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Author SHA1 Message Date
Christopher Durham f578181351 Fix glm::is_normalized epsilon 
The existing comparison bound of $\epsilon^2$ is improperly scaled for
testing an epsilon of the squared vector magnitude. Let $\epsilon$ be
our specified epsilon and $\delta$ be the permissible delta of the
squared magnitude. Thus, for a nearly-normalized vector, we have

$$\begin{align}
\sqrt{1 + \delta} &=  1 + \epsilon        \\
          \delta  &= (1 + \epsilon)^2 - 1 \\
          \delta  &=  \epsilon^2 + 2\epsilon
\text{ .}\end{align}$$

Since we only care about small epsilon, we can assume
that $\epsilon^2$ is small and just use $\delta = 2\epsilon$. And in
fact, [this is the bound used by GLM][GLM#isNormalized] (MIT license)
... except they're using `length` and not `length2` for some reason.

[GLM#isNormalized]: b06b775c1c/glm/gtx/vector_query.inl (L102)

If we stick an epsilon of `1.0e-6` into the current implementation,
this gives us a computed delta of `1.0e-12`: smaller than the `f32`
machine epsilon, and thus no different than direct float comparison
without epsilon. This also gives an effetive epsilon of `5.0e-13`;
*much* less than the intended `1.0e-6` of intended permitted slack!
By doing a bit more algebra, we can find the effective epsilon is
$\sqrt{\texttt{epsilon}^2 + 1} - 1$. This patch makes the effective
epsilon $\sqrt{2\times\texttt{epsilon} + 1} - 1$ which still isn't
*perfect*, but it's effectively linear in the domain we care about,
only really making a practical difference above an epsilon of 10%.

TL;DR: the existing `is_normalized` considers a vector normalized if
the squared magnitude is within `epsilon*epsilon` of `1`. This is wrong
and it should be testing if it's within `2*epsilon`. This PR fixes it.

For absence of doubt, a comparison epsilon of $\texttt{epsilon}^2$ is
correct when comparing squared magnitude against zero, such as when
testing if a displacement vector is nearly zero.
 2024-01-13 00:02:26 -05:00
Ababwa 0b89950fca Correct less than or equal symbol in doc in vector_relational.rs 
Less than or equal <=
 2024-01-11 23:24:13 -08:00
Benjamin Saunders 7866bcee5c Remove CUDA support relying on abandoned toolchain 2024-01-11 23:09:17 -08:00
Benjamin De Roeck a60870daf6
docs: Demonstrate correct function in to_homogeneous example (#1346) 2024-01-04 19:21:40 -08:00
Kurt Lawrence 6dce471297
Make OPoint call `T::fmt` to respect formatting modifiers (#1336) 2023-12-20 14:42:54 -08:00
Julian Knodt 1e0cb7bc09
Fix Clippy Warnings (#1300) 2023-12-16 13:54:38 -08:00
zachs18 a01fa48e33
Forward `std` feature to some deps. (#1321) 2023-12-10 19:35:54 -08:00
Bruce Mitchener c3fe38b318 docs: Fix unbalanced backticks. 2023-12-10 14:04:53 -08:00
Sébastien Crozet a91e3b0d89
Merge pull request #1315 from yotamofek/owned-view-iter 
Allow creating matrix iter with an owned view
 2023-11-12 23:29:41 +01:00
Sébastien Crozet 83eccc6b8f
Merge pull request #1312 from arscisca/dev-DefaultTrait 
Implement Default trait for sparse matrix types
 2023-11-12 23:27:37 +01:00
Sébastien Crozet 2e99320d01
Merge pull request #1314 from rasmusgo/fix-svd-near-zero 
Fix bug in SVD related to values near zero
 2023-11-12 23:18:59 +01:00
Sébastien Crozet c5276c90e1 cargo fmt 2023-11-12 23:17:33 +01:00
Sébastien Crozet 06b8d38970 fix no-std builds. 2023-11-12 23:17:17 +01:00
Sébastien Crozet 469390f4b9 Check norm_squared instead of mangnitude. 2023-11-12 23:12:52 +01:00
Sébastien Crozet f8cd2d497d
Merge pull request #1308 from decathorpe/dev 
Fix and clarify license in crate metadata and add missing license files
 2023-11-12 23:04:32 +01:00
Yotam Ofek 1195eadd1a Allow creating matrix iter with an owned view 2023-11-12 08:19:29 +00:00
Rasmus Brönnegård 7ea9ecee08 Test for axes with zero magnitude 2023-11-09 01:20:44 +01:00
Rasmus Brönnegård 03c24fb369 Add unit tests for issue 1313 2023-11-09 00:53:42 +01:00
Rasmus Brönnegård b6e094c82f Fix spelling in givens.rs 2023-11-09 00:48:13 +01:00
Alessandro Rocco Scisca 0887b875a5 Implement Default trait for sparse matrix types 2023-10-30 17:50:56 +00:00
Fabio Valentini bad63b6423
Fix and clarify license in crate metadata and add missing license files 2023-10-24 18:33:53 +02:00
Sébastien Crozet c6ff3eeb7e
Merge pull request #1265 from waywardmonkeys/fix-html-links 
docs: Use intradoc links rather than HTML.
 2023-09-30 18:24:28 +02:00
Sébastien Crozet 804e606c97
Merge pull request #1270 from waywardmonkeys/look-at-lh-is-left-handed 
doc: Isometry's `look_at_lh` is left-handed.
 2023-09-30 18:21:48 +02:00
Sébastien Crozet d2d2571590
Merge pull request #1273 from waywardmonkeys/blackbox-criterion 
Use std::hint::black_box consistently.
 2023-09-30 18:20:09 +02:00
Sébastien Crozet 2043824058
Merge pull request #1281 from waywardmonkeys/clippy-single_component_path_imports 
nalgebra-glm: Fix clippy single_component_path_imports.
 2023-09-30 18:16:16 +02:00
Sébastien Crozet 1987ca29bb
Merge pull request #1282 from waywardmonkeys/clippy-needless-borrow 
clippy: Fix needless_borrow warnings.
 2023-09-30 18:15:42 +02:00
Sébastien Crozet 5a9d036226
Merge pull request #1283 from waywardmonkeys/dual-quaternion-wrong-self-convention 
DualQuaternion: Fix to_vector self convention.
 2023-09-30 18:13:23 +02:00
Sébastien Crozet c9008ab859
Merge pull request #1284 from waywardmonkeys/glm-too-many-arguments 
nalgebra-glm, clippy: Suppress too_many_arguments.
 2023-09-30 17:56:16 +02:00
Sébastien Crozet 25749e3b89
Merge pull request #1288 from JulianKnodt/dev 
Add `try_from_triplets_iter`
 2023-09-30 17:55:41 +02:00
Sébastien Crozet b39bd09eaa chore: swap test names 2023-09-30 17:55:04 +02:00
Sébastien Crozet 542f6cf437
Merge pull request #1302 from mgeier/doc-norm_squared 
DOC: Use norm_squared() in its doctest
 2023-09-30 17:44:41 +02:00
Matthias Geier 87796ace42 DOC: Use norm_squared() in its doctest 2023-09-30 13:01:11 +02:00
julianknodt 666b0fd2de Add `try_from_triplets_iter` 
Calls `try_from_triplets` for now, and is mentioned in the documentation.
 2023-08-22 22:19:42 -07:00
Bruce Mitchener 1b1d950f74 nalgebra-glm, clippy: Suppress too_many_arguments. 
Matrix constructors need more args.
 2023-08-19 01:00:01 +07:00
Bruce Mitchener bfb84e8fc6 DualQuaternion: Fix to_vector self convention. 
By taking a ref, we can avoid an extra copy on the caller side.
 2023-08-19 00:52:59 +07:00
Bruce Mitchener 1d9a4bf6ec clippy: Fix needless_borrow warnings. 2023-08-19 00:36:24 +07:00
Bruce Mitchener 8609167053 nalgebra-glm: Fix clippy single_component_path_imports. 
These imports are redundant and not needed.
 2023-08-19 00:19:42 +07:00
Andreas Borgen Longva f404bcbd6d
Merge pull request #1279 from waywardmonkeys/clippy-less-lazy 
clippy: Don't need lazy eval for len calls.
 2023-08-15 11:01:13 +02:00
Andreas Borgen Longva 1e40308118
Merge pull request #1278 from waywardmonkeys/clippy-needless-return 
clippy: Fix needless_return warnings.
 2023-08-15 11:00:24 +02:00
Bruce Mitchener cb2ed212ed clippy: Don't need lazy eval for len calls. 2023-08-15 14:46:35 +07:00
Bruce Mitchener 76866ad878 clippy: Fix needless_return warnings. 2023-08-15 14:34:34 +07:00
Andreas Borgen Longva 6ac9d8995c
Merge pull request #1276 from waywardmonkeys/fix-rkyv-feature-doc-warnings 
docs: Fix 2 warnings when building with rkyv.
 2023-08-15 09:19:07 +02:00
Andreas Borgen Longva 02260161b1
Merge pull request #1277 from waywardmonkeys/unused-split 
`split_at` is only used by Rayon code.
 2023-08-15 09:18:54 +02:00
Bruce Mitchener 226761323f docs: Fix 2 warnings when building with rkyv. 2023-08-14 17:23:59 +07:00
Bruce Mitchener a2fd72dfb9 `split_at` is only used by Rayon code. 
This fixes an unused code warning. Since the code is `pub(crate)`,
it was only available within the crate and only used by Rayon
code, so it is no functional change to not compile it except
when the right feature is enabled.

Also, fix a minor typo in some non-doc comments.
 2023-08-14 17:21:45 +07:00
Andreas Borgen Longva 8d7763ab8f
Merge pull request #1275 from waywardmonkeys/no-default-features-unused-import-warnings 
Fix import warnings when `--no-default-features`.
 2023-08-14 08:57:45 +02:00
Andreas Borgen Longva 69b46cb7fa
Merge pull request #1260 from WarrenWeckesser/use-assert-macro 
DOC: Fix compiler warning in the first example in lib.rs.
 2023-08-14 08:53:24 +02:00
Andreas Borgen Longva ec9a88c0ac
Merge pull request #1271 from waywardmonkeys/incorrect-usages-of-relative-eq 
Use `assert_relative_eq!` instead of relative_eq!`.
 2023-08-14 08:51:22 +02:00
Andreas Borgen Longva 3fdeeca09c
Merge pull request #1272 from waywardmonkeys/unused-lifetimes 
clippy: Remove unused lifetimes.
 2023-08-14 08:36:50 +02:00
Bruce Mitchener 14b00f6bf6 Fix import warnings when `--no-default-features`. 2023-08-14 11:40:03 +07:00