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Do not compute the matrix inverse if the determinant is near-zero.

This commit is contained in:
Sébastien Crozet 2014-08-17 22:41:55 +02:00
parent 314f0c0043
commit 844092205e
1 changed files with 7 additions and 7 deletions
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14
src/structs/spec/mat.rs
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@ -1,11 +1,11 @@
use std::num::{Zero, One};
use structs::vec::{Vec2, Vec3, Vec2MulRhs, Vec3MulRhs};
use structs::mat::{Mat1, Mat2, Mat3, Mat3MulRhs, Mat2MulRhs};
use traits::operations::{Inv, Det};
use traits::operations::{Inv, Det, ApproxEq};
use traits::structure::{Row, Col};
// some specializations:
impl<N: Num + Clone> Inv for Mat1<N> {
impl<N: Num + ApproxEq<N> + Clone> Inv for Mat1<N> {
#[inline]
fn inv_cpy(m: &Mat1<N>) -> Option<Mat1<N>> {
let mut res = m.clone();
@ -20,7 +20,7 @@ impl<N: Num + Clone> Inv for Mat1<N> {
#[inline]
fn inv(&mut self) -> bool {
if self.m11.is_zero() {
if ApproxEq::approx_eq(&self.m11, &Zero::zero()) {
false
}
else {
@ -32,7 +32,7 @@ impl<N: Num + Clone> Inv for Mat1<N> {
}
}
impl<N: Num + Clone> Inv for Mat2<N> {
impl<N: Num + ApproxEq<N> + Clone> Inv for Mat2<N> {
#[inline]
fn inv_cpy(m: &Mat2<N>) -> Option<Mat2<N>> {
let mut res = m.clone();
@ -49,7 +49,7 @@ impl<N: Num + Clone> Inv for Mat2<N> {
fn inv(&mut self) -> bool {
let det = Det::det(self);
if det.is_zero() {
if ApproxEq::approx_eq(&det, &Zero::zero()) {
false
}
else {
@ -62,7 +62,7 @@ impl<N: Num + Clone> Inv for Mat2<N> {
}
}
impl<N: Num + Clone> Inv for Mat3<N> {
impl<N: Num + ApproxEq<N> + Clone> Inv for Mat3<N> {
#[inline]
fn inv_cpy(m: &Mat3<N>) -> Option<Mat3<N>> {
let mut res = m.clone();
@ -83,7 +83,7 @@ impl<N: Num + Clone> Inv for Mat3<N> {
let det = self.m11 * minor_m12_m23 - self.m12 * minor_m11_m23 + self.m13 * minor_m11_m22;
if det.is_zero() {
if ApproxEq::approx_eq(&det, &Zero::zero()) {
false
}
else {