dfb7b6af22
Don't panic ScLERPing `UnitDualQuaternion` with equal rotation
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Solves #1013 .
Previously, when screw-linearly interpolating two unit dual quaternions
that had an identical orientation, `try_sclerp` would return `None`, as
the operation would introduce a division-by-zero.
This PR splits out the cases where two unit dual quaternions have an
identical orientation from the cases where they have opposite
orientations. In the case where they have identical orientations, the
operation is well-defined, but the exponential parameterization could
not handle it without introducing NaNs. Therefore, the function detects
this case and simply defaults to linearly interpolating the
translational components and using one of the two inputs' rotation
components.
The case where the inputs have opposite rotations is now detected
separately using the dot product of the real (rotation) parts, which was
already being computed anyway.
Also introduces proptests for these specific scenarios, to avoid any
regression.
2021-10-28 00:02:20 -04:00
6cfd2bca14
Use proptest for all nalgebra tests.
2021-02-28 17:52:14 +01:00
fa2e025a1e
Merge pull request #824 from tpdickso/dual_quaternion
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Implement additional `DualQuaternion` ops and `UnitDualQuaternion`
2021-02-25 15:46:34 +01:00
7d5cc4912d
Update cargo badge and categories.
2021-01-29 13:33:37 +01:00
8c52e4dfdc
rustfmt
2021-01-28 19:29:12 -05:00
ac92e68486
add new operators
2021-01-28 19:27:40 -05:00
ecda74f6b2
clippify
2021-01-28 18:50:34 -05:00
388b77108e
rustfmt
2021-01-28 18:46:14 -05:00
6be0365203
add integration test
2021-01-28 18:45:34 -05:00
67603be6ed
Fix the PartialEq impl for quaternions.
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The double-covering property should only be taken into account for `UnitQuaternion` instead of `Quaternion` itself.
2020-12-18 11:38:33 +01:00
f782060e99
Fix trailing commas in tests.
2020-04-05 20:36:26 +02:00
bbb3be512e
Run cargo fmt.
2020-04-05 18:49:48 +02:00
691f58b622
Fix compilation of tests.
2020-04-05 18:33:03 +02:00
f8cd26cfa9
Replace alga by simba.
2020-03-21 12:16:46 +01:00
cfb654240c
Matrix::transform_point: correctly take the normalization term into account.
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Fix #640
2019-08-27 22:05:28 +02:00
18b9f82042
Fix warnings.
2019-03-31 13:32:26 +02:00
4ef4001836
Rename Real to RealField.
2019-03-25 11:21:41 +01:00
77f048b6b9
WIP use Complex instead of Real whenever possible on the linalg module.
2019-03-02 19:33:49 +01:00
fc24db8ff3
Merge branch 'master-public' into sparse
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# Conflicts:
# Cargo.toml
# examples/matrix_construction.rs
# nalgebra-glm/src/constructors.rs
# nalgebra-glm/src/ext/matrix_clip_space.rs
# nalgebra-glm/src/ext/matrix_transform.rs
# nalgebra-glm/src/ext/mod.rs
# nalgebra-glm/src/ext/quaternion_common.rs
# nalgebra-glm/src/gtx/quaternion.rs
# nalgebra-glm/src/gtx/rotate_vector.rs
# nalgebra-glm/src/lib.rs
# nalgebra-glm/src/traits.rs
# nalgebra-lapack/src/cholesky.rs
# nalgebra-lapack/src/eigen.rs
# nalgebra-lapack/src/hessenberg.rs
# nalgebra-lapack/src/lu.rs
# nalgebra-lapack/src/qr.rs
# nalgebra-lapack/src/schur.rs
# nalgebra-lapack/src/svd.rs
# nalgebra-lapack/src/symmetric_eigen.rs
# rustfmt.toml
# src/base/array_storage.rs
# src/base/blas.rs
# src/base/cg.rs
# src/base/default_allocator.rs
# src/base/edition.rs
# src/base/iter.rs
# src/base/matrix.rs
# src/base/swizzle.rs
# src/base/vec_storage.rs
# src/geometry/mod.rs
# src/geometry/point_construction.rs
# src/geometry/quaternion.rs
# src/geometry/similarity.rs
# src/geometry/translation.rs
# src/geometry/unit_complex_construction.rs
# src/linalg/bidiagonal.rs
# src/linalg/cholesky.rs
# src/linalg/full_piv_lu.rs
# src/linalg/hessenberg.rs
# src/linalg/lu.rs
# src/linalg/permutation_sequence.rs
# src/linalg/qr.rs
# src/linalg/schur.rs
# src/linalg/svd.rs
# src/linalg/symmetric_eigen.rs
# src/linalg/symmetric_tridiagonal.rs
# tests/geometry/point.rs
# tests/geometry/quaternion.rs
# tests/lib.rs
# tests/linalg/eigen.rs
# tests/linalg/svd.rs
2019-02-03 12:53:41 +01:00
3fdcf5329d
Rename ::new_observer_frame to ::face_towards
2019-01-16 22:41:25 +01:00
f36ff97d6a
Fix deprecation warnings.
2018-12-29 13:19:09 +01:00
0d47a8e16b
Rename `Perspective3::unwrap` to `Perspective3::into_inner` and deprecate `Perspective3::unwrap`
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See #460
2018-12-16 12:58:20 +01:00
9600c45dd4
Rename `Orthographic3::unwrap` to `Orthographic3::into_inner` and deprecate `Orthographic3::unwrap`
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See #460
2018-12-16 12:58:20 +01:00
c69ab193be
Fix cornercase for Rotation3 conversion to euler angles.
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Fix #494
2018-12-04 22:04:07 +01:00
8341ec2f10
Run rustfmt.
2018-11-06 18:32:20 +01:00
98b0b842e9
Remove the inherent clone method from points.
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Fix #458 .
2018-11-01 10:22:10 +01:00
14ad10a7e0
Add rustfmt.toml and run it.
2018-10-27 15:00:18 +02:00
0d24cf4dc0
Run rustmt.
2018-10-20 22:26:44 +02:00
bba1993e58
Restructure test modules to avoid warnings
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These warnings occurred only when running the test suite with no
features. Lots of uses had to be rescoped into newly created modules to
make it easier to separate these issues.
2018-01-18 13:13:38 +01:00
5b2e383320
Let the test suite run with no features
2018-01-18 13:13:38 +01:00
922b339fb0
Implement to_euler_angles for Rotation3 and UnitQuaternion
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Resolves sebcrozet/nalgebra#243 .
2018-01-09 15:15:57 -05:00
48f80d99cc
Fix abomonation integration.
2017-08-15 19:36:38 +02:00
3f70af97dd
Add the most common matrix decompositions.
2017-08-15 19:07:18 +02:00
Terence
Crozet Sébastien
Terence
Gedl
Jack Wrenn
Eduard Bopp