Merge pull request #165 from sebcrozet/misc
Fix #161 and addresses #160.
This commit is contained in:
commit
22edb3a157
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@ -1,6 +1,6 @@
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[package]
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name = "nalgebra"
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version = "0.3.2"
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version = "0.4.0"
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authors = [ "Sébastien Crozet <developer@crozet.re>" ] # FIXME: add the contributors.
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description = "Linear algebra library for computer physics, computer graphics and general low-dimensional linear algebra for Rust."
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@ -69,9 +69,8 @@ impl<N: Clone + BaseFloat> Iso3<N> {
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/// aligned with.
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/// * up - Vector pointing up. The only requirement of this parameter is to not be colinear
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/// with `at`. Non-colinearity is not checked.
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pub fn look_at(&mut self, eye: &Pnt3<N>, at: &Pnt3<N>, up: &Vec3<N>) {
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self.rotation = Rot3::look_at(&(*at - *eye), up);
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self.translation = eye.as_vec().clone();
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pub fn look_at(eye: &Pnt3<N>, at: &Pnt3<N>, up: &Vec3<N>) -> Iso3<N> {
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Iso3::new_with_rotmat(eye.as_vec().clone(), Rot3::look_at(&(*at - *eye), up))
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}
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/// Reorient and translate this transformation such that its local `z` axis points to a given
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@ -83,9 +82,8 @@ impl<N: Clone + BaseFloat> Iso3<N> {
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/// aligned with
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/// * up - Vector pointing `up`. The only requirement of this parameter is to not be colinear
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/// with `at`. Non-colinearity is not checked.
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pub fn look_at_z(&mut self, eye: &Pnt3<N>, at: &Pnt3<N>, up: &Vec3<N>) {
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self.rotation = Rot3::look_at_z(&(*at - *eye), up);
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self.translation = eye.as_vec().clone();
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pub fn look_at_z(eye: &Pnt3<N>, at: &Pnt3<N>, up: &Vec3<N>) -> Iso3<N> {
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Iso3::new_with_rotmat(eye.as_vec().clone(), Rot3::look_at_z(&(*at - *eye), up))
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}
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}
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@ -45,7 +45,7 @@ eye_impl!(Mat1, 1, m11);
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mat_impl!(Mat1, m11);
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repeat_impl!(Mat1, m11);
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as_array_impl!(Mat1, 1);
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conversion_impl!(Mat1, 1);
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mat_cast_impl!(Mat1, m11);
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add_impl!(Mat1, m11);
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sub_impl!(Mat1, m11);
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@ -96,7 +96,7 @@ mat_impl!(Mat2, m11, m12,
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m21, m22);
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repeat_impl!(Mat2, m11, m12,
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m21, m22);
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as_array_impl!(Mat2, 2);
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conversion_impl!(Mat2, 2);
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mat_cast_impl!(Mat2, m11, m12,
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m21, m22);
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add_impl!(Mat2, m11, m12, m21, m22);
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@ -152,7 +152,7 @@ mat_impl!(Mat3, m11, m12, m13,
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repeat_impl!(Mat3, m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33);
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as_array_impl!(Mat3, 3);
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conversion_impl!(Mat3, 3);
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mat_cast_impl!(Mat3, m11, m12, m13,
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m21, m22, m23,
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m31, m32, m33);
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@ -255,7 +255,7 @@ repeat_impl!(Mat4,
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m31, m32, m33, m34,
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m41, m42, m43, m44
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);
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as_array_impl!(Mat4, 4);
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conversion_impl!(Mat4, 4);
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mat_cast_impl!(Mat4,
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m11, m12, m13, m14,
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m21, m22, m23, m24,
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@ -377,7 +377,7 @@ repeat_impl!(Mat5,
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m41, m42, m43, m44, m45,
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m51, m52, m53, m54, m55
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);
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as_array_impl!(Mat5, 5);
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conversion_impl!(Mat5, 5);
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mat_cast_impl!(Mat5,
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m11, m12, m13, m14, m15,
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m21, m22, m23, m24, m25,
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@ -516,7 +516,7 @@ repeat_impl!(Mat6,
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m51, m52, m53, m54, m55, m56,
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m61, m62, m63, m64, m65, m66
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);
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as_array_impl!(Mat6, 6);
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conversion_impl!(Mat6, 6);
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mat_cast_impl!(Mat6,
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m11, m12, m13, m14, m15, m16,
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m21, m22, m23, m24, m25, m26,
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@ -13,43 +13,40 @@ macro_rules! mat_impl(
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)
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);
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macro_rules! as_array_impl(
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macro_rules! conversion_impl(
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($t: ident, $dim: expr) => (
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impl<N> $t<N> {
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/// View this matrix as a column-major array of arrays.
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impl<N> AsRef<[[N; $dim]; $dim]> for $t<N> {
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#[inline]
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pub fn as_array(&self) -> &[[N; $dim]; $dim] {
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fn as_ref(&self) -> &[[N; $dim]; $dim] {
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unsafe {
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mem::transmute(self)
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}
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}
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}
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/// View this matrix as a column-major mutable array of arrays.
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impl<N> AsMut<[[N; $dim]; $dim]> for $t<N> {
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#[inline]
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pub fn as_array_mut<'a>(&'a mut self) -> &'a mut [[N; $dim]; $dim] {
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fn as_mut(&mut self) -> &mut [[N; $dim]; $dim] {
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unsafe {
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mem::transmute(self)
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}
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}
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}
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// FIXME: because of https://github.com/rust-lang/rust/issues/16418 we cannot do the
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// array-to-mat conversion by-value:
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//
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// pub fn from_array(array: [N; $dim]) -> $t<N>
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/// View a column-major array of array as a vector.
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impl<'a, N> From<&'a [[N; $dim]; $dim]> for &'a $t<N> {
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#[inline]
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pub fn from_array_ref(array: &[[N; $dim]; $dim]) -> &$t<N> {
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fn from(arr: &'a [[N; $dim]; $dim]) -> &'a $t<N> {
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unsafe {
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mem::transmute(array)
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mem::transmute(arr)
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}
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}
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}
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/// View a column-major array of array as a mutable vector.
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impl<'a, N> From<&'a mut [[N; $dim]; $dim]> for &'a mut $t<N> {
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#[inline]
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pub fn from_array_mut(array: &mut [[N; $dim]; $dim]) -> &mut $t<N> {
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fn from(arr: &'a mut [[N; $dim]; $dim]) -> &'a mut $t<N> {
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unsafe {
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mem::transmute(array)
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mem::transmute(arr)
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}
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}
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}
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@ -325,7 +322,7 @@ macro_rules! col_slice_impl(
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fn col_slice(&self, cid: usize, rstart: usize, rend: usize) -> $slice<N> {
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let col = self.col(cid);
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$slice::from_slice(rend - rstart, &col.as_array()[rstart .. rend])
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$slice::from_slice(rend - rstart, &col.as_ref()[rstart .. rend])
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}
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}
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)
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@ -366,7 +363,7 @@ macro_rules! row_slice_impl(
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fn row_slice(&self, rid: usize, cstart: usize, cend: usize) -> $slice<N> {
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let row = self.row(rid);
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$slice::from_slice(cend - cstart, &row.as_array()[cstart .. cend])
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$slice::from_slice(cend - cstart, &row.as_ref()[cstart .. cend])
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}
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}
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)
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@ -54,7 +54,7 @@ scalar_div_impl!(Pnt1, x);
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scalar_add_impl!(Pnt1, x);
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scalar_sub_impl!(Pnt1, x);
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vec_cast_impl!(Pnt1, x);
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as_array_impl!(Pnt1, 1);
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conversion_impl!(Pnt1, 1);
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index_impl!(Pnt1);
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indexable_impl!(Pnt1, 1);
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at_fast_impl!(Pnt1, 1);
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@ -96,7 +96,7 @@ scalar_div_impl!(Pnt2, x, y);
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scalar_add_impl!(Pnt2, x, y);
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scalar_sub_impl!(Pnt2, x, y);
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vec_cast_impl!(Pnt2, x, y);
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as_array_impl!(Pnt2, 2);
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conversion_impl!(Pnt2, 2);
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index_impl!(Pnt2);
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indexable_impl!(Pnt2, 2);
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at_fast_impl!(Pnt2, 2);
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@ -140,7 +140,7 @@ scalar_div_impl!(Pnt3, x, y, z);
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scalar_add_impl!(Pnt3, x, y, z);
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scalar_sub_impl!(Pnt3, x, y, z);
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vec_cast_impl!(Pnt3, x, y, z);
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as_array_impl!(Pnt3, 3);
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conversion_impl!(Pnt3, 3);
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index_impl!(Pnt3);
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indexable_impl!(Pnt3, 3);
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at_fast_impl!(Pnt3, 3);
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@ -186,7 +186,7 @@ scalar_div_impl!(Pnt4, x, y, z, w);
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scalar_add_impl!(Pnt4, x, y, z, w);
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scalar_sub_impl!(Pnt4, x, y, z, w);
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vec_cast_impl!(Pnt4, x, y, z, w);
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as_array_impl!(Pnt4, 4);
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conversion_impl!(Pnt4, 4);
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index_impl!(Pnt4);
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indexable_impl!(Pnt4, 4);
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at_fast_impl!(Pnt4, 4);
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@ -234,7 +234,7 @@ scalar_div_impl!(Pnt5, x, y, z, w, a);
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scalar_add_impl!(Pnt5, x, y, z, w, a);
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scalar_sub_impl!(Pnt5, x, y, z, w, a);
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vec_cast_impl!(Pnt5, x, y, z, w, a);
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as_array_impl!(Pnt5, 5);
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conversion_impl!(Pnt5, 5);
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index_impl!(Pnt5);
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indexable_impl!(Pnt5, 5);
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at_fast_impl!(Pnt5, 5);
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@ -284,7 +284,7 @@ scalar_div_impl!(Pnt6, x, y, z, w, a, b);
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scalar_add_impl!(Pnt6, x, y, z, w, a, b);
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scalar_sub_impl!(Pnt6, x, y, z, w, a, b);
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vec_cast_impl!(Pnt6, x, y, z, w, a, b);
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as_array_impl!(Pnt6, 6);
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conversion_impl!(Pnt6, 6);
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index_impl!(Pnt6);
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indexable_impl!(Pnt6, 6);
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at_fast_impl!(Pnt6, 6);
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|
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@ -12,7 +12,7 @@ use structs::{Vec3, Pnt3, Rot3, Mat3};
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use traits::operations::{ApproxEq, Inv, POrd, POrdering, Axpy};
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use traits::structure::{Cast, Indexable, Iterable, IterableMut, Dim, Shape, BaseFloat, BaseNum,
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Bounded, Repeat};
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use traits::geometry::{Norm, Rotation, Rotate, RotationTo, Transform};
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use traits::geometry::{Norm, Rotation, RotationMatrix, Rotate, RotationTo, Transform};
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#[cfg(feature="arbitrary")]
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use quickcheck::{Arbitrary, Gen};
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@ -156,6 +156,8 @@ impl<N: ApproxEq<N> + BaseFloat> Div<Quat<N>> for Quat<N> {
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}
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}
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rand_impl!(Quat, w, i, j, k);
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/// A unit quaternion that can represent a 3D rotation.
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#[repr(C)]
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@ -246,8 +248,6 @@ impl<N: BaseFloat> UnitQuat<N> {
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}
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}
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rand_impl!(Quat, w, i, j, k);
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impl<N> UnitQuat<N> {
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/// Creates a new unit quaternion from a quaternion.
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@ -432,6 +432,15 @@ impl<N: BaseFloat> Rotation<Vec3<N>> for UnitQuat<N> {
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}
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}
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impl<N: BaseFloat> RotationMatrix<N, Vec3<N>, Vec3<N>> for UnitQuat<N> {
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type Output = Rot3<N>;
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#[inline]
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fn to_rot_mat(&self) -> Rot3<N> {
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self.to_rot()
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}
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}
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impl<N: BaseNum + Neg<Output = N>> Rotate<Vec3<N>> for UnitQuat<N> {
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#[inline]
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fn rotate(&self, v: &Vec3<N>) -> Vec3<N> {
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|
@ -509,7 +518,7 @@ impl<N: Arbitrary + BaseFloat> Arbitrary for UnitQuat<N> {
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ord_impl!(Quat, w, i, j, k);
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vec_axis_impl!(Quat, w, i, j, k);
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vec_cast_impl!(Quat, w, i, j, k);
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as_array_impl!(Quat, 4);
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conversion_impl!(Quat, 4);
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index_impl!(Quat);
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indexable_impl!(Quat, 4);
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at_fast_impl!(Quat, 4);
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|
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@ -52,7 +52,7 @@ new_impl!(Vec1, x);
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ord_impl!(Vec1, x,);
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vec_axis_impl!(Vec1, x);
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vec_cast_impl!(Vec1, x);
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as_array_impl!(Vec1, 1);
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conversion_impl!(Vec1, 1);
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index_impl!(Vec1);
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indexable_impl!(Vec1, 1);
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at_fast_impl!(Vec1, 1);
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|
@ -105,7 +105,7 @@ new_impl!(Vec2, x, y);
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ord_impl!(Vec2, x, y);
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vec_axis_impl!(Vec2, x, y);
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vec_cast_impl!(Vec2, x, y);
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as_array_impl!(Vec2, 2);
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conversion_impl!(Vec2, 2);
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index_impl!(Vec2);
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indexable_impl!(Vec2, 2);
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at_fast_impl!(Vec2, 2);
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|
@ -160,7 +160,7 @@ new_impl!(Vec3, x, y, z);
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ord_impl!(Vec3, x, y, z);
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vec_axis_impl!(Vec3, x, y, z);
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vec_cast_impl!(Vec3, x, y, z);
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as_array_impl!(Vec3, 3);
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conversion_impl!(Vec3, 3);
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index_impl!(Vec3);
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indexable_impl!(Vec3, 3);
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at_fast_impl!(Vec3, 3);
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|
@ -218,7 +218,7 @@ new_impl!(Vec4, x, y, z, w);
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ord_impl!(Vec4, x, y, z, w);
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vec_axis_impl!(Vec4, x, y, z, w);
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vec_cast_impl!(Vec4, x, y, z, w);
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as_array_impl!(Vec4, 4);
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conversion_impl!(Vec4, 4);
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index_impl!(Vec4);
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indexable_impl!(Vec4, 4);
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at_fast_impl!(Vec4, 4);
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|
@ -277,7 +277,7 @@ new_impl!(Vec5, x, y, z, w, a);
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ord_impl!(Vec5, x, y, z, w, a);
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vec_axis_impl!(Vec5, x, y, z, w, a);
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vec_cast_impl!(Vec5, x, y, z, w, a);
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as_array_impl!(Vec5, 5);
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conversion_impl!(Vec5, 5);
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index_impl!(Vec5);
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indexable_impl!(Vec5, 5);
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at_fast_impl!(Vec5, 5);
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|
@ -338,7 +338,7 @@ new_impl!(Vec6, x, y, z, w, a, b);
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ord_impl!(Vec6, x, y, z, w, a, b);
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vec_axis_impl!(Vec6, x, y, z, w, a, b);
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vec_cast_impl!(Vec6, x, y, z, w, a, b);
|
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as_array_impl!(Vec6, 6);
|
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conversion_impl!(Vec6, 6);
|
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index_impl!(Vec6);
|
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indexable_impl!(Vec6, 6);
|
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at_fast_impl!(Vec6, 6);
|
||||
|
|
|
@ -14,43 +14,40 @@ macro_rules! new_impl(
|
|||
);
|
||||
);
|
||||
|
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macro_rules! as_array_impl(
|
||||
macro_rules! conversion_impl(
|
||||
($t: ident, $dim: expr) => (
|
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impl<N> $t<N> {
|
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/// View this vector as an array.
|
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impl<N> AsRef<[N; $dim]> for $t<N> {
|
||||
#[inline]
|
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pub fn as_array(&self) -> &[N; $dim] {
|
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fn as_ref(&self) -> &[N; $dim] {
|
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unsafe {
|
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mem::transmute(self)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// View this vector as a mutable array.
|
||||
impl<N> AsMut<[N; $dim]> for $t<N> {
|
||||
#[inline]
|
||||
pub fn as_array_mut(&mut self) -> &mut [N; $dim] {
|
||||
fn as_mut(&mut self) -> &mut [N; $dim] {
|
||||
unsafe {
|
||||
mem::transmute(self)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// FIXME: because of https://github.com/rust-lang/rust/issues/16418 we cannot do the
|
||||
// array-to-vec conversion by-value:
|
||||
//
|
||||
// pub fn from_array(array: [N; $dim]) -> $t<N>
|
||||
|
||||
/// View an array as a vector.
|
||||
impl<'a, N> From<&'a [N; $dim]> for &'a $t<N> {
|
||||
#[inline]
|
||||
pub fn from_array_ref(array: &[N; $dim]) -> &$t<N> {
|
||||
fn from(arr: &'a [N; $dim]) -> &'a $t<N> {
|
||||
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]
|
||||
pub fn from_array_mut(array: &mut [N; $dim]) -> &mut $t<N> {
|
||||
fn from(arr: &'a mut [N; $dim]) -> &'a mut $t<N> {
|
||||
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.
|
||||
#[inline]
|
||||
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.
|
||||
#[inline]
|
||||
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;
|
||||
|
||||
fn index(&self, i: usize) -> &N {
|
||||
&self.as_array()[i]
|
||||
&self.as_ref()[i]
|
||||
}
|
||||
}
|
||||
|
||||
impl<N> IndexMut<usize> for $t<N> {
|
||||
fn index_mut(&mut self, i: usize) -> &mut N {
|
||||
&mut self.as_array_mut()[i]
|
||||
&mut self.as_mut()[i]
|
||||
}
|
||||
}
|
||||
)
|
||||
|
|
Loading…
Reference in New Issue