M-Labs/nalgebra
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Changed inverse API to pseudo_inverse, try_inverse, try_inverse_mut, try_inverse_transform_point, inverse_unchecked.

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This commit is contained in:
Yuri Edward 2021-10-21 15:06:25 +02:00
parent 1341801c56
commit a64417870b
1 changed files with 74 additions and 11 deletions
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85
src/geometry/scale.rs
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@ -177,13 +177,69 @@ impl<T: Scalar, const D: usize> Scale<T, D> {
/// assert_eq!(t.inverse() * t, Scale2::identity());
/// ```
#[inline]
#[must_use = "Did you mean to use inverse_mut()?"]
pub fn inverse(&self) -> Scale<T, D>
#[must_use = "Did you mean to use try_inverse_mut()?"]
pub fn try_inverse(&self) -> Option<Scale<T, D>>
where
T: ClosedDiv + One,
T: ClosedDiv + One + Zero,
{
let useless: SVector<T, D> = SVector::from_element(T::one());
return useless.component_div(&self.vector).into();
for i in 0..D {
if self.vector[(i, 0)] == T::zero() {
return None;
}
}
return Some(self.vector.map(|e| T::one() / e).into());
}
/// Inverts `self`.
///
/// # Example
/// ```
/// # use nalgebra::{Scale2, Scale3};
/// let t = Scale3::new(1.0, 2.0, 3.0);
/// assert_eq!(t * t.inverse(), Scale3::identity());
/// assert_eq!(t.inverse() * t, Scale3::identity());
///
/// // Work in all dimensions.
/// let t = Scale2::new(1.0, 2.0);
/// assert_eq!(t * t.inverse(), Scale2::identity());
/// assert_eq!(t.inverse() * t, Scale2::identity());
/// ```
#[inline]
#[must_use]
pub unsafe fn inverse_unchecked(&self) -> Scale<T, D>
where
T: ClosedDiv + One,
{
return self.vector.map(|e| T::one() / e).into();
}
/// Inverts `self`.
///
/// # Example
/// ```
/// # use nalgebra::{Scale2, Scale3};
/// let t = Scale3::new(1.0, 2.0, 3.0);
/// assert_eq!(t * t.inverse(), Scale3::identity());
/// assert_eq!(t.inverse() * t, Scale3::identity());
///
/// // Work in all dimensions.
/// let t = Scale2::new(1.0, 2.0);
/// assert_eq!(t * t.inverse(), Scale2::identity());
/// assert_eq!(t.inverse() * t, Scale2::identity());
/// ```
#[inline]
#[must_use]
pub fn pseudo_inverse(&self) -> Scale<T, D>
where
T: ClosedDiv + One + Zero,
{
return self.vector.map(|e| {
if e != T::zero() {
return T::one() / e;
} else {
return T::zero();
}
}).into();
}
/// Converts this Scale into its equivalent homogeneous transformation matrix.
@ -244,11 +300,15 @@ impl<T: Scalar, const D: usize> Scale<T, D> {
/// assert_eq!(inv_t * t, Scale2::identity());
/// ```
#[inline]
pub fn inverse_mut(&mut self)
pub fn try_inverse_mut(&mut self) -> bool
where
T: ClosedDiv + One,
T: ClosedDiv + One + Zero
{
self.vector = self.inverse().vector;
if let Some(v) = self.try_inverse() {
self.vector = v.vector;
return true;
}
return false;
}
}
@ -270,7 +330,7 @@ impl<T: Scalar + ClosedMul, const D: usize> Scale<T, D> {
}
}
impl<T: Scalar + ClosedDiv + ClosedMul + One, const D: usize> Scale<T, D> {
impl<T: Scalar + ClosedDiv + ClosedMul + One + Zero, const D: usize> Scale<T, D> {
/// Translate the given point by the inverse of this Scale.
///
/// # Example
@ -281,8 +341,11 @@ impl<T: Scalar + ClosedDiv + ClosedMul + One, const D: usize> Scale<T, D> {
/// assert_eq!(transformed_point, Point3::new(4.0, 3.0, 2.0));
#[inline]
#[must_use]
pub fn inverse_transform_point(&self, pt: &Point<T, D>) -> Point<T, D> {
return self.inverse() * pt;
pub fn try_inverse_transform_point(&self, pt: &Point<T, D>) -> Option<Point<T, D>> {
if let Some(s) = self.try_inverse() {
return Some(s * pt);
}
return None;
}
}