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Merge pull request #165 from sebcrozet/misc 

Fix #161 and addresses #160.
This commit is contained in:
Sébastien Crozet 2015-11-15 22:08:57 +01:00
parent 6db6db19fc 54c22c2fc3
commit 22edb3a157
8 changed files with 70 additions and 69 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Cargo.toml
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@ -1,6 +1,6 @@
[package] [package]
name = "nalgebra" name = "nalgebra"
version = "0.3.2" version = "0.4.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ] # FIXME: add the contributors. authors = [ "Sébastien Crozet <developer@crozet.re>" ] # FIXME: add the contributors.
description = "Linear algebra library for computer physics, computer graphics and general low-dimensional linear algebra for Rust." description = "Linear algebra library for computer physics, computer graphics and general low-dimensional linear algebra for Rust."

10
src/structs/iso.rs
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@ -69,9 +69,8 @@ impl<N: Clone + BaseFloat> Iso3<N> {
/// aligned with. /// aligned with.
/// * up - Vector pointing up. The only requirement of this parameter is to not be colinear /// * up - Vector pointing up. The only requirement of this parameter is to not be colinear
/// with `at`. Non-colinearity is not checked. /// with `at`. Non-colinearity is not checked.
pub fn look_at(&mut self, eye: &Pnt3<N>, at: &Pnt3<N>, up: &Vec3<N>) { pub fn look_at(eye: &Pnt3<N>, at: &Pnt3<N>, up: &Vec3<N>) -> Iso3<N> {
self.rotation = Rot3::look_at(&(*at - *eye), up); Iso3::new_with_rotmat(eye.as_vec().clone(), Rot3::look_at(&(*at - *eye), up))
self.translation = eye.as_vec().clone();
} }
/// Reorient and translate this transformation such that its local `z` axis points to a given /// Reorient and translate this transformation such that its local `z` axis points to a given
@ -83,9 +82,8 @@ impl<N: Clone + BaseFloat> Iso3<N> {
/// aligned with /// aligned with
/// * up - Vector pointing `up`. The only requirement of this parameter is to not be colinear /// * up - Vector pointing `up`. The only requirement of this parameter is to not be colinear
/// with `at`. Non-colinearity is not checked. /// with `at`. Non-colinearity is not checked.
pub fn look_at_z(&mut self, eye: &Pnt3<N>, at: &Pnt3<N>, up: &Vec3<N>) { pub fn look_at_z(eye: &Pnt3<N>, at: &Pnt3<N>, up: &Vec3<N>) -> Iso3<N> {
self.rotation = Rot3::look_at_z(&(*at - *eye), up); Iso3::new_with_rotmat(eye.as_vec().clone(), Rot3::look_at_z(&(*at - *eye), up))
self.translation = eye.as_vec().clone();
} }
} }

12
src/structs/mat.rs
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@ -45,7 +45,7 @@ eye_impl!(Mat1, 1, m11);
mat_impl!(Mat1, m11); mat_impl!(Mat1, m11);
repeat_impl!(Mat1, m11); repeat_impl!(Mat1, m11);
as_array_impl!(Mat1, 1); conversion_impl!(Mat1, 1);
mat_cast_impl!(Mat1, m11); mat_cast_impl!(Mat1, m11);
add_impl!(Mat1, m11); add_impl!(Mat1, m11);
sub_impl!(Mat1, m11); sub_impl!(Mat1, m11);
@ -96,7 +96,7 @@ mat_impl!(Mat2, m11, m12,
m21, m22); m21, m22);
repeat_impl!(Mat2, m11, m12, repeat_impl!(Mat2, m11, m12,
m21, m22); m21, m22);
as_array_impl!(Mat2, 2); conversion_impl!(Mat2, 2);
mat_cast_impl!(Mat2, m11, m12, mat_cast_impl!(Mat2, m11, m12,
m21, m22); m21, m22);
add_impl!(Mat2, m11, m12, m21, m22); add_impl!(Mat2, m11, m12, m21, m22);
@ -152,7 +152,7 @@ mat_impl!(Mat3, m11, m12, m13,
repeat_impl!(Mat3, m11, m12, m13, repeat_impl!(Mat3, m11, m12, m13,
m21, m22, m23, m21, m22, m23,
m31, m32, m33); m31, m32, m33);
as_array_impl!(Mat3, 3); conversion_impl!(Mat3, 3);
mat_cast_impl!(Mat3, m11, m12, m13, mat_cast_impl!(Mat3, m11, m12, m13,
m21, m22, m23, m21, m22, m23,
m31, m32, m33); m31, m32, m33);
@ -255,7 +255,7 @@ repeat_impl!(Mat4,
m31, m32, m33, m34, m31, m32, m33, m34,
m41, m42, m43, m44 m41, m42, m43, m44
); );
as_array_impl!(Mat4, 4); conversion_impl!(Mat4, 4);
mat_cast_impl!(Mat4, mat_cast_impl!(Mat4,
m11, m12, m13, m14, m11, m12, m13, m14,
m21, m22, m23, m24, m21, m22, m23, m24,
@ -377,7 +377,7 @@ repeat_impl!(Mat5,
m41, m42, m43, m44, m45, m41, m42, m43, m44, m45,
m51, m52, m53, m54, m55 m51, m52, m53, m54, m55
); );
as_array_impl!(Mat5, 5); conversion_impl!(Mat5, 5);
mat_cast_impl!(Mat5, mat_cast_impl!(Mat5,
m11, m12, m13, m14, m15, m11, m12, m13, m14, m15,
m21, m22, m23, m24, m25, m21, m22, m23, m24, m25,
@ -516,7 +516,7 @@ repeat_impl!(Mat6,
m51, m52, m53, m54, m55, m56, m51, m52, m53, m54, m55, m56,
m61, m62, m63, m64, m65, m66 m61, m62, m63, m64, m65, m66
); );
as_array_impl!(Mat6, 6); conversion_impl!(Mat6, 6);
mat_cast_impl!(Mat6, mat_cast_impl!(Mat6,
m11, m12, m13, m14, m15, m16, m11, m12, m13, m14, m15, m16,
m21, m22, m23, m24, m25, m26, m21, m22, m23, m24, m25, m26,

35
src/structs/mat_macros.rs
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@ -13,43 +13,40 @@ macro_rules! mat_impl(
) )
); );
macro_rules! as_array_impl( macro_rules! conversion_impl(
($t: ident, $dim: expr) => ( ($t: ident, $dim: expr) => (
impl<N> $t<N> { impl<N> AsRef<[[N; $dim]; $dim]> for $t<N> {
/// View this matrix as a column-major array of arrays.
#[inline] #[inline]
pub fn as_array(&self) -> &[[N; $dim]; $dim] { fn as_ref(&self) -> &[[N; $dim]; $dim] {
unsafe { unsafe {
mem::transmute(self) mem::transmute(self)
} }
} }
}
/// View this matrix as a column-major mutable array of arrays. impl<N> AsMut<[[N; $dim]; $dim]> for $t<N> {
#[inline] #[inline]
pub fn as_array_mut<'a>(&'a mut self) -> &'a mut [[N; $dim]; $dim] { fn as_mut(&mut self) -> &mut [[N; $dim]; $dim] {
unsafe { unsafe {
mem::transmute(self) mem::transmute(self)
} }
} }
}
// FIXME: because of https://github.com/rust-lang/rust/issues/16418 we cannot do the impl<'a, N> From<&'a [[N; $dim]; $dim]> for &'a $t<N> {
// array-to-mat conversion by-value:
//
// pub fn from_array(array: [N; $dim]) -> $t<N>
/// View a column-major array of array as a vector.
#[inline] #[inline]
pub fn from_array_ref(array: &[[N; $dim]; $dim]) -> &$t<N> { fn from(arr: &'a [[N; $dim]; $dim]) -> &'a $t<N> {
unsafe { unsafe {
mem::transmute(array) mem::transmute(arr)
}
} }
} }
/// View a column-major array of array as a mutable vector. impl<'a, N> From<&'a mut [[N; $dim]; $dim]> for &'a mut $t<N> {
#[inline] #[inline]
pub fn from_array_mut(array: &mut [[N; $dim]; $dim]) -> &mut $t<N> { fn from(arr: &'a mut [[N; $dim]; $dim]) -> &'a mut $t<N> {
unsafe { unsafe {
mem::transmute(array) mem::transmute(arr)
} }
} }
} }
@ -325,7 +322,7 @@ macro_rules! col_slice_impl(
fn col_slice(&self, cid: usize, rstart: usize, rend: usize) -> $slice<N> { fn col_slice(&self, cid: usize, rstart: usize, rend: usize) -> $slice<N> {
let col = self.col(cid); let col = self.col(cid);
$slice::from_slice(rend - rstart, &col.as_array()[rstart .. rend]) $slice::from_slice(rend - rstart, &col.as_ref()[rstart .. rend])
} }
} }
) )
@ -366,7 +363,7 @@ macro_rules! row_slice_impl(
fn row_slice(&self, rid: usize, cstart: usize, cend: usize) -> $slice<N> { fn row_slice(&self, rid: usize, cstart: usize, cend: usize) -> $slice<N> {
let row = self.row(rid); let row = self.row(rid);
$slice::from_slice(cend - cstart, &row.as_array()[cstart .. cend]) $slice::from_slice(cend - cstart, &row.as_ref()[cstart .. cend])
} }
} }
) )

12
src/structs/pnt.rs
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@ -54,7 +54,7 @@ scalar_div_impl!(Pnt1, x);
scalar_add_impl!(Pnt1, x); scalar_add_impl!(Pnt1, x);
scalar_sub_impl!(Pnt1, x); scalar_sub_impl!(Pnt1, x);
vec_cast_impl!(Pnt1, x); vec_cast_impl!(Pnt1, x);
as_array_impl!(Pnt1, 1); conversion_impl!(Pnt1, 1);
index_impl!(Pnt1); index_impl!(Pnt1);
indexable_impl!(Pnt1, 1); indexable_impl!(Pnt1, 1);
at_fast_impl!(Pnt1, 1); at_fast_impl!(Pnt1, 1);
@ -96,7 +96,7 @@ scalar_div_impl!(Pnt2, x, y);
scalar_add_impl!(Pnt2, x, y); scalar_add_impl!(Pnt2, x, y);
scalar_sub_impl!(Pnt2, x, y); scalar_sub_impl!(Pnt2, x, y);
vec_cast_impl!(Pnt2, x, y); vec_cast_impl!(Pnt2, x, y);
as_array_impl!(Pnt2, 2); conversion_impl!(Pnt2, 2);
index_impl!(Pnt2); index_impl!(Pnt2);
indexable_impl!(Pnt2, 2); indexable_impl!(Pnt2, 2);
at_fast_impl!(Pnt2, 2); at_fast_impl!(Pnt2, 2);
@ -140,7 +140,7 @@ scalar_div_impl!(Pnt3, x, y, z);
scalar_add_impl!(Pnt3, x, y, z); scalar_add_impl!(Pnt3, x, y, z);
scalar_sub_impl!(Pnt3, x, y, z); scalar_sub_impl!(Pnt3, x, y, z);
vec_cast_impl!(Pnt3, x, y, z); vec_cast_impl!(Pnt3, x, y, z);
as_array_impl!(Pnt3, 3); conversion_impl!(Pnt3, 3);
index_impl!(Pnt3); index_impl!(Pnt3);
indexable_impl!(Pnt3, 3); indexable_impl!(Pnt3, 3);
at_fast_impl!(Pnt3, 3); at_fast_impl!(Pnt3, 3);
@ -186,7 +186,7 @@ scalar_div_impl!(Pnt4, x, y, z, w);
scalar_add_impl!(Pnt4, x, y, z, w); scalar_add_impl!(Pnt4, x, y, z, w);
scalar_sub_impl!(Pnt4, x, y, z, w); scalar_sub_impl!(Pnt4, x, y, z, w);
vec_cast_impl!(Pnt4, x, y, z, w); vec_cast_impl!(Pnt4, x, y, z, w);
as_array_impl!(Pnt4, 4); conversion_impl!(Pnt4, 4);
index_impl!(Pnt4); index_impl!(Pnt4);
indexable_impl!(Pnt4, 4); indexable_impl!(Pnt4, 4);
at_fast_impl!(Pnt4, 4); at_fast_impl!(Pnt4, 4);
@ -234,7 +234,7 @@ scalar_div_impl!(Pnt5, x, y, z, w, a);
scalar_add_impl!(Pnt5, x, y, z, w, a); scalar_add_impl!(Pnt5, x, y, z, w, a);
scalar_sub_impl!(Pnt5, x, y, z, w, a); scalar_sub_impl!(Pnt5, x, y, z, w, a);
vec_cast_impl!(Pnt5, x, y, z, w, a); vec_cast_impl!(Pnt5, x, y, z, w, a);
as_array_impl!(Pnt5, 5); conversion_impl!(Pnt5, 5);
index_impl!(Pnt5); index_impl!(Pnt5);
indexable_impl!(Pnt5, 5); indexable_impl!(Pnt5, 5);
at_fast_impl!(Pnt5, 5); at_fast_impl!(Pnt5, 5);
@ -284,7 +284,7 @@ scalar_div_impl!(Pnt6, x, y, z, w, a, b);
scalar_add_impl!(Pnt6, x, y, z, w, a, b); scalar_add_impl!(Pnt6, x, y, z, w, a, b);
scalar_sub_impl!(Pnt6, x, y, z, w, a, b); scalar_sub_impl!(Pnt6, x, y, z, w, a, b);
vec_cast_impl!(Pnt6, x, y, z, w, a, b); vec_cast_impl!(Pnt6, x, y, z, w, a, b);
as_array_impl!(Pnt6, 6); conversion_impl!(Pnt6, 6);
index_impl!(Pnt6); index_impl!(Pnt6);
indexable_impl!(Pnt6, 6); indexable_impl!(Pnt6, 6);
at_fast_impl!(Pnt6, 6); at_fast_impl!(Pnt6, 6);

17
src/structs/quat.rs
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@ -12,7 +12,7 @@ use structs::{Vec3, Pnt3, Rot3, Mat3};
use traits::operations::{ApproxEq, Inv, POrd, POrdering, Axpy}; use traits::operations::{ApproxEq, Inv, POrd, POrdering, Axpy};
use traits::structure::{Cast, Indexable, Iterable, IterableMut, Dim, Shape, BaseFloat, BaseNum, use traits::structure::{Cast, Indexable, Iterable, IterableMut, Dim, Shape, BaseFloat, BaseNum,
Bounded, Repeat}; Bounded, Repeat};
use traits::geometry::{Norm, Rotation, Rotate, RotationTo, Transform}; use traits::geometry::{Norm, Rotation, RotationMatrix, Rotate, RotationTo, Transform};
#[cfg(feature="arbitrary")] #[cfg(feature="arbitrary")]
use quickcheck::{Arbitrary, Gen}; use quickcheck::{Arbitrary, Gen};
@ -156,6 +156,8 @@ impl<N: ApproxEq<N> + BaseFloat> Div<Quat<N>> for Quat<N> {
} }
} }
rand_impl!(Quat, w, i, j, k);
/// A unit quaternion that can represent a 3D rotation. /// A unit quaternion that can represent a 3D rotation.
#[repr(C)] #[repr(C)]
@ -246,8 +248,6 @@ impl<N: BaseFloat> UnitQuat<N> {
} }
} }
rand_impl!(Quat, w, i, j, k);
impl<N> UnitQuat<N> { impl<N> UnitQuat<N> {
/// Creates a new unit quaternion from a quaternion. /// Creates a new unit quaternion from a quaternion.
@ -432,6 +432,15 @@ impl<N: BaseFloat> Rotation<Vec3<N>> for UnitQuat<N> {
} }
} }
impl<N: BaseFloat> RotationMatrix<N, Vec3<N>, Vec3<N>> for UnitQuat<N> {
type Output = Rot3<N>;
#[inline]
fn to_rot_mat(&self) -> Rot3<N> {
self.to_rot()
}
}
impl<N: BaseNum + Neg<Output = N>> Rotate<Vec3<N>> for UnitQuat<N> { impl<N: BaseNum + Neg<Output = N>> Rotate<Vec3<N>> for UnitQuat<N> {
#[inline] #[inline]
fn rotate(&self, v: &Vec3<N>) -> Vec3<N> { fn rotate(&self, v: &Vec3<N>) -> Vec3<N> {
@ -509,7 +518,7 @@ impl<N: Arbitrary + BaseFloat> Arbitrary for UnitQuat<N> {
ord_impl!(Quat, w, i, j, k); ord_impl!(Quat, w, i, j, k);
vec_axis_impl!(Quat, w, i, j, k); vec_axis_impl!(Quat, w, i, j, k);
vec_cast_impl!(Quat, w, i, j, k); vec_cast_impl!(Quat, w, i, j, k);
as_array_impl!(Quat, 4); conversion_impl!(Quat, 4);
index_impl!(Quat); index_impl!(Quat);
indexable_impl!(Quat, 4); indexable_impl!(Quat, 4);
at_fast_impl!(Quat, 4); at_fast_impl!(Quat, 4);

12
src/structs/vec.rs
View File

@ -52,7 +52,7 @@ new_impl!(Vec1, x);
ord_impl!(Vec1, x,); ord_impl!(Vec1, x,);
vec_axis_impl!(Vec1, x); vec_axis_impl!(Vec1, x);
vec_cast_impl!(Vec1, x); vec_cast_impl!(Vec1, x);
as_array_impl!(Vec1, 1); conversion_impl!(Vec1, 1);
index_impl!(Vec1); index_impl!(Vec1);
indexable_impl!(Vec1, 1); indexable_impl!(Vec1, 1);
at_fast_impl!(Vec1, 1); at_fast_impl!(Vec1, 1);
@ -105,7 +105,7 @@ new_impl!(Vec2, x, y);
ord_impl!(Vec2, x, y); ord_impl!(Vec2, x, y);
vec_axis_impl!(Vec2, x, y); vec_axis_impl!(Vec2, x, y);
vec_cast_impl!(Vec2, x, y); vec_cast_impl!(Vec2, x, y);
as_array_impl!(Vec2, 2); conversion_impl!(Vec2, 2);
index_impl!(Vec2); index_impl!(Vec2);
indexable_impl!(Vec2, 2); indexable_impl!(Vec2, 2);
at_fast_impl!(Vec2, 2); at_fast_impl!(Vec2, 2);
@ -160,7 +160,7 @@ new_impl!(Vec3, x, y, z);
ord_impl!(Vec3, x, y, z); ord_impl!(Vec3, x, y, z);
vec_axis_impl!(Vec3, x, y, z); vec_axis_impl!(Vec3, x, y, z);
vec_cast_impl!(Vec3, x, y, z); vec_cast_impl!(Vec3, x, y, z);
as_array_impl!(Vec3, 3); conversion_impl!(Vec3, 3);
index_impl!(Vec3); index_impl!(Vec3);
indexable_impl!(Vec3, 3); indexable_impl!(Vec3, 3);
at_fast_impl!(Vec3, 3); at_fast_impl!(Vec3, 3);
@ -218,7 +218,7 @@ new_impl!(Vec4, x, y, z, w);
ord_impl!(Vec4, x, y, z, w); ord_impl!(Vec4, x, y, z, w);
vec_axis_impl!(Vec4, x, y, z, w); vec_axis_impl!(Vec4, x, y, z, w);
vec_cast_impl!(Vec4, x, y, z, w); vec_cast_impl!(Vec4, x, y, z, w);
as_array_impl!(Vec4, 4); conversion_impl!(Vec4, 4);
index_impl!(Vec4); index_impl!(Vec4);
indexable_impl!(Vec4, 4); indexable_impl!(Vec4, 4);
at_fast_impl!(Vec4, 4); at_fast_impl!(Vec4, 4);
@ -277,7 +277,7 @@ new_impl!(Vec5, x, y, z, w, a);
ord_impl!(Vec5, x, y, z, w, a); ord_impl!(Vec5, x, y, z, w, a);
vec_axis_impl!(Vec5, x, y, z, w, a); vec_axis_impl!(Vec5, x, y, z, w, a);
vec_cast_impl!(Vec5, x, y, z, w, a); vec_cast_impl!(Vec5, x, y, z, w, a);
as_array_impl!(Vec5, 5); conversion_impl!(Vec5, 5);
index_impl!(Vec5); index_impl!(Vec5);
indexable_impl!(Vec5, 5); indexable_impl!(Vec5, 5);
at_fast_impl!(Vec5, 5); at_fast_impl!(Vec5, 5);
@ -338,7 +338,7 @@ new_impl!(Vec6, x, y, z, w, a, b);
ord_impl!(Vec6, x, y, z, w, a, b); ord_impl!(Vec6, x, y, z, w, a, b);
vec_axis_impl!(Vec6, x, y, z, w, a, b); vec_axis_impl!(Vec6, x, y, z, w, a, b);
vec_cast_impl!(Vec6, x, y, z, w, a, b); vec_cast_impl!(Vec6, x, y, z, w, a, b);
as_array_impl!(Vec6, 6); conversion_impl!(Vec6, 6);
index_impl!(Vec6); index_impl!(Vec6);
indexable_impl!(Vec6, 6); indexable_impl!(Vec6, 6);
at_fast_impl!(Vec6, 6); at_fast_impl!(Vec6, 6);

39
src/structs/vec_macros.rs
View File

@ -14,43 +14,40 @@ macro_rules! new_impl(
); );
); );
macro_rules! as_array_impl( macro_rules! conversion_impl(
($t: ident, $dim: expr) => ( ($t: ident, $dim: expr) => (
impl<N> $t<N> { impl<N> AsRef<[N; $dim]> for $t<N> {
/// View this vector as an array.
#[inline] #[inline]
pub fn as_array(&self) -> &[N; $dim] { fn as_ref(&self) -> &[N; $dim] {
unsafe { unsafe {
mem::transmute(self) mem::transmute(self)
} }
} }
}
/// View this vector as a mutable array. impl<N> AsMut<[N; $dim]> for $t<N> {
#[inline] #[inline]
pub fn as_array_mut(&mut self) -> &mut [N; $dim] { fn as_mut(&mut self) -> &mut [N; $dim] {
unsafe { unsafe {
mem::transmute(self) mem::transmute(self)
} }
} }
}
// FIXME: because of https://github.com/rust-lang/rust/issues/16418 we cannot do the impl<'a, N> From<&'a [N; $dim]> for &'a $t<N> {
// array-to-vec conversion by-value:
//
// pub fn from_array(array: [N; $dim]) -> $t<N>
/// View an array as a vector.
#[inline] #[inline]
pub fn from_array_ref(array: &[N; $dim]) -> &$t<N> { fn from(arr: &'a [N; $dim]) -> &'a $t<N> {
unsafe { unsafe {
mem::transmute(array) mem::transmute(arr)
}
} }
} }
/// View an array as a vector. impl<'a, N> From<&'a mut [N; $dim]> for &'a mut $t<N> {
#[inline] #[inline]
pub fn from_array_mut(array: &mut [N; $dim]) -> &mut $t<N> { fn from(arr: &'a mut [N; $dim]) -> &'a mut $t<N> {
unsafe { unsafe {
mem::transmute(array) mem::transmute(arr)
} }
} }
} }
@ -63,13 +60,13 @@ macro_rules! at_fast_impl(
/// Unsafe read access to a vector element by index. /// Unsafe read access to a vector element by index.
#[inline] #[inline]
pub unsafe fn at_fast(&self, i: usize) -> N { pub unsafe fn at_fast(&self, i: usize) -> N {
(*self.as_array().get_unchecked(i)) (*self.as_ref().get_unchecked(i))
} }
/// Unsafe write access to a vector element by index. /// Unsafe write access to a vector element by index.
#[inline] #[inline]
pub unsafe fn set_fast(&mut self, i: usize, val: N) { pub unsafe fn set_fast(&mut self, i: usize, val: N) {
(*self.as_array_mut().get_unchecked_mut(i)) = val (*self.as_mut().get_unchecked_mut(i)) = val
} }
} }
) )
@ -215,13 +212,13 @@ macro_rules! index_impl(
type Output = N; type Output = N;
fn index(&self, i: usize) -> &N { fn index(&self, i: usize) -> &N {
&self.as_array()[i] &self.as_ref()[i]
} }
} }
impl<N> IndexMut<usize> for $t<N> { impl<N> IndexMut<usize> for $t<N> {
fn index_mut(&mut self, i: usize) -> &mut N { fn index_mut(&mut self, i: usize) -> &mut N {
&mut self.as_array_mut()[i] &mut self.as_mut()[i]
} }
} }
) )