des: Deserializer<'a>,
{
let matrix = VectorN::<N, D>::deserialize(deserializer)?;
Ok(Translation::from(matrix))
@ -107,7 +112,8 @@ where
}
impl<N: Scalar, D: DimName> Translation<N, D>
where DefaultAllocator: Allocator<N, D>
where
DefaultAllocator: Allocator<N, D>,
{
/// Creates a new translation from the given vector.
#[inline]
@ -133,7 +139,9 @@ where DefaultAllocator: Allocator<N, D>
#[inline]
#[must_use = "Did you mean to use inverse_mut()?"]
pub fn inverse(&self) -> Translation<N, D>
where N: ClosedNeg {
where
N: ClosedNeg,
{
Translation::from(-&self.vector)
}
@ -189,13 +197,16 @@ where DefaultAllocator: Allocator<N, D>
/// ```
#[inline]
pub fn inverse_mut(&mut self)
where N: ClosedNeg {
where
N: ClosedNeg,
{
self.vector.neg_mut()
}
}
impl<N: Scalar + ClosedAdd, D: DimName> Translation<N, D>
where DefaultAllocator: Allocator<N, D>
where
DefaultAllocator: Allocator<N, D>,
{
/// Translate the given point.
///
@ -214,7 +225,8 @@ where DefaultAllocator: Allocator<N, D>
}
impl<N: Scalar + ClosedSub, D: DimName> Translation<N, D>
where DefaultAllocator: Allocator<N, D>
where
DefaultAllocator: Allocator<N, D>,
{
/// Translate the given point by the inverse of this translation.
///
@ -233,7 +245,8 @@ where DefaultAllocator: Allocator<N, D>
impl<N: Scalar + Eq, D: DimName> Eq for Translation<N, D> where DefaultAllocator: Allocator<N, D> {}
impl<N: Scalar + PartialEq, D: DimName> PartialEq for Translation<N, D>
where DefaultAllocator: Allocator<N, D>
where
DefaultAllocator: Allocator<N, D>,
{
#[inline]
fn eq(&self, right: &Translation<N, D>) -> bool {
@ -275,8 +288,7 @@ where
other: &Self,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon,
) -> bool
{
) -> bool {
self.vector
.relative_eq(&other.vector, epsilon, max_relative)
}
@ -304,7 +316,8 @@ where
*
*/
impl<N: Scalar + fmt::Display, D: DimName> fmt::Display for Translation<N, D>
where DefaultAllocator: Allocator<N, D> + Allocator<usize, D>
where
DefaultAllocator: Allocator<N, D> + Allocator<usize, D>,
{
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
let precision = f.precision().unwrap_or(3);

14
src/geometry/unit_complex_conversion.rs
View File

@ -2,7 +2,7 @@ use num::Zero;
use num_complex::Complex;
use simba::scalar::{RealField, SubsetOf, SupersetOf};
use simba::simd::{PrimitiveSimdValue, SimdRealField, SimdValue};
use simba::simd::{PrimitiveSimdValue, SimdRealField};
use crate::base::dimension::U2;
use crate::base::{Matrix2, Matrix3, Scalar};
@ -155,7 +155,8 @@ impl<N1: RealField, N2: RealField + SupersetOf<N1>> SubsetOf<Matrix3<N2>> for Un
}
impl<N: SimdRealField> From<UnitComplex<N>> for Rotation2<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
#[inline]
fn from(q: UnitComplex<N>) -> Self {
@ -164,7 +165,8 @@ where N::Element: SimdRealField
}
impl<N: SimdRealField> From<Rotation2<N>> for UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
#[inline]
fn from(q: Rotation2<N>) -> Self {
@ -173,7 +175,8 @@ where N::Element: SimdRealField
}
impl<N: SimdRealField> From<UnitComplex<N>> for Matrix3<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
#[inline]
fn from(q: UnitComplex<N>) -> Matrix3<N> {
@ -182,7 +185,8 @@ where N::Element: SimdRealField
}
impl<N: SimdRealField> From<UnitComplex<N>> for Matrix2<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
#[inline]
fn from(q: UnitComplex<N>) -> Self {

34
src/geometry/unit_complex_ops.rs
View File

@ -5,7 +5,6 @@ use crate::base::dimension::{U1, U2};
use crate::base::storage::Storage;
use crate::base::{DefaultAllocator, Unit, Vector, Vector2};
use crate::geometry::{Isometry, Point2, Rotation, Similarity, Translation, UnitComplex};
use simba::scalar::RealField;
use simba::simd::SimdRealField;
/*
@ -53,7 +52,8 @@ impl<N: SimdRealField> Mul<Self> for UnitComplex<N> {
}
impl<'a, N: SimdRealField> Mul<UnitComplex<N>> for &'a UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
type Output = UnitComplex<N>;
@ -64,7 +64,8 @@ where N::Element: SimdRealField
}
impl<'b, N: SimdRealField> Mul<&'b UnitComplex<N>> for UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
type Output = Self;
@ -75,7 +76,8 @@ where N::Element: SimdRealField
}
impl<'a, 'b, N: SimdRealField> Mul<&'b UnitComplex<N>> for &'a UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
type Output = UnitComplex<N>;
@ -87,7 +89,8 @@ where N::Element: SimdRealField
// UnitComplex ÷ UnitComplex
impl<N: SimdRealField> Div<Self> for UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
type Output = Self;
@ -98,7 +101,8 @@ where N::Element: SimdRealField
}
impl<'a, N: SimdRealField> Div<UnitComplex<N>> for &'a UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
type Output = UnitComplex<N>;
@ -109,7 +113,8 @@ where N::Element: SimdRealField
}
impl<'b, N: SimdRealField> Div<&'b UnitComplex<N>> for UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
type Output = Self;
@ -120,7 +125,8 @@ where N::Element: SimdRealField
}
impl<'a, 'b, N: SimdRealField> Div<&'b UnitComplex<N>> for &'a UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
type Output = UnitComplex<N>;
@ -315,7 +321,8 @@ complex_op_impl_all!(
// UnitComplex ×= UnitComplex
impl<N: SimdRealField> MulAssign<UnitComplex<N>> for UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
#[inline]
fn mul_assign(&mut self, rhs: UnitComplex<N>) {
@ -324,7 +331,8 @@ where N::Element: SimdRealField
}
impl<'b, N: SimdRealField> MulAssign<&'b UnitComplex<N>> for UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
#[inline]
fn mul_assign(&mut self, rhs: &'b UnitComplex<N>) {
@ -334,7 +342,8 @@ where N::Element: SimdRealField
// UnitComplex /= UnitComplex
impl<N: SimdRealField> DivAssign<UnitComplex<N>> for UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
#[inline]
fn div_assign(&mut self, rhs: UnitComplex<N>) {
@ -343,7 +352,8 @@ where N::Element: SimdRealField
}
impl<'b, N: SimdRealField> DivAssign<&'b UnitComplex<N>> for UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
#[inline]
fn div_assign(&mut self, rhs: &'b UnitComplex<N>) {

5
src/geometry/unit_complex_simba.rs
View File

@ -2,12 +2,13 @@ use num_complex::Complex;
use simba::simd::SimdValue;
use std::ops::Deref;
use crate::base::{Scalar, Unit};
use crate::base::Unit;
use crate::geometry::UnitComplex;
use crate::SimdRealField;
impl<N: SimdRealField> SimdValue for UnitComplex<N>
where N::Element: SimdRealField
where
N::Element: SimdRealField,
{
type Element = UnitComplex<N::Element>;
type SimdBool = N::SimdBool;