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1449 Commits

Author SHA1 Message Date
Violeta Hernández
1be8964c12 Fixed indent 2021-07-08 11:15:08 -05:00
Violeta Hernández
04e937792b Removed unnecessary unsafe markers 2021-07-08 11:12:43 -05:00
Joshua Smith
a7fe7a5d9a fixed check-fmt error 2021-07-08 11:05:32 -05:00
nathan.eckert
92a51662bf Remove Allocator<usize, > from display 2021-07-08 14:18:22 +02:00
Sébastien Crozet
0a5bd520a4
Merge pull request #922 from Cryptjar/impl-into-slice 
Allow to extract the inner slices of SliceStorage
 2021-07-08 09:50:41 +02:00
Sébastien Crozet
a66b54a015
Merge pull request #929 from remilauzier/dev 
Fix some clippy warnings and typo
 2021-07-08 09:44:43 +02:00
Joshua Smith
2279da446e impl Borrow and BorrowMut for fixed size matrices 2021-07-07 13:26:19 -05:00
Violeta Hernández
6e96c28ad9 Trivial doc comment improvements 2021-07-06 21:05:25 -05:00
Rémi Lauzier
bbd60fbc8c
Fix some clippy warnings and typo 2021-07-06 11:39:29 -04:00
Sébastien Crozet
1fc29dcf63
Merge pull request #930 from CAD97/patch-1 
impl Hash for Transform
 2021-07-06 01:09:00 -07:00
CAD97
314b4dd103 Remove scalar bound from geometry type defs 
This was inconsistently applied, with some types having <T>, some having
<T: Scalar>, and some having <T: RealField>.
This unifies all types to match the convention of Matrix:
Just declare <T> at type def time, and apply bounds on impls only.

A significant advantage of this approach is const fn construction. Const
fn generics currently still can't have trait bounds, so any generic
const fn needs to only move opaque types around. Construction methods
such as new_unchecked or from_parts can be made const by removing their
generic bounds after this PR.

Actual constification is left to a follow-up PR.

Note that na::Transform is _not_ loosened here, as it has more complicated
definition requirements.
 2021-07-05 19:04:10 -05:00
Christopher Durham
1eeaf3526c
Rotation::matrix_mut_unchecked may not cause UB 
...because it isn't unsafe, so clarify the documentation to match.
 2021-07-05 18:53:11 -05:00
Christopher Durham
3b4b661756
impl Hash for Transform 
This just fixes the types in the existing TODO to compile.
 2021-07-05 18:36:33 -05:00
Sébastien Crozet
b10711e66e
Merge pull request #927 from remilauzier/dev 
Fix some clippy warnings
 2021-07-05 06:55:26 -07:00
CAD97
e77a97e854 Add a couple trivial const fn conversions 2021-07-04 17:42:39 -05:00
Rémi Lauzier
78da5209e9
Fix some clippy warnings 2021-07-03 23:43:45 -04:00
Andreas Longva
92c26334ec Fix serde impls and Distribution impl for OPoint 2021-07-02 12:01:01 +02:00
CAD97
396d3d6615 Add missing repr(C) on bytemuckable geometry types 2021-06-28 20:49:57 -05:00
CAD97
cb0812aaf3 Add bytemuck impls to geometry types 2021-06-28 20:36:28 -05:00
Crozet Sébastien
16b8f4812d Define OPoint, a generic point with D: DimName 
And define Point<T, const D: usize> as an alias for OPoint.
 2021-06-26 18:39:20 +02:00
Cryptjar
1554c0114e Fix unsoundness in into_slice by adding ContiguousStorage bound. 2021-06-18 13:18:33 +02:00
Sébastien Crozet
0312981a4f
Merge pull request #921 from OfficialURL/ptr_alias 
Fixed potential UB
 2021-06-18 09:49:41 +02:00
Violeta Hernández
281b140365
Fix most clippy warnings 2021-06-18 09:45:37 +02:00
Violeta Hernández
c5f240cc28 Fixed potential UB 2021-06-17 19:51:00 -05:00
Cryptjar
801d8a61a6 Add a From impl to convert DVectorSlice[mut] back to into a slice. 2021-06-18 02:50:10 +02:00
Cryptjar
498b377d0e Add into_slice[_mut] and impl to SliceStorage[Mut]. 2021-06-18 02:42:03 +02:00
Sébastien Crozet
38add0b00d
Fix potential undoundness with Storage::as_slice and Storage::as_mut_slice (#905) 2021-06-17 09:46:49 +02:00
Violeta Hernández
d64e799fc9
Fixes #909 (#917) 2021-06-17 09:45:33 +02:00
Violeta Hernández
7643a24cc1
Result<(), ()> to bool (#916) 2021-06-17 09:44:06 +02:00
Violeta Hernández
885bbdaf97
Implemented SliceRange for RangeInclusive (#911) 2021-06-17 09:42:47 +02:00
Malte Tammena
38e9a5da33 Annotate get_mut/slice-like functions with #[must_use] 2021-06-07 17:15:36 +02:00
Malte Tammena
e1fe76235f Normalize #[must_use] hints 2021-06-07 16:44:59 +02:00
Malte Tammena
9fb963017f Simplify default #[must_use] annotation 2021-06-07 16:34:03 +02:00
Malte Tammena
39aa52d019 Add must_use annotations in src/**/*.rs 2021-06-06 14:46:36 +02:00
Malte Tammena
d85c10a73c Add some missing question marks 2021-06-06 11:34:29 +02:00
Malte Tammena
925fc1edd7 Annotate functions with #[must_use] where appropriate 2021-06-06 11:28:12 +02:00
Crozet Sébastien
7acd4ecdcc Fix bug in the glam conversion Vec2 -> Isometry2 2021-06-04 10:52:28 +02:00
Crozet Sébastien
dfc8ad3d6a Release v0.27.0 2021-06-02 15:15:17 +02:00
Crozet Sébastien
47a4f52e8d Replace unchecked glam conversion by TryFrom or checks 2021-06-01 10:48:24 +02:00
Crozet Sébastien
4af979c55b Support multiple version of the optional glam conversion 2021-06-01 10:27:32 +02:00
Crozet Sébastien
8810b85a2f Add a point! macro for construction points 
This macro is similar to the `vector!` macro, except that it builds a point instead of a vector.
 2021-05-24 17:53:59 +02:00
David Koloski
9fff10b1f0 Move rkyv impls into separate modules 2021-05-09 12:24:07 -04:00
David Koloski
38dd3345e0 Switch to distributive implementations 2021-05-09 12:24:03 -04:00
David Koloski
b48b104d57 Add rkyv implementations for a few types 2021-05-09 12:23:16 -04:00
Sébastien Crozet
23ac85e896
Merge pull request #886 from Andlon/matrix-macro 
Matrix macro
 2021-05-09 16:52:04 +02:00
Sébastien Crozet
a803271fcc
Merge pull request #889 from dimforge/dvector_deserialize 
Fix potential unsoundness after deserializing a DVector with a bad number or elements.
 2021-05-09 16:50:38 +02:00
Andreas Longva
922393b04f Enable from_{}_storage only when std/alloc available 2021-05-07 09:09:10 +02:00
Andreas Longva
3a3bc55f66 Move from_{}_storage impl blocks to matrix.rs 2021-05-07 09:00:29 +02:00
Crozet Sébastien
b398a5e189 Re-add conversion between arrays and row vectors. 2021-05-06 18:22:04 +02:00
Crozet Sébastien
5bff5368bf Manually implement Serialize and Deserialize for VecStorage 2021-05-06 18:16:42 +02:00
Andreas Longva
8552fc8385 Cargo fmt 2021-05-03 13:52:34 +02:00
Andreas Longva
eeab4db69a Add nalgebra/macros feature and re-export matrix macros from nalgebra 2021-05-03 13:52:34 +02:00
Andreas Longva
d2c11ad797 Impl DMatrix/DVector::from_vec_storage 
These methods enable safe & const construction of DMatrix/DVector from a
given VecStorage.
 2021-05-03 13:52:34 +02:00
Andreas Longva
9142dc8f84 Implement SMatrix::from_array_storage and use it in matriX! impl 
This allows us to avoid injecting unsafe code into every macro
invocation, which seems desirable.
 2021-05-03 13:52:34 +02:00
Chammika Mannakkara
105e894c0a add missing doc tests 2021-05-02 13:50:03 +09:00
Crozet Sébastien
d59d438189 Add more conversion for glam types 
Add Isometry3 <-> (Vec3, Quat)
Add Isometry2 <-> (Vec3, Quat)
Add Translation2/3/4 <-> Vec2/3/4
 2021-04-27 13:21:46 +02:00
Crozet Sébastien
65b94ccb91 Add more conversions for translations 
Add [T; D] <-> Translation<T, D>
Add Point<T, D> -> Translation<T, D>
 2021-04-27 13:17:51 +02:00
Crozet Sébastien
db27a080f1 Cleanup conversions between points and static vectors. 2021-04-27 13:17:12 +02:00
Crozet Sébastien
09be376cd9 Add more conversion for Isometry 
Add [T; D] -> Isometry<T, R, D>
Add SVector<T, D> -> Isometry<T, R, D>
Add Point<T, D> -> Isometry<T, R, D>
 2021-04-27 13:16:44 +02:00
Crozet Sébastien
43cf22af28 Cleanup conversion between static arrays and static matrices. 2021-04-27 13:16:01 +02:00
Crozet Sébastien
f70e7f77d1 Fix serialization of DVector 2021-04-12 17:43:04 +02:00
Crozet Sébastien
c5c6c139ab Release v0.26.0 2021-04-12 16:15:08 +02:00
Crozet Sébastien
95b021dbfb Don't enable serde by default. 
Don't enable `serde/std` by default.
Add a `serde-serialize-no-std` feature to enable serde without its default features.
 2021-04-12 12:14:16 +02:00
Crozet Sébastien
ee1c0be2dd Add a note about the PhantomData in Matrix. 2021-04-12 11:27:21 +02:00
Crozet Sébastien
2bef19ed5c Deprecate the MatrixN alias. 2021-04-12 11:15:01 +02:00
Crozet Sébastien
7ec4497f92 Fix wrong alias. 2021-04-12 11:06:13 +02:00
Crozet Sébastien
5a1dbfe37d Use explicit storage names in matrix aliases. 2021-04-12 10:34:15 +02:00
Crozet Sébastien
bc7db9d139 Mark as const-fn some constructors of Point, Translation, Quaternion 2021-04-12 10:32:17 +02:00
Crozet Sébastien
bedf48dbc2 Mark small matrix/vector "new" constractors as const-fn. 2021-04-12 09:18:17 +02:00
Crozet Sébastien
ad5b18ac77 Deny missing docs again. 2021-04-11 14:36:27 +02:00
Crozet Sébastien
600bb175e7 Fix compilation with the mint feature. 2021-04-11 14:35:10 +02:00
Crozet Sébastien
3d834e08c9 Run cargo fmt 2021-04-11 14:09:01 +02:00
Crozet Sébastien
cc4427e52b Make matrix power work for non-owned matrices. 2021-04-11 14:07:06 +02:00
Crozet Sébastien
24d546d3b6 Rename generic parameter N -> T 2021-04-11 13:57:54 +02:00
Crozet Sébastien
23a7d7475b First compiling version after migrating the geometry module to const-generics. 2021-04-11 13:53:45 +02:00
Crozet Sébastien
8abbb35b40 First pass to migrate the geometry module to const-generics. 2021-04-11 13:53:45 +02:00
Crozet Sébastien
35ec135d2c Fix compilation after rebase. 2021-04-11 13:53:45 +02:00
Crozet Sébastien
d17088398a Replace generic-array with a regular array based on min-const-generics. 2021-04-11 13:53:45 +02:00
Sébastien Crozet
b2dadffcf2
Merge pull request #864 from vks/idiomatic-rand 
More idiomatic use of Rand
 2021-04-11 13:52:48 +02:00
Sébastien Crozet
2ebba30117
Merge pull request #861 from jturner314/fix-cholesky-det-complex 
Fix Cholesky::determinant for complex elements
 2021-04-11 13:49:35 +02:00
Sébastien Crozet
b9a524427b
Merge pull request #859 from OfficialURL/dev 
Added pow functions
 2021-04-11 13:44:06 +02:00
Vinzent Steinberg
7417f6cbca UnitComplex: More efficient sampling 2021-04-10 03:49:46 -03:00
Vinzent Steinberg
09f26385cc Comment about faster impl for unit sphere sampling 2021-04-10 03:36:21 -03:00
Vinzent Steinberg
c8fe49b1e9 Add some comments about random variates 2021-04-10 03:36:21 -03:00
Vinzent Steinberg
fd3a752409 Make use of rand more idiomatic 
This should improve performance and accuracy.
 2021-04-10 03:13:46 -03:00
Violeta Hernández
341091f647 pow_mut now returns Result. 2021-04-10 00:12:26 -05:00
Violeta Hernández
81f2fc38d7 Use mul_to instead of square_buf 
Didn't realize that this was something that was already implemented.
 2021-04-09 23:59:22 -05:00
Violeta Hernández
15a63cb892 Memory improvements, extra comments. 
The result of `multiplier ^ 2` is now written into a single buffer.
 2021-04-09 23:43:59 -05:00
Vinzent Steinberg
260ee54288 Disable some tests if "rand" feature is disabled 
This avoids some misleading errors for `cargo test`.
 2021-04-10 01:00:12 -03:00
Jim Turner
cea3bdc8e5 Fix Cholesky::determinant for Complex elements 
The previous implementation was correct only for real elements. The
Cholesky decomposition is `L L^H`, so the determinant is `det(L) *
det(L^H)`. Since `L` is a triangular matrix, `det(L)` is the product
of the diagonal elements of `L`. Since `L^H` is triangular and its
diagonal elements are the conjugates of the diagonal elements of `L`,
`det(L^H)` is the conjugate of `det(L)`. So, the overall determinant
is the product of the diagonal elements of `L` times its conjugate.
 2021-04-09 14:28:16 -04:00
Jim Turner
50fed194f4 Add determinant method to Cholesky 2021-04-07 23:10:19 -04:00
Violeta Hernández
06b657ad49 Added pow_mut. 
Actually, I think this will do.
 2021-04-05 12:32:12 -05:00
Violeta Hernández
ab85766b5a Added pow function. 
I'll try adding some unchecked and in place variants soon.
 2021-04-05 12:17:49 -05:00
Guilherme Salustiano
9947cd5b88
Add type aliases for unit vectors 2021-03-29 15:20:04 -03:00
Crozet Sébastien
b687c63bb2 Add a SIMD version of cap_magnitude: simd_cap_magnitude. 2021-03-06 19:16:22 +01:00
Crozet Sébastien
2dae1ca44f Add conversion of Similarity from/to glam types. 2021-03-06 12:39:53 +01:00
Crozet Sébastien
bdf0de68cf Add conversion of Rotation and UnitComplex from/to glam types. 2021-03-06 12:39:53 +01:00
Crozet Sébastien
729a8fd7f2 Add conversion from/to glam types + move glam/alga/mint impls to a "third_party" module. 2021-03-06 12:20:38 +01:00
Crozet Sébastien
f2c49aecb0 Add "cast" methods to cast the type of the components of most nalgebra types. 2021-03-05 17:08:46 +01:00
Crozet Sébastien
c32172b6b9 Make the rand dependency optional. 2021-03-02 12:25:12 +01:00
Crozet Sébastien
5b9b94c610 Release v0.25.0 2021-03-01 14:25:29 +01:00
Crozet Sébastien
6cfd2bca14 Use proptest for all nalgebra tests. 2021-02-28 17:52:14 +01:00
Crozet Sébastien
7b6b3649f2 Run cargo fmt. 2021-02-25 16:20:11 +01:00
Crozet Sébastien
6699039fec Fix rebase-induced compilation error. 2021-02-25 15:51:13 +01:00
Crozet Sébastien
aeb9f7ea39 Add a matrix.udu() method to compute the UDU decomposition. 2021-02-25 15:49:24 +01:00
Crozet Sébastien
ab0d335b61 Fix tests for the UDU decomposition. 2021-02-25 15:48:44 +01:00
Christopher Rabotin
89ca2fe5fb UDU only supported for Real matrices, not Complex 
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Christopher Rabotin
4ff4911ac3 Implement requested changes 
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Chris
06861a9755 Update src/linalg/udu.rs 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2021-02-25 15:48:44 +01:00
Christopher Rabotin
7a49b9eeca UDU: d now stored in VectorN instead of MatrixN 
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Christopher Rabotin
e9933e5c91 UDU: Expand to Dim from DimName 
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Christopher Rabotin
5a7ed61e9b UDU impl: using 0-index nomenclature 
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Christopher Rabotin
a8d40423ea Fixed UDU algorithm 
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Christopher Rabotin
8dda6714b5 Untested UDU implementation 
Pushing to trigger build

Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Sébastien Crozet
21cc428480
Merge pull request #803 from aweinstock314/no_unsound_assume_init 
Propagate `mem::MaybeUninit` through the return types of `Allocator::…
 2021-02-25 15:46:49 +01:00
Sébastien Crozet
fa2e025a1e
Merge pull request #824 from tpdickso/dual_quaternion 
Implement additional `DualQuaternion` ops and `UnitDualQuaternion`
 2021-02-25 15:46:34 +01:00
Sébastien Crozet
69e2ad6a44
Merge pull request #831 from iMplode-nZ/dev 
Added bytemuck implementations for static storages.
 2021-02-25 15:46:28 +01:00
Sébastien Crozet
bc6faa22f3
Merge pull request #797 from Recmo/remco/feat/double-ended-iter 
impl DoubleEndedIterator for {MatrixIter, MatrixIterMut}
 2021-02-25 15:46:11 +01:00
Sébastien Crozet
06f92ad1e3
Merge pull request #613 from russellb23/dev 
QR factorizatio nwith column pivoting
 2021-02-25 15:45:58 +01:00
Crozet Sébastien
a32f41bd41 Fix compilation when targetting no-std. 2021-02-25 15:03:35 +01:00
Crozet Sébastien
bf0f3163ce Rename some of the variables in dual-quaternion doc-tests. 2021-02-25 14:49:01 +01:00
Crozet Sébastien
162a7ef09c Fix compilation when the mint or alga features are enabled. 2021-02-25 14:30:04 +01:00
Crozet Sébastien
af448d2c70 Add bytemuck impls to points. 2021-02-25 14:19:20 +01:00
Crozet Sébastien
0b1e6f0b05 Run cargo fmt. 2021-02-25 14:16:57 +01:00
Crozet Sébastien
dc15261ec1 Move the bytemuck impls to GenericArray and add a transitive impl for matrices. 2021-02-25 14:10:34 +01:00
Crozet Sébastien
234e103e4b Fix compilation of the sparse module. 2021-02-25 13:52:58 +01:00
Avi Weinstock
ee32f7d4cf Run cargo fmt. 2021-02-25 13:42:23 +01:00
Avi Weinstock
cd12422d6f Change zero_or_uninitialized_generic to unimplemented_or_uninitialized_generic, and use it instead of manually dispatching on feature=no_unsound_assume_init in functions without N: Zero. 2021-02-25 13:42:23 +01:00
Avi Weinstock
36a3ac814f Propagate mem::MaybeUninit through the return types of Allocator::allocate_uninitialized and Matrix::new_uninitialized_generic. 
Most call sites still invoke UB through `assume_init`. Said call sites instead invoke `unimplemented!()` if the `no_unsound_assume_init` feature is enabled, to make it easier to gradually fix them.

Progress towards #556.
 2021-02-25 13:42:23 +01:00
Remco Bloemen
b25c2aa78c Fix inner size 2021-02-25 13:31:16 +01:00
Remco Bloemen
d5ca2019a3 impl FusedIterator 2021-02-25 13:31:16 +01:00
Remco Bloemen
eb3d787ed6 Fix inner_size computation 2021-02-25 13:31:16 +01:00
Remco Bloemen
d49af8e8b2 Implement next_back 2021-02-25 13:31:16 +01:00
Remco Bloemen
73d6ba0ca1 Dummy implementation of DoubleEndedIterator 2021-02-25 13:31:16 +01:00
Crozet Sébastien
598c217d75 Move the col_piv_qr method to the decomposition module. 2021-02-25 13:28:42 +01:00
Crozet Sébastien
693e6d0035 Run cargo fmt. 2021-02-25 12:59:14 +01:00
Sébastien Crozet
adc82845d1
Merge pull request #823 from Andlon/sparse-rework 
Sparse rework: nalgebra-sparse
 2021-02-25 12:58:28 +01:00
Crozet Sébastien
308d95386e Fix all tests and the ColPivQR::solve. 2021-02-25 12:06:04 +01:00
russellb23
63a34528e0 Added test for QR factorization and fixed unpack issue 2021-02-25 11:31:37 +01:00
russellb23
1316133625 Removed unused imports 2021-02-25 11:31:37 +01:00
russellb23
a2f3e1ac26 Inverted sign in householder 2021-02-25 11:31:37 +01:00
russellb23
f8c0195f0f QR factorization with column pivoting 2021-02-25 11:31:37 +01:00
Crozet Sébastien
bafa1dcd97 Re-export simba::SimdValue. 2021-02-22 14:27:18 +01:00
Crozet Sébastien
478921881f Add approximate rotation composition for unit-quaternion. 2021-02-22 14:27:08 +01:00
Crozet Sébastien
9d930eb21a Add a method to cap the magnitude of a vector. 2021-02-22 14:26:40 +01:00
Crozet Sébastien
6139372c38 Add from_basis_unchecked to rotation types. 2021-02-22 14:26:25 +01:00
iMplode nZ
1c0891bbbb Added bytemuck for Unit and Quaternion. 2021-02-12 15:30:12 -08:00
iMplode nZ
c667b1f9c8 Added bytemuck implementations for static storages. 2021-02-10 20:12:24 -08:00
Crozet Sébastien
fb26d4d0fb Update the htaml_root_url. 2021-01-29 13:56:40 +01:00
Terence
c408e09e28 update header comment for operators 2021-01-28 19:41:55 -05:00
Terence
ac92e68486 add new operators 2021-01-28 19:27:40 -05:00
Terence
ecda74f6b2 clippify 2021-01-28 18:50:34 -05:00
Terence
388b77108e rustfmt 2021-01-28 18:46:14 -05:00
Terence
6be0365203 add integration test 2021-01-28 18:45:34 -05:00
Terence
12c259f0b4 Implement additional DualQuaternion ops and UnitDualQuaternion 
This implements `UnitDualQuaternion` as an alternative to `Isometry3`
for representing 3D isometries, which also provides the `sclerp`
operation which can be used to perform screw-linear interpolation
between two unit dual quaternions.
 2021-01-28 17:25:32 -05:00
Andreas Longva
646f62a293 rustfmt (nalgebra) 2021-01-26 09:49:01 +01:00
Andreas Longva
5dfe06897f Rename nalgebra/proptest to /proptest-support 
This gives us some freedom in the future, in case we need
additional dependencies for the proptest integration.
 2021-01-26 09:49:01 +01:00
Andreas Longva
b2dbcf3168 Add D=Dynamic default and ::to_range_inclusive for DimRange (nalgebra) 2021-01-26 08:57:47 +01:00
Andreas Longva
f9ea2b4471 Initial proptest implementation for nalgebra 
This introduces functionality for creating strategies for matrices and
vectors, as well as an implementation of Arbitrary.

Strategies for the geometric types (Point3, Quaternion etc.) are not
currently part of this contribution.

The current strategy implementation for matrices has some limitations
that lead to suboptimal shrinking behavior. This is documented in the
module-level docs, with some additional comments in the code.
 2021-01-26 08:57:47 +01:00
Chinedu Francis Nwafili
b9513257b8
Serialize DQ to [N;8] 
Closes #816
 2020-12-18 12:19:38 -05:00
Chinedu Francis Nwafili
7ec5d00c3d
Clean up DualQuat bounds 2020-12-18 10:38:19 -05:00
Chinedu Francis Nwafili
89134efc3b
Store DQ as real and dual Quat 2020-12-18 10:09:56 -05:00
Chinedu Francis Nwafili
8036c56fda
Introduce DualQuaternion type 
This commit introduces the `DualQuaternion` type, in line with the plan
laid out in [#487].

[#487]: https://github.com/dimforge/nalgebra/issues/487
 2020-12-18 09:13:24 -05:00
Sébastien Crozet
88145b7f8c
Merge pull request #814 from dimforge/quaternion_partial_eq_fix 
Fix the PartialEq impl for quaternions.
 2020-12-18 12:29:38 +01:00
Sébastien Crozet
3899d92f5d
Merge pull request #815 from dimforge/isometry_inv_mul 
Add a dedicated method for computing isometry1.inverse() * isometry2.
 2020-12-18 12:08:34 +01:00
Sébastien Crozet
8c615289dc
Merge pull request #813 from dimforge/deserialize_uninit 
Add workaround for the deserialization of a matrix containing an enum.
 2020-12-18 12:06:39 +01:00
Crozet Sébastien
ed74ff7c99 Simplify trait bounds for quaternion indexing. 2020-12-18 12:06:27 +01:00
Crozet Sébastien
60708640d3 Add a dedicated method for computing isometry1.inverse() * isometry2. 
It is more efficient that way.
 2020-12-18 11:55:46 +01:00
Crozet Sébastien
b15a274a14 Add workaround for the deserialization of a matrix containing an enum. 2020-12-18 11:54:56 +01:00
Crozet Sébastien
67603be6ed Fix the PartialEq impl for quaternions. 
The double-covering property should only be taken into account for `UnitQuaternion` instead of `Quaternion` itself.
 2020-12-18 11:38:33 +01:00
Südi Tamás
b01d01d486
update the version number in the documentation 
from 0.21 to 0.23
 2020-12-16 18:35:13 +01:00
Crozet Sébastien
651d318c26 Add sections to the Unit wrapper documentation 2020-11-21 12:19:04 +01:00
Crozet Sébastien
c1372c3041 Add sections to the UnitComplex documentation 2020-11-21 11:56:32 +01:00
Crozet Sébastien
99ac7a8e08 Add sections to the Rotation documentation 2020-11-21 11:56:32 +01:00
Crozet Sébastien
2a3d98bff8 Matrix, vector, isometry, and point aliases documentation: warn that the reader should take a look at the documentation of the aliased type too. 2020-11-20 17:46:03 +01:00
Crozet Sébastien
cf769522f8 Add sections to the documentations of Isometry and Point. 2020-11-20 17:45:11 +01:00
Crozet Sébastien
857ce13b63 Add DVector::from(Vec). 2020-11-19 16:28:06 +01:00
Philippe Renon
87ee014bd3 clippy: fix clone_on_copy warnings 2020-11-19 12:55:15 +01:00
Philippe Renon
bbc6a28f7d clippy: fix len_without_is_empty warnings 2020-11-19 12:24:26 +01:00
Philippe Renon
6a5b418fbc clippy: fix ptr_offset_with_cast warnings 2020-11-19 11:56:58 +01:00
Philippe Renon
f515cffad9 clippy: fix redundant_closure warnings 2020-11-19 11:43:08 +01:00
Philippe Renon
726b8eeecf clippy: fix or_fun_call warnings 2020-11-19 11:43:08 +01:00
Philippe Renon
74a09c8a5e clippy: fix ptr_offset_with_cast warnings 
i.e. use of `offset` with a `usize` casted to an `isize`
 2020-11-16 14:59:53 +01:00
Philippe Renon
f1211b0d99 clippy: remove unused imports 2020-11-16 14:46:04 +01:00
Philippe Renon
008c24204e clippy: fix unreadable_literal warnings 2020-11-16 14:43:36 +01:00
Philippe Renon
de4a067d27 clippy: fix len_zero warnings 2020-11-16 12:11:24 +01:00
Philippe Renon
d577a18a45 clippy: fix or_fun_call warnings 2020-11-16 11:11:58 +01:00
Philippe Renon
5dff493515 clippy: fix just_underscores_and_digits warnings 2020-11-16 11:04:57 +01:00
Philippe Renon
cf54580fac clippy: fix redundant_field_names warnings 2020-11-16 11:04:56 +01:00
Crozet Sébastien
0521051665 Fix wrong import of Signed an Zero. 2020-11-15 17:44:58 +01:00
Crozet Sébastien
17eb626018 Fix typo. 2020-11-15 17:25:29 +01:00
Crozet Sébastien
f2da993c8b Reduce matrix and slice aliases depth to 1. 2020-11-15 17:23:46 +01:00
Crozet Sébastien
e852df6124 Add sections for most Matrix methods. 2020-11-15 16:57:49 +01:00
Crozet Sébastien
b8d1ae3a1f Add aliases for matrices with only one dynamic dimension. 2020-11-13 18:35:23 +01:00
Crozet Sébastien
9a4cf0b69f Reorganize matrix construction macros. 2020-11-13 18:34:47 +01:00
Crozet Sébastien
4c2192d9e0 Reorganize matrix slice macros. 2020-11-13 18:34:33 +01:00
Crozet Sébastien
45f2fc4f92 Move all matrix decomposition methods under a single impl. 2020-11-13 17:26:47 +01:00
Philippe Renon
04ce8b3f6a clippy: fix suspicious_op_assign_impl errors (false positives) 2020-10-26 13:09:03 +01:00
Philippe Renon
d990aff44e clippy: fix clippy::eq_op error (false positive) 2020-10-26 08:56:49 +01:00
Philippe Renon
74f01d2538 clippy: fix suspicious_arithmetic_impl errors (false positives) 2020-10-26 08:49:06 +01:00
Crozet Sébastien
8e483a5434 Fix reshaping test. 2020-10-25 16:31:10 +01:00
Crozet Sébastien
e89a26cbd0 Add doc-tests for reshape_generic. 2020-10-25 16:03:18 +01:00
Crozet Sébastien
5b3da9e2eb Fix typo in comment. 2020-10-25 16:02:31 +01:00
Nathan Kent
4a6022d9bf Add methods for in-place reshaping of matrices 
There are two major additions in this commit. The first is a new storage
trait, `ReshapableStorage`, that can be implemented for storage types
that can be reshaped in-place. I have implemented this for both the
`ArrayStorage` and `VecStorage` types, as they are the most common and
they are just interpretations of a flat list.

The second is a `Matrix::reshape_generic` method that allows matrices to
be in-place reshaped provided that the underlying storage can handle it.
In practice, this means that the standard matrix types (`MatrixMN` and
`DMatrix`) can be resized to any size that has the same element count.
Resizing between array and vector storage is not implemented due to
`Storage` only being implemented for `VecStorage` variants where at
least one dimension is `Dynamic`.

Additionally, only the generic reshape function is added as it can be a
basis for other reshaping functions (see the resizing functions) and I
am not particularly in the mood to implement a variety of reshaping
methods.
 2020-10-25 15:37:18 +01:00
Crozet Sébastien
c410a32c82 Fix doc-tests. 2020-10-25 14:15:26 +01:00
Crozet Sébastien
93f361cba8 Add missing slerp implementations. 2020-10-25 14:00:47 +01:00
Crozet Sébastien
097ae44efa Add lerp_slerp to isometries for interpolation. 2020-10-25 11:39:27 +01:00
Crozet Sébastien
9c93a58b5d Add Vector::ith_axis to build an unit vector with its i-th component set to 1. 2020-10-25 11:25:38 +01:00
Crozet Sébastien
55689c238a Add the conversion of a translation to an isometry. 2020-10-25 11:25:20 +01:00
Crozet Sébastien
503040b8bc Add Point.map(f) and Point.apply(f). 2020-10-25 11:25:20 +01:00
Crozet Sébastien
a623e63d08 Add the conversion of an array of four elements to a quaternion. 2020-10-25 11:25:20 +01:00
Crozet Sébastien
3d82c4335e Add inverse_transform_unit_vector to rotations and isometries. 2020-10-25 11:25:20 +01:00
Sébastien Crozet
eb94084760
Merge pull request #756 from dayrover/cholesky 
Remove unnecessary Trait bound DimSub<Dynamic> in fn cholesky(self)
 2020-10-24 18:23:03 +02:00
Sébastien Crozet
c240923abb
Merge pull request #754 from TheZoq2/patch-1 
Update version in docs header
 2020-10-24 18:22:36 +02:00
Crozet Sébastien
4da2bfcb71 Add missing dot-product dimension check. 
Fix #776
 2020-10-13 17:29:00 +02:00
Crozet Sébastien
343fb2f24f Ensure Isometry implements Copy when targeting no-std. 
Fix #774.
 2020-10-13 10:12:14 +02:00
Philippe Renon
822f114254 perspective: fix copy/paste error 2020-10-11 11:57:49 +02:00
Philippe Renon
0b0f248267 clippy: fix #identity_op 2020-10-11 11:42:22 +02:00
Philippe Renon
1624a87efa clippy: fix #needless_return 2020-10-11 11:42:22 +02:00
Philippe Renon
6293d3375b clippy: fix #redundant_field_names 2020-10-11 11:42:22 +02:00
Philippe Renon
fb15658cc9 fix typo: apsect should be aspect 2020-10-11 11:42:22 +02:00
Michael Morgan
c6d5d8a1a6 Remove unsafe statement in Point::deref by forwarding to Vector. 
Since both impls are #[inline], this should have no performance impact.
 2020-10-09 15:27:02 -04:00
Sébastien Crozet
a8f73cb7b2 Run cargo fmt. 2020-08-25 20:47:07 +02:00
Sébastien Crozet
46d1cf2231 Add a libm and libm-force feature to transitively enable the corresponding simba feature. 2020-08-25 20:46:35 +02:00
sebcrozet
7c69cbf326 Don't depend on serde_derive explicitly. 2020-08-25 20:46:04 +02:00
Sébastien Crozet
6300d34356 Add the ::ith constructor for vectors. 
This initializes a vectors to zero except the i-th element set to a given value.
 2020-08-25 20:46:04 +02:00
Michael Stevens
0a0799f76a Remove unnecessary Trait bound DimSub<Dynamic> in fn cholesky(self) 2020-08-03 18:20:26 +02:00
Frans Skarman
0f6c0e5233
Update version in docs header 2020-07-31 14:14:39 +02:00
Sébastien Crozet
2ab82befe4
Merge pull request #631 from Andlon/matrixcompare 
Basic matrixcompare functionality
 2020-07-17 01:10:04 -07:00
danielschlaugies
f9f7169558
Add matrix exponential for complex matrices (#744) 
Added matrix exponential for complex matrices.
 2020-07-16 10:29:52 +02:00
CGMossa
bc70258e5c
Why Option<_> (#746) 
Add a comment about why `UnitQuaternion::rotation_between` returns an Option.
 2020-07-16 09:27:06 +02:00
Adam Nemecek
1cf7d12695 unrolled new_nonuniform_scaling_wrt_point 2020-07-05 13:29:08 -07:00
Adam Nemecek
6a1c4f84af cargo fmt 2020-07-02 10:31:30 -07:00
Adam Nemecek
4653f772bd added new_nonuniform_scaling_wrt_point to Matrix3 & Matrix4 2020-07-02 10:16:18 -07:00
Andreas Longva
9196759bc2 Improve matrixcompare example 2020-06-29 19:03:20 +02:00
Andreas Longva
f6730dac1f Basic matrixcompare functionality 2020-06-29 18:50:19 +02:00
Jenan Wise
85a64fb517 More verbose DMatrix dim asserts where possible. 
Previously, most dimension mismatch asserts used raw `assert!` and did
not include the mismatching dimensions in the panic message. When using
dynamic matrices, this led to somewhat-opaque panics such as:

```rust
let m1 = DMatrix::<f32>::zeros(2, 3);
let m2 = DMatrix::<f32>::zeros(5, 10);
m1 + m2 // panic: Matrix addition/subtraction dimensions mismatch.
```

This patch adds dimension information in the panic messages wherever
doing so did not add additional bounds checks, mostly by simply changing
`assert!(a == b, ...)` cases to `assert_eq!`. After:

```rust
// panic: assertion failed: `(left == right)`
//   left: `(2, 3)`,
//  right: `(5, 10)`: Matrix addition/subtraction dimensions mismatch.
```

Note that the `gemv` and `ger` were not updated, as they are called from
within other functions on subset matricies -- e.g., `gemv` is called
from `gemm` which is called from `mul_to` . Including dimension
information in the `gemv` panic messages would be confusing to
`mul` / `mul_to` users, because it would include dimensions of the column
vectors that `gemm` passes to `gemv` rather than of the original `mul`
arguments. A fix would be to add bounds checks to `mul_to`, but that may
have performance and redundancy implications, so is left to another
patch.
 2020-06-22 17:18:53 -07:00
sebcrozet
2c2d1e4f07 Run cargo fmt. 2020-06-07 09:07:25 +02:00
Sébastien Crozet
3359e25435 Cholesky: add unchecked construction compatible with AoSoA SIMD. 2020-06-07 09:05:10 +02:00
Sébastien Crozet
423b4b27b0
Merge pull request #585 from fusion-engineering-forks/pr-default 2020-06-07 08:58:47 +02:00
Chris Hodapp
7363caba17 Fix doc typo (v is right-singular vectors, not left) 2020-04-21 10:23:00 -04:00
sebcrozet
6dc739b70b Remove unused allocator bound. 2020-04-21 10:37:14 +02:00
sebcrozet
f4c0897764 Fix compilation of matrix exponential when targetting no-std. 2020-04-21 10:35:20 +02:00
Fredrik Jansson
583a8fb110 Removed unsafe immutable hack 2020-04-12 13:27:11 +02:00
Fredrik Jansson
e914afe2af Added support for dynamic matrices 2020-04-12 11:59:06 +02:00
Fredrik Jansson
0a3ee99cdb Changed dimension name R to D 
Changed N::from_x to crate::convert
 2020-04-12 11:46:00 +02:00
Fredrik Jansson
4ec94408b5 Pub use of exp in the linalg module 2020-04-07 09:41:32 +02:00
Fredrik Jansson
b3ef66fd14 Fixed bug in onenorm_matrix_power_norm 2020-04-07 09:41:32 +02:00
Fredrik Jansson
e156561677 one_norm is not a public function 2020-04-07 09:41:32 +02:00
Fredrik Jansson
2696ffd7a1 Fixed bug by introducing one norm 2020-04-07 09:41:32 +02:00
Fredrik Jansson
c0a6df55b1 Addition of matrix exponent for static size matrices. 2020-04-07 09:41:32 +02:00
sebcrozet
677f355143 Run rustfmt. 2020-04-05 23:19:10 +02:00
Sébastien Crozet
b81aed767f
Merge pull request #713 from rustsim/soa_simd 
Switch to Simba and make the base and geometry modules mostly SIMD AoSoA friendly.
 2020-04-05 21:16:48 +02:00
sebcrozet
bbb3be512e Run cargo fmt. 2020-04-05 18:49:48 +02:00
sebcrozet
691f58b622 Fix compilation of tests. 2020-04-05 18:33:03 +02:00
sebcrozet
2c03353b30 Add missing docs. 2020-04-05 18:02:03 +02:00
sebcrozet
c5dad7f960 Re-add all the alga trait impls behind a feature. 2020-04-05 17:53:27 +02:00
sebcrozet
191ccbf551 Fix warnings and compilation with the arbitrary feature. 2020-04-05 17:18:50 +02:00
sebcrozet
d48a644d5c Add missing implementatino of SimdValue for UnitQuaternion. 2020-04-05 16:35:26 +02:00
sebcrozet
8f662a1a61 Rename translation simba impl file. 2020-04-05 16:35:16 +02:00
Chia-Sheng Chen
65bc037b5d Supplement the document of fn as_ptr 2020-04-03 17:56:08 +08:00
Chia-Sheng Chen
b996a6f0ce Supplement the document of fn vector_to_matrix_index 2020-04-03 17:39:49 +08:00
Fan Jiang
0e69df2999 Update format 2020-04-01 01:14:32 -04:00
Fan Jiang
451c61e293 Add TODO notice and reference to issue 2020-03-31 17:04:10 -04:00
Fan Jiang
526dac1914 Be more specific on what is happening here 2020-03-31 17:03:07 -04:00
Fan Jiang
74bfd9cad6 Change to the recommended style of using MaybeUninit 2020-03-31 16:50:26 -04:00
Sébastien Crozet
a095a7dfcd Re-add some missing transform multiplications. 2020-03-24 19:06:28 +01:00
Sébastien Crozet
81bb9e94f8 Re-add orthogonalization and subspace basis computation. 2020-03-24 19:06:05 +01:00
Sébastien Crozet
8ef46d62cb Re-add inf/sup. 2020-03-24 19:05:47 +01:00
Sébastien Crozet
cdbc9da46c Add From<[...; .]> impls for AoSoA Isometry and Similarity. 2020-03-24 10:16:31 +01:00
sebcrozet
b3f347e45e Add From<[...; .]> impls for all SIMD geometric sructures up to the isometry (excluded). 2020-03-23 09:16:01 +01:00
sebcrozet
b1857e6a36 Fix compilation of tests. 2020-03-21 23:44:24 +01:00
sebcrozet
cbcf4d7c27 Make Isometry, Unit/Quaternion, Rotation, Similarity, and UnitComplex partially compatible with AoSoA. 2020-03-21 23:35:41 +01:00
sebcrozet
f8cd26cfa9 Replace alga by simba. 2020-03-21 12:16:46 +01:00
Sébastien Crozet
002e735c76 Make blas, matrix, norm, and ops.rs compatible with SoA Simd. 2020-03-17 17:58:36 +01:00
Fan Jiang
fe75c60325 Fix warnings on latest rustc 2020-03-10 18:20:52 -04:00
Sébastien Crozet
155ba3a50a Merge pull request #698 from rustsim/try_set_magnitude 
Add a method to set the magnitude of a vector.
 2020-03-02 12:45:39 +01:00
Sébastien Crozet
1d64de3822 Merge pull request #609 from aplund/dev 
Refactor row_sum() and column_sum() to cover more cases.
 2020-03-02 12:45:39 +01:00
sebcrozet
b09d9770f7 Add a method to set the magnitude of a vector. 2020-03-02 12:45:39 +01:00
Sébastien Crozet
a67c451ae5 Merge pull request #607 from cauthmann/dev 
Add #[must_use] to all functions with a _mut variant (#598)
 2020-03-02 12:45:39 +01:00
nnmm
54f1c71742 Small docs improvements 2020-03-02 12:45:39 +01:00
Ilya Epifanov
a62d9d1ad1 GivensRotation::new() should default to (I, 0) 2020-03-02 12:45:38 +01:00
S.Brandeis
6d608cb99f Revert "Broader PartialEq implementation for types implementing Dim trait" 
This reverts commit 6f5c9c0f
 2020-03-02 12:45:38 +01:00
S.Brandeis
08d990f276 Make shape check a one-liner in impl PartialEq for Matrix 2020-03-02 12:45:38 +01:00
S.Brandeis
d35ef06f44 Remove unnecessary PartialEq trait use in PartialEq impl for Matrix 2020-03-02 12:45:38 +01:00
S.Brandeis
403e63dc5e Remove trailing whitespace 2020-03-02 12:45:38 +01:00
S.Brandeis
8a3f6a12cd Refactor and move named_dimension! macro 2020-03-02 12:45:38 +01:00
S.Brandeis
50ea55e877 Modify PartialEq for Matrix to allow comparison with all types of Matrix 2020-03-02 12:45:38 +01:00
S.Brandeis
2b8410e08b Fix bug - PartialEq for Matrix no longer panics when shapes do not match 2020-03-02 12:45:38 +01:00
S.Brandeis
39a433c0e7 Broader PartialEq implementation for types implementing Dim trait 2020-03-02 12:45:38 +01:00
Sébastien Crozet
12fa938516 Merge pull request #686 from rustsim/fix_vector_slerp 
Fix slerp for regular vectors.
 2020-03-02 12:45:38 +01:00
sebcrozet
e911bfc7db Fix doc-test for vector slerp. 2020-03-02 12:45:38 +01:00
sebcrozet
5f4a0c7b13 Fix slerp for regular vectors. 2020-03-02 12:45:38 +01:00
Sébastien Crozet
9ec8d4dbd8 Merge pull request #688 from rustsim/matrix_to_slice 
Add matrix/slice conversions.
 2020-03-02 12:45:37 +01:00
Mara Bos
43747b4f59 Implement Extend<&N> for VecStorage. 
Extend<N> was already implemented, but nalgebra vectors/matrices give
iterators that give &N, not N, so implementing Extend<&N> as well makes
it easier to use.

It seems common practice to do so: The standard library's Vec also
implments Extend for both T and &T.
 2020-03-02 12:45:37 +01:00
Sébastien Crozet
2728827a45 Merge pull request #684 from aweinstock314/scalar-inlined-clone 
Add inlined_clone to Scalar, and relax bounds from `Scalar + Copy` to…
 2020-03-02 12:45:37 +01:00
sebcrozet
8bf94f7afb Add matrix/slice conversions. 
Fix #687.
 2020-03-02 12:45:37 +01:00
Sébastien Crozet
999c48e6ed Merge pull request #680 from aweinstock314/copy-scalar-separation 
Move `Copy` constraint from the definition of `Scalar` to all its use…
 2020-03-02 12:45:37 +01:00
Avi Weinstock
774f4da3e2 Add Clone to Scalar, providing a default implementation of inlined_clone. Change Scalar + Clone bounds to just Scalar. 2020-03-02 12:45:37 +01:00
Avi Weinstock
52aac8b975 Add inlined_clone to Scalar, and relax bounds from Scalar + Copy to Scalar + Clone nearly everywhere. 
The various nalgebra-lapack FooScalars are still Copy because they make use of uninitialized memory.
nalgebgra-glm Number still uses Copy because upstream `approx` requires it.
 2020-03-02 12:45:37 +01:00