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Add missing docs.

This commit is contained in:
sebcrozet 2020-04-05 18:02:03 +02:00
parent c5dad7f960
commit 2c03353b30
5 changed files with 169 additions and 56 deletions
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39
src/base/norm.rs
View File

@ -256,7 +256,9 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
/// Sets the magnitude of this vector. /// Sets the magnitude of this vector.
#[inline] #[inline]
pub fn set_magnitude(&mut self, magnitude: N::SimdRealField) pub fn set_magnitude(&mut self, magnitude: N::SimdRealField)
where S: StorageMut<N, R, C> { where
S: StorageMut<N, R, C>,
{
let n = self.norm(); let n = self.norm();
self.scale_mut(magnitude / n) self.scale_mut(magnitude / n)
} }
@ -265,7 +267,9 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
#[inline] #[inline]
#[must_use = "Did you mean to use normalize_mut()?"] #[must_use = "Did you mean to use normalize_mut()?"]
pub fn normalize(&self) -> MatrixMN<N, R, C> pub fn normalize(&self) -> MatrixMN<N, R, C>
where DefaultAllocator: Allocator<N, R, C> { where
DefaultAllocator: Allocator<N, R, C>,
{
self.unscale(self.norm()) self.unscale(self.norm())
} }
@ -275,6 +279,9 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S
self.apply_norm(&LpNorm(p)) self.apply_norm(&LpNorm(p))
} }
/// Attempts to normalize `self`.
///
/// The components of this matrix can be SIMD types.
#[inline] #[inline]
#[must_use = "Did you mean to use simd_try_normalize_mut()?"] #[must_use = "Did you mean to use simd_try_normalize_mut()?"]
pub fn simd_try_normalize(&self, min_norm: N::SimdRealField) -> SimdOption<MatrixMN<N, R, C>> pub fn simd_try_normalize(&self, min_norm: N::SimdRealField) -> SimdOption<MatrixMN<N, R, C>>
@ -296,7 +303,9 @@ impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
/// Otherwise this is equivalent to: `*self = self.normalize() * magnitude. /// Otherwise this is equivalent to: `*self = self.normalize() * magnitude.
#[inline] #[inline]
pub fn try_set_magnitude(&mut self, magnitude: N::RealField, min_magnitude: N::RealField) pub fn try_set_magnitude(&mut self, magnitude: N::RealField, min_magnitude: N::RealField)
where S: StorageMut<N, R, C> { where
S: StorageMut<N, R, C>,
{
let n = self.norm(); let n = self.norm();
if n >= min_magnitude { if n >= min_magnitude {
@ -305,10 +314,14 @@ impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
} }
/// Returns a normalized version of this matrix unless its norm as smaller or equal to `eps`. /// Returns a normalized version of this matrix unless its norm as smaller or equal to `eps`.
///
/// The components of this matrix cannot be SIMD types (see `simd_try_normalize`) instead.
#[inline] #[inline]
#[must_use = "Did you mean to use try_normalize_mut()?"] #[must_use = "Did you mean to use try_normalize_mut()?"]
pub fn try_normalize(&self, min_norm: N::RealField) -> Option<MatrixMN<N, R, C>> pub fn try_normalize(&self, min_norm: N::RealField) -> Option<MatrixMN<N, R, C>>
where DefaultAllocator: Allocator<N, R, C> { where
DefaultAllocator: Allocator<N, R, C>,
{
let n = self.norm(); let n = self.norm();
if n <= min_norm { if n <= min_norm {
@ -321,6 +334,8 @@ impl<N: ComplexField, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
impl<N: SimdComplexField, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> { impl<N: SimdComplexField, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
/// Normalizes this matrix in-place and returns its norm. /// Normalizes this matrix in-place and returns its norm.
///
/// The components of the matrix cannot be SIMD types (see `simd_try_normalize_mut` instead).
#[inline] #[inline]
pub fn normalize_mut(&mut self) -> N::SimdRealField { pub fn normalize_mut(&mut self) -> N::SimdRealField {
let n = self.norm(); let n = self.norm();
@ -329,6 +344,9 @@ impl<N: SimdComplexField, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C
n n
} }
/// Normalizes this matrix in-place and return its norm.
///
/// The components of the matrix can be SIMD types.
#[inline] #[inline]
#[must_use = "Did you mean to use simd_try_normalize_mut()?"] #[must_use = "Did you mean to use simd_try_normalize_mut()?"]
pub fn simd_try_normalize_mut( pub fn simd_try_normalize_mut(
@ -364,7 +382,8 @@ impl<N: ComplexField, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S>
} }
impl<N: SimdComplexField, R: Dim, C: Dim> Normed for MatrixMN<N, R, C> impl<N: SimdComplexField, R: Dim, C: Dim> Normed for MatrixMN<N, R, C>
where DefaultAllocator: Allocator<N, R, C> where
DefaultAllocator: Allocator<N, R, C>,
{ {
type Norm = N::SimdRealField; type Norm = N::SimdRealField;
@ -390,7 +409,8 @@ where DefaultAllocator: Allocator<N, R, C>
} }
impl<N: Scalar + ClosedNeg, R: Dim, C: Dim> Neg for Unit<MatrixMN<N, R, C>> impl<N: Scalar + ClosedNeg, R: Dim, C: Dim> Neg for Unit<MatrixMN<N, R, C>>
where DefaultAllocator: Allocator<N, R, C> where
DefaultAllocator: Allocator<N, R, C>,
{ {
type Output = Unit<MatrixMN<N, R, C>>; type Output = Unit<MatrixMN<N, R, C>>;
@ -405,7 +425,8 @@ where DefaultAllocator: Allocator<N, R, C>
// − use `x()` instead of `::canonical_basis_element` // − use `x()` instead of `::canonical_basis_element`
// − use `::new(x, y, z)` instead of `::from_slice` // − use `::new(x, y, z)` instead of `::from_slice`
impl<N: ComplexField, D: DimName> VectorN<N, D> impl<N: ComplexField, D: DimName> VectorN<N, D>
where DefaultAllocator: Allocator<N, D> where
DefaultAllocator: Allocator<N, D>,
{ {
/// The i-the canonical basis element. /// The i-the canonical basis element.
#[inline] #[inline]
@ -458,7 +479,9 @@ where DefaultAllocator: Allocator<N, D>
// FIXME: return an iterator instead when `-> impl Iterator` will be supported by Rust. // FIXME: return an iterator instead when `-> impl Iterator` will be supported by Rust.
#[inline] #[inline]
pub fn orthonormal_subspace_basis<F>(vs: &[Self], mut f: F) pub fn orthonormal_subspace_basis<F>(vs: &[Self], mut f: F)
where F: FnMut(&Self) -> bool { where
F: FnMut(&Self) -> bool,
{
// FIXME: is this necessary? // FIXME: is this necessary?
assert!( assert!(
vs.len() <= D::dim(), vs.len() <= D::dim(),

22
src/base/unit.rs
View File

@ -25,7 +25,9 @@ pub struct Unit<T> {
#[cfg(feature = "serde-serialize")] #[cfg(feature = "serde-serialize")]
impl<T: Serialize> Serialize for Unit<T> { impl<T: Serialize> Serialize for Unit<T> {
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
where S: Serializer { where
S: Serializer,
{
self.value.serialize(serializer) self.value.serialize(serializer)
} }
} }
@ -33,7 +35,9 @@ impl<T: Serialize> Serialize for Unit<T> {
#[cfg(feature = "serde-serialize")] #[cfg(feature = "serde-serialize")]
impl<'de, T: Deserialize<'de>> Deserialize<'de> for Unit<T> { impl<'de, T: Deserialize<'de>> Deserialize<'de> for Unit<T> {
fn deserialize<D>(deserializer: D) -> Result<Self, D::Error> fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
where D: Deserializer<'de> { where
D: Deserializer<'de>,
{
T::deserialize(deserializer).map(|x| Unit { value: x }) T::deserialize(deserializer).map(|x| Unit { value: x })
} }
} }
@ -53,11 +57,17 @@ impl<T: Abomonation> Abomonation for Unit<T> {
} }
} }
/// Trait implemented by entities scan be be normalized and put in an `Unit` struct.
pub trait Normed { pub trait Normed {
/// The type of the norm.
type Norm: SimdRealField; type Norm: SimdRealField;
/// Computes the norm.
fn norm(&self) -> Self::Norm; fn norm(&self) -> Self::Norm;
/// Computes the squared norm.
fn norm_squared(&self) -> Self::Norm; fn norm_squared(&self) -> Self::Norm;
/// Multiply `self` by n.
fn scale_mut(&mut self, n: Self::Norm); fn scale_mut(&mut self, n: Self::Norm);
/// Divides `self` by n.
fn unscale_mut(&mut self, n: Self::Norm); fn unscale_mut(&mut self, n: Self::Norm);
} }
@ -73,7 +83,9 @@ impl<T: Normed> Unit<T> {
/// Returns `None` if the norm was smaller or equal to `min_norm`. /// Returns `None` if the norm was smaller or equal to `min_norm`.
#[inline] #[inline]
pub fn try_new(value: T, min_norm: T::Norm) -> Option<Self> pub fn try_new(value: T, min_norm: T::Norm) -> Option<Self>
where T::Norm: RealField { where
T::Norm: RealField,
{
Self::try_new_and_get(value, min_norm).map(|res| res.0) Self::try_new_and_get(value, min_norm).map(|res| res.0)
} }
@ -90,7 +102,9 @@ impl<T: Normed> Unit<T> {
/// Returns `None` if the norm was smaller or equal to `min_norm`. /// Returns `None` if the norm was smaller or equal to `min_norm`.
#[inline] #[inline]
pub fn try_new_and_get(mut value: T, min_norm: T::Norm) -> Option<(Self, T::Norm)> pub fn try_new_and_get(mut value: T, min_norm: T::Norm) -> Option<(Self, T::Norm)>
where T::Norm: RealField { where
T::Norm: RealField,
{
let sq_norm = value.norm_squared(); let sq_norm = value.norm_squared();
if sq_norm > min_norm * min_norm { if sq_norm > min_norm * min_norm {

42
src/geometry/abstract_rotation.rs
View File

@ -4,18 +4,30 @@ use crate::{DefaultAllocator, DimName, Point, Scalar, SimdRealField, VectorN, U2
use simba::scalar::ClosedMul; use simba::scalar::ClosedMul;
/// Trait implemented by rotations that can be used inside of an `Isometry` or `Similarity`.
pub trait AbstractRotation<N: Scalar, D: DimName>: PartialEq + ClosedMul + Clone { pub trait AbstractRotation<N: Scalar, D: DimName>: PartialEq + ClosedMul + Clone {
/// The rotation identity.
fn identity() -> Self; fn identity() -> Self;
/// The rotation inverse.
fn inverse(&self) -> Self; fn inverse(&self) -> Self;
/// Change `self` to its inverse.
fn inverse_mut(&mut self); fn inverse_mut(&mut self);
/// Apply the rotation to the given vector.
fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>
where DefaultAllocator: Allocator<N, D>; where
DefaultAllocator: Allocator<N, D>;
/// Apply the rotation to the given point.
fn transform_point(&self, p: &Point<N, D>) -> Point<N, D> fn transform_point(&self, p: &Point<N, D>) -> Point<N, D>
where DefaultAllocator: Allocator<N, D>; where
DefaultAllocator: Allocator<N, D>;
/// Apply the inverse rotation to the given vector.
fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>
where DefaultAllocator: Allocator<N, D>; where
DefaultAllocator: Allocator<N, D>;
/// Apply the inverse rotation to the given point.
fn inverse_transform_point(&self, p: &Point<N, D>) -> Point<N, D> fn inverse_transform_point(&self, p: &Point<N, D>) -> Point<N, D>
where DefaultAllocator: Allocator<N, D>; where
DefaultAllocator: Allocator<N, D>;
} }
impl<N: SimdRealField, D: DimName> AbstractRotation<N, D> for Rotation<N, D> impl<N: SimdRealField, D: DimName> AbstractRotation<N, D> for Rotation<N, D>
@ -40,31 +52,40 @@ where
#[inline] #[inline]
fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>
where DefaultAllocator: Allocator<N, D> { where
DefaultAllocator: Allocator<N, D>,
{
self * v self * v
} }
#[inline] #[inline]
fn transform_point(&self, p: &Point<N, D>) -> Point<N, D> fn transform_point(&self, p: &Point<N, D>) -> Point<N, D>
where DefaultAllocator: Allocator<N, D> { where
DefaultAllocator: Allocator<N, D>,
{
self * p self * p
} }
#[inline] #[inline]
fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D>
where DefaultAllocator: Allocator<N, D> { where
DefaultAllocator: Allocator<N, D>,
{
self.inverse_transform_vector(v) self.inverse_transform_vector(v)
} }
#[inline] #[inline]
fn inverse_transform_point(&self, p: &Point<N, D>) -> Point<N, D> fn inverse_transform_point(&self, p: &Point<N, D>) -> Point<N, D>
where DefaultAllocator: Allocator<N, D> { where
DefaultAllocator: Allocator<N, D>,
{
self.inverse_transform_point(p) self.inverse_transform_point(p)
} }
} }
impl<N: SimdRealField> AbstractRotation<N, U3> for UnitQuaternion<N> impl<N: SimdRealField> AbstractRotation<N, U3> for UnitQuaternion<N>
where N::Element: SimdRealField where
N::Element: SimdRealField,
{ {
#[inline] #[inline]
fn identity() -> Self { fn identity() -> Self {
@ -103,7 +124,8 @@ where N::Element: SimdRealField
} }
impl<N: SimdRealField> AbstractRotation<N, U2> for UnitComplex<N> impl<N: SimdRealField> AbstractRotation<N, U2> for UnitComplex<N>
where N::Element: SimdRealField where
N::Element: SimdRealField,
{ {
#[inline] #[inline]
fn identity() -> Self { fn identity() -> Self {

112
src/geometry/quaternion.rs
View File

@ -35,7 +35,8 @@ pub struct Quaternion<N: Scalar + SimdValue> {
#[cfg(feature = "abomonation-serialize")] #[cfg(feature = "abomonation-serialize")]
impl<N: SimdRealField> Abomonation for Quaternion<N> impl<N: SimdRealField> Abomonation for Quaternion<N>
where Vector4<N>: Abomonation where
Vector4<N>: Abomonation,
{ {
unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> { unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
self.coords.entomb(writer) self.coords.entomb(writer)
@ -53,7 +54,8 @@ where Vector4<N>: Abomonation
impl<N: SimdRealField + Eq> Eq for Quaternion<N> where N::Element: SimdRealField {} impl<N: SimdRealField + Eq> Eq for Quaternion<N> where N::Element: SimdRealField {}
impl<N: SimdRealField> PartialEq for Quaternion<N> impl<N: SimdRealField> PartialEq for Quaternion<N>
where N::Element: SimdRealField where
N::Element: SimdRealField,
{ {
fn eq(&self, rhs: &Self) -> bool { fn eq(&self, rhs: &Self) -> bool {
self.coords == rhs.coords || self.coords == rhs.coords ||
@ -79,20 +81,26 @@ impl<N: Scalar + SimdValue> Clone for Quaternion<N> {
#[cfg(feature = "serde-serialize")] #[cfg(feature = "serde-serialize")]
impl<N: SimdRealField> Serialize for Quaternion<N> impl<N: SimdRealField> Serialize for Quaternion<N>
where Owned<N, U4>: Serialize where
Owned<N, U4>: Serialize,
{ {
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
where S: Serializer { where
S: Serializer,
{
self.coords.serialize(serializer) self.coords.serialize(serializer)
} }
} }
#[cfg(feature = "serde-serialize")] #[cfg(feature = "serde-serialize")]
impl<'a, N: SimdRealField> Deserialize<'a> for Quaternion<N> impl<'a, N: SimdRealField> Deserialize<'a> for Quaternion<N>
where Owned<N, U4>: Deserialize<'a> where
Owned<N, U4>: Deserialize<'a>,
{ {
fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error> fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
where Des: Deserializer<'a> { where
Des: Deserializer<'a>,
{
let coords = Vector4::<N>::deserialize(deserializer)?; let coords = Vector4::<N>::deserialize(deserializer)?;
Ok(Self::from(coords)) Ok(Self::from(coords))
@ -100,7 +108,8 @@ where Owned<N, U4>: Deserialize<'a>
} }
impl<N: SimdRealField> Quaternion<N> impl<N: SimdRealField> Quaternion<N>
where N::Element: SimdRealField where
N::Element: SimdRealField,
{ {
/// Moves this unit quaternion into one that owns its data. /// Moves this unit quaternion into one that owns its data.
#[inline] #[inline]
@ -289,10 +298,13 @@ where N::Element: SimdRealField
} }
impl<N: SimdRealField> Quaternion<N> impl<N: SimdRealField> Quaternion<N>
where N::Element: SimdRealField where
N::Element: SimdRealField,
{ {
/// Inverts this quaternion if it is not zero. /// Inverts this quaternion if it is not zero.
/// ///
/// This method also does not works with SIMD components (see `simd_try_inverse` instead).
///
/// # Example /// # Example
/// ``` /// ```
/// # #[macro_use] extern crate approx; /// # #[macro_use] extern crate approx;
@ -312,7 +324,9 @@ where N::Element: SimdRealField
#[inline] #[inline]
#[must_use = "Did you mean to use try_inverse_mut()?"] #[must_use = "Did you mean to use try_inverse_mut()?"]
pub fn try_inverse(&self) -> Option<Self> pub fn try_inverse(&self) -> Option<Self>
where N: RealField { where
N: RealField,
{
let mut res = self.clone(); let mut res = self.clone();
if res.try_inverse_mut() { if res.try_inverse_mut() {
@ -322,6 +336,9 @@ where N::Element: SimdRealField
} }
} }
/// Attempt to inverse this quaternion.
///
/// This method also works with SIMD components.
#[inline] #[inline]
#[must_use = "Did you mean to use try_inverse_mut()?"] #[must_use = "Did you mean to use try_inverse_mut()?"]
pub fn simd_try_inverse(&self) -> SimdOption<Self> { pub fn simd_try_inverse(&self) -> SimdOption<Self> {
@ -383,7 +400,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn project(&self, other: &Self) -> Option<Self> pub fn project(&self, other: &Self) -> Option<Self>
where N: RealField { where
N: RealField,
{
self.inner(other).right_div(other) self.inner(other).right_div(other)
} }
@ -403,7 +422,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn reject(&self, other: &Self) -> Option<Self> pub fn reject(&self, other: &Self) -> Option<Self>
where N: RealField { where
N: RealField,
{
self.outer(other).right_div(other) self.outer(other).right_div(other)
} }
@ -423,7 +444,9 @@ where N::Element: SimdRealField
/// assert_eq!(axis, Some(Vector3::x_axis())); /// assert_eq!(axis, Some(Vector3::x_axis()));
/// ``` /// ```
pub fn polar_decomposition(&self) -> (N, N, Option<Unit<Vector3<N>>>) pub fn polar_decomposition(&self) -> (N, N, Option<Unit<Vector3<N>>>)
where N: RealField { where
N: RealField,
{
if let Some((q, n)) = Unit::try_new_and_get(*self, N::zero()) { if let Some((q, n)) = Unit::try_new_and_get(*self, N::zero()) {
if let Some(axis) = Unit::try_new(self.vector().clone_owned(), N::zero()) { if let Some(axis) = Unit::try_new(self.vector().clone_owned(), N::zero()) {
let angle = q.angle() / crate::convert(2.0f64); let angle = q.angle() / crate::convert(2.0f64);
@ -640,7 +663,9 @@ where N::Element: SimdRealField
/// Calculates B<sup>-1</sup> * A where A = self, B = other. /// Calculates B<sup>-1</sup> * A where A = self, B = other.
#[inline] #[inline]
pub fn left_div(&self, other: &Self) -> Option<Self> pub fn left_div(&self, other: &Self) -> Option<Self>
where N: RealField { where
N: RealField,
{
other.try_inverse().map(|inv| inv * self) other.try_inverse().map(|inv| inv * self)
} }
@ -660,7 +685,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn right_div(&self, other: &Self) -> Option<Self> pub fn right_div(&self, other: &Self) -> Option<Self>
where N: RealField { where
N: RealField,
{
other.try_inverse().map(|inv| self * inv) other.try_inverse().map(|inv| self * inv)
} }
@ -753,7 +780,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn tan(&self) -> Self pub fn tan(&self) -> Self
where N: RealField { where
N: RealField,
{
self.sin().right_div(&self.cos()).unwrap() self.sin().right_div(&self.cos()).unwrap()
} }
@ -769,7 +798,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn atan(&self) -> Self pub fn atan(&self) -> Self
where N: RealField { where
N: RealField,
{
let u = Self::from_imag(self.imag().normalize()); let u = Self::from_imag(self.imag().normalize());
let num = u + self; let num = u + self;
let den = u - self; let den = u - self;
@ -857,7 +888,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn tanh(&self) -> Self pub fn tanh(&self) -> Self
where N: RealField { where
N: RealField,
{
self.sinh().right_div(&self.cosh()).unwrap() self.sinh().right_div(&self.cosh()).unwrap()
} }
@ -907,8 +940,7 @@ impl<N: RealField + RelativeEq<Epsilon = N>> RelativeEq for Quaternion<N> {
other: &Self, other: &Self,
epsilon: Self::Epsilon, epsilon: Self::Epsilon,
max_relative: Self::Epsilon, max_relative: Self::Epsilon,
) -> bool ) -> bool {
{
self.as_vector().relative_eq(other.as_vector(), epsilon, max_relative) || self.as_vector().relative_eq(other.as_vector(), epsilon, max_relative) ||
// Account for the double-covering of S², i.e. q = -q // Account for the double-covering of S², i.e. q = -q
self.as_vector().iter().zip(other.as_vector().iter()).all(|(a, b)| a.relative_eq(&-*b, epsilon, max_relative)) self.as_vector().iter().zip(other.as_vector().iter()).all(|(a, b)| a.relative_eq(&-*b, epsilon, max_relative))
@ -967,7 +999,8 @@ impl<N: SimdRealField> Normed for Quaternion<N> {
} }
impl<N: SimdRealField> UnitQuaternion<N> impl<N: SimdRealField> UnitQuaternion<N>
where N::Element: SimdRealField where
N::Element: SimdRealField,
{ {
/// The rotation angle in [0; pi] of this unit quaternion. /// The rotation angle in [0; pi] of this unit quaternion.
/// ///
@ -1120,7 +1153,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn slerp(&self, other: &Self, t: N) -> Self pub fn slerp(&self, other: &Self, t: N) -> Self
where N: RealField { where
N: RealField,
{
self.try_slerp(other, t, N::default_epsilon()) self.try_slerp(other, t, N::default_epsilon())
.expect("Quaternion slerp: ambiguous configuration.") .expect("Quaternion slerp: ambiguous configuration.")
} }
@ -1137,7 +1172,9 @@ where N::Element: SimdRealField
/// must be to return `None`. /// must be to return `None`.
#[inline] #[inline]
pub fn try_slerp(&self, other: &Self, t: N, epsilon: N) -> Option<Self> pub fn try_slerp(&self, other: &Self, t: N, epsilon: N) -> Option<Self>
where N: RealField { where
N: RealField,
{
let coords = if self.coords.dot(&other.coords) < N::zero() { let coords = if self.coords.dot(&other.coords) < N::zero() {
Unit::new_unchecked(self.coords).try_slerp( Unit::new_unchecked(self.coords).try_slerp(
&Unit::new_unchecked(-other.coords), &Unit::new_unchecked(-other.coords),
@ -1194,7 +1231,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn axis(&self) -> Option<Unit<Vector3<N>>> pub fn axis(&self) -> Option<Unit<Vector3<N>>>
where N: RealField { where
N: RealField,
{
let v = if self.quaternion().scalar() >= N::zero() { let v = if self.quaternion().scalar() >= N::zero() {
self.as_ref().vector().clone_owned() self.as_ref().vector().clone_owned()
} else { } else {
@ -1216,7 +1255,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn scaled_axis(&self) -> Vector3<N> pub fn scaled_axis(&self) -> Vector3<N>
where N: RealField { where
N: RealField,
{
if let Some(axis) = self.axis() { if let Some(axis) = self.axis() {
axis.into_inner() * self.angle() axis.into_inner() * self.angle()
} else { } else {
@ -1242,7 +1283,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn axis_angle(&self) -> Option<(Unit<Vector3<N>>, N)> pub fn axis_angle(&self) -> Option<(Unit<Vector3<N>>, N)>
where N: RealField { where
N: RealField,
{
self.axis().map(|axis| (axis, self.angle())) self.axis().map(|axis| (axis, self.angle()))
} }
@ -1270,7 +1313,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn ln(&self) -> Quaternion<N> pub fn ln(&self) -> Quaternion<N>
where N: RealField { where
N: RealField,
{
if let Some(v) = self.axis() { if let Some(v) = self.axis() {
Quaternion::from_imag(v.into_inner() * self.angle()) Quaternion::from_imag(v.into_inner() * self.angle())
} else { } else {
@ -1296,7 +1341,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn powf(&self, n: N) -> Self pub fn powf(&self, n: N) -> Self
where N: RealField { where
N: RealField,
{
if let Some(v) = self.axis() { if let Some(v) = self.axis() {
Self::from_axis_angle(&v, self.angle() * n) Self::from_axis_angle(&v, self.angle() * n)
} else { } else {
@ -1357,7 +1404,9 @@ where N::Element: SimdRealField
#[inline] #[inline]
#[deprecated(note = "This is renamed to use `.euler_angles()`.")] #[deprecated(note = "This is renamed to use `.euler_angles()`.")]
pub fn to_euler_angles(&self) -> (N, N, N) pub fn to_euler_angles(&self) -> (N, N, N)
where N: RealField { where
N: RealField,
{
self.euler_angles() self.euler_angles()
} }
@ -1377,7 +1426,9 @@ where N::Element: SimdRealField
/// ``` /// ```
#[inline] #[inline]
pub fn euler_angles(&self) -> (N, N, N) pub fn euler_angles(&self) -> (N, N, N)
where N: RealField { where
N: RealField,
{
self.to_rotation_matrix().euler_angles() self.to_rotation_matrix().euler_angles()
} }
@ -1533,8 +1584,7 @@ impl<N: RealField + RelativeEq<Epsilon = N>> RelativeEq for UnitQuaternion<N> {
other: &Self, other: &Self,
epsilon: Self::Epsilon, epsilon: Self::Epsilon,
max_relative: Self::Epsilon, max_relative: Self::Epsilon,
) -> bool ) -> bool {
{
self.as_ref() self.as_ref()
.relative_eq(other.as_ref(), epsilon, max_relative) .relative_eq(other.as_ref(), epsilon, max_relative)
} }

10
src/lib.rs
View File

@ -79,7 +79,7 @@ an optimized set of tools for computer graphics and physics. Those features incl
#![deny(non_upper_case_globals)] #![deny(non_upper_case_globals)]
#![deny(unused_qualifications)] #![deny(unused_qualifications)]
#![deny(unused_results)] #![deny(unused_results)]
#![allow(missing_docs)] // XXX: deny that #![deny(missing_docs)]
#![doc( #![doc(
html_favicon_url = "https://nalgebra.org/img/favicon.ico", html_favicon_url = "https://nalgebra.org/img/favicon.ico",
html_root_url = "https://nalgebra.org/rustdoc" html_root_url = "https://nalgebra.org/rustdoc"
@ -190,7 +190,9 @@ pub fn zero<T: Zero>() -> T {
/// The range must not be empty. /// The range must not be empty.
#[inline] #[inline]
pub fn wrap<T>(mut val: T, min: T, max: T) -> T pub fn wrap<T>(mut val: T, min: T, max: T) -> T
where T: Copy + PartialOrd + ClosedAdd + ClosedSub { where
T: Copy + PartialOrd + ClosedAdd + ClosedSub,
{
assert!(min < max, "Invalid wrapping bounds."); assert!(min < max, "Invalid wrapping bounds.");
let width = max - min; let width = max - min;
@ -390,7 +392,9 @@ pub fn partial_sort2<'a, T: PartialOrd>(a: &'a T, b: &'a T) -> Option<(&'a T, &'
/// * [distance_squared](fn.distance_squared.html) /// * [distance_squared](fn.distance_squared.html)
#[inline] #[inline]
pub fn center<N: SimdComplexField, D: DimName>(p1: &Point<N, D>, p2: &Point<N, D>) -> Point<N, D> pub fn center<N: SimdComplexField, D: DimName>(p1: &Point<N, D>, p2: &Point<N, D>) -> Point<N, D>
where DefaultAllocator: Allocator<N, D> { where
DefaultAllocator: Allocator<N, D>,
{
((&p1.coords + &p2.coords) * convert::<_, N>(0.5)).into() ((&p1.coords + &p2.coords) * convert::<_, N>(0.5)).into()
} }