2018-05-19 21:41:58 +08:00
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use approx::{AbsDiffEq, RelativeEq, UlpsEq};
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2016-12-05 05:44:42 +08:00
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use num::One;
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use std::cmp::Ordering;
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2018-05-19 21:41:58 +08:00
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use std::fmt;
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use std::hash;
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2018-07-20 21:25:55 +08:00
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#[cfg(feature = "abomonation-serialize")]
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use std::io::{Result as IOResult, Write};
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2016-12-05 05:44:42 +08:00
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2017-05-04 10:02:30 +08:00
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#[cfg(feature = "serde-serialize")]
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2018-10-22 13:00:10 +08:00
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use serde::{Deserialize, Deserializer, Serialize, Serializer};
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2017-05-04 10:02:30 +08:00
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2017-08-14 18:18:47 +08:00
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#[cfg(feature = "abomonation-serialize")]
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use abomonation::Abomonation;
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2020-03-25 02:06:28 +08:00
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use simba::simd::SimdPartialOrd;
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2019-03-23 21:29:07 +08:00
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use crate::base::allocator::Allocator;
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use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
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use crate::base::iter::{MatrixIter, MatrixIterMut};
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use crate::base::{DefaultAllocator, Scalar, VectorN};
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2016-12-05 05:44:42 +08:00
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2020-11-21 00:45:11 +08:00
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/// A point in an euclidean space.
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///
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/// The difference between a point and a vector is only semantic. See [the user guide](https://www.nalgebra.org/points_and_transformations/)
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/// for details on the distinction. The most notable difference that vectors ignore translations.
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/// In particular, an [`Isometry2`](crate::Isometry2) or [`Isometry3`](crate::Isometry3) will
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/// transform points by applying a rotation and a translation on them. However, these isometries
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/// will only apply rotations to vectors (when doing `isometry * vector`, the translation part of
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/// the isometry is ignored).
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///
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/// # Construction
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/// * [From individual components <span style="float:right;">`new`…</span>](#construction-from-individual-components)
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/// * [Swizzling <span style="float:right;">`xx`, `yxz`…</span>](#swizzling)
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/// * [Other construction methods <span style="float:right;">`origin`, `from_slice`, `from_homogeneous`…</span>](#other-construction-methods)
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///
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/// # Transformation
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/// Transforming a point by an [Isometry](crate::Isometry), [rotation](crate::Rotation), etc. can be
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/// achieved by multiplication, e.g., `isometry * point` or `rotation * point`. Some of these transformation
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/// may have some other methods, e.g., `isometry.inverse_transform_point(&point)`. See the documentation
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/// of said transformations for details.
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2016-12-05 05:44:42 +08:00
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#[repr(C)]
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2018-10-31 00:56:33 +08:00
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#[derive(Debug, Clone)]
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2019-12-17 07:09:14 +08:00
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pub struct Point<N: Scalar, D: DimName>
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2020-04-06 00:49:48 +08:00
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where
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DefaultAllocator: Allocator<N, D>,
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2018-02-02 19:26:35 +08:00
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{
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2017-02-13 01:17:09 +08:00
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/// The coordinates of this point, i.e., the shift from the origin.
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2018-02-02 19:26:35 +08:00
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pub coords: VectorN<N, D>,
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2016-12-05 05:44:42 +08:00
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}
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2019-12-17 07:09:14 +08:00
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impl<N: Scalar + hash::Hash, D: DimName + hash::Hash> hash::Hash for Point<N, D>
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2018-02-02 19:26:35 +08:00
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where
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DefaultAllocator: Allocator<N, D>,
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<DefaultAllocator as Allocator<N, D>>::Buffer: hash::Hash,
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{
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2017-08-03 01:37:44 +08:00
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fn hash<H: hash::Hasher>(&self, state: &mut H) {
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self.coords.hash(state)
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}
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2016-12-05 05:44:42 +08:00
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}
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2019-11-20 04:57:37 +08:00
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impl<N: Scalar + Copy, D: DimName> Copy for Point<N, D>
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2018-02-02 19:26:35 +08:00
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where
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DefaultAllocator: Allocator<N, D>,
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<DefaultAllocator as Allocator<N, D>>::Buffer: Copy,
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{
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2016-12-05 05:44:42 +08:00
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}
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2017-05-04 10:02:30 +08:00
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#[cfg(feature = "serde-serialize")]
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2019-12-17 07:09:14 +08:00
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impl<N: Scalar, D: DimName> Serialize for Point<N, D>
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2018-02-02 19:26:35 +08:00
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where
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DefaultAllocator: Allocator<N, D>,
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2018-09-13 12:55:58 +08:00
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<DefaultAllocator as Allocator<N, D>>::Buffer: Serialize,
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2018-02-02 19:26:35 +08:00
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{
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2017-08-03 01:37:44 +08:00
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fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
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2020-04-06 00:49:48 +08:00
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where
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S: Serializer,
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{
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2018-02-02 19:26:35 +08:00
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self.coords.serialize(serializer)
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}
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2017-05-04 10:02:30 +08:00
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}
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#[cfg(feature = "serde-serialize")]
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2019-12-17 07:09:14 +08:00
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impl<'a, N: Scalar, D: DimName> Deserialize<'a> for Point<N, D>
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2018-02-02 19:26:35 +08:00
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where
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DefaultAllocator: Allocator<N, D>,
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2018-09-13 12:55:58 +08:00
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<DefaultAllocator as Allocator<N, D>>::Buffer: Deserialize<'a>,
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2018-02-02 19:26:35 +08:00
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{
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2017-08-03 01:37:44 +08:00
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fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
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2020-04-06 00:49:48 +08:00
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where
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Des: Deserializer<'a>,
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{
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2018-02-02 19:26:35 +08:00
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let coords = VectorN::<N, D>::deserialize(deserializer)?;
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2017-08-03 01:37:44 +08:00
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2019-02-17 05:29:41 +08:00
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Ok(Self::from(coords))
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2018-02-02 19:26:35 +08:00
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}
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2017-05-04 10:02:30 +08:00
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}
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2017-08-14 18:18:47 +08:00
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#[cfg(feature = "abomonation-serialize")]
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2017-08-16 01:36:38 +08:00
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impl<N, D> Abomonation for Point<N, D>
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2018-02-02 19:26:35 +08:00
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where
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2019-12-17 07:09:14 +08:00
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N: Scalar,
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2018-02-02 19:26:35 +08:00
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D: DimName,
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VectorN<N, D>: Abomonation,
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DefaultAllocator: Allocator<N, D>,
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2017-08-14 18:18:47 +08:00
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{
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2018-07-20 21:25:55 +08:00
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unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
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2017-08-14 18:18:47 +08:00
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self.coords.entomb(writer)
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}
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2018-07-20 21:25:55 +08:00
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fn extent(&self) -> usize {
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self.coords.extent()
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2017-08-14 18:18:47 +08:00
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}
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unsafe fn exhume<'a, 'b>(&'a mut self, bytes: &'b mut [u8]) -> Option<&'b mut [u8]> {
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self.coords.exhume(bytes)
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}
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}
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2019-12-17 07:09:14 +08:00
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impl<N: Scalar, D: DimName> Point<N, D>
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2020-04-06 00:49:48 +08:00
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where
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DefaultAllocator: Allocator<N, D>,
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2018-02-02 19:26:35 +08:00
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{
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2020-10-25 18:24:05 +08:00
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/// Returns a point containing the result of `f` applied to each of its entries.
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///
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/// # Example
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/// ```
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/// # use nalgebra::{Point2, Point3};
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/// let p = Point2::new(1.0, 2.0);
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/// assert_eq!(p.map(|e| e * 10.0), Point2::new(10.0, 20.0));
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///
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/// // This works in any dimension.
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/// let p = Point3::new(1.1, 2.1, 3.1);
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/// assert_eq!(p.map(|e| e as u32), Point3::new(1, 2, 3));
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/// ```
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#[inline]
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pub fn map<N2: Scalar, F: FnMut(N) -> N2>(&self, f: F) -> Point<N2, D>
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where
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DefaultAllocator: Allocator<N2, D>,
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{
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self.coords.map(f).into()
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}
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/// Replaces each component of `self` by the result of a closure `f` applied on it.
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///
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/// # Example
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/// ```
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/// # use nalgebra::{Point2, Point3};
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/// let mut p = Point2::new(1.0, 2.0);
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/// p.apply(|e| e * 10.0);
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/// assert_eq!(p, Point2::new(10.0, 20.0));
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///
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/// // This works in any dimension.
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/// let mut p = Point3::new(1.0, 2.0, 3.0);
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/// p.apply(|e| e * 10.0);
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/// assert_eq!(p, Point3::new(10.0, 20.0, 30.0));
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/// ```
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#[inline]
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pub fn apply<F: FnMut(N) -> N>(&mut self, f: F) {
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self.coords.apply(f)
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}
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|
2017-08-03 01:37:44 +08:00
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/// Converts this point into a vector in homogeneous coordinates, i.e., appends a `1` at the
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/// end of it.
|
2018-10-27 17:00:11 +08:00
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///
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/// This is the same as `.into()`.
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///
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/// # Example
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/// ```
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/// # use nalgebra::{Point2, Point3, Vector3, Vector4};
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/// let p = Point2::new(10.0, 20.0);
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/// assert_eq!(p.to_homogeneous(), Vector3::new(10.0, 20.0, 1.0));
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///
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/// // This works in any dimension.
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/// let p = Point3::new(10.0, 20.0, 30.0);
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/// assert_eq!(p.to_homogeneous(), Vector4::new(10.0, 20.0, 30.0, 1.0));
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/// ```
|
2016-12-05 05:44:42 +08:00
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#[inline]
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2017-08-03 01:37:44 +08:00
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pub fn to_homogeneous(&self) -> VectorN<N, DimNameSum<D, U1>>
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2018-02-02 19:26:35 +08:00
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where
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N: One,
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D: DimNameAdd<U1>,
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DefaultAllocator: Allocator<N, DimNameSum<D, U1>>,
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{
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2020-11-28 04:58:48 +08:00
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let mut res = unsafe { crate::unimplemented_or_uninitialized_generic!(<DimNameSum<D, U1> as DimName>::name(), U1) };
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2017-08-03 01:37:44 +08:00
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res.fixed_slice_mut::<D, U1>(0, 0).copy_from(&self.coords);
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res[(D::dim(), 0)] = N::one();
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res
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2016-12-05 05:44:42 +08:00
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}
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2017-08-03 01:37:44 +08:00
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/// Creates a new point with the given coordinates.
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2018-10-24 02:47:42 +08:00
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#[deprecated(note = "Use Point::from(vector) instead.")]
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2016-12-05 05:44:42 +08:00
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#[inline]
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2019-02-17 05:29:41 +08:00
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pub fn from_coordinates(coords: VectorN<N, D>) -> Self {
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2020-10-11 16:57:26 +08:00
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Self { coords }
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2016-12-05 05:44:42 +08:00
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}
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/// The dimension of this point.
|
2018-10-27 17:00:11 +08:00
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///
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/// # Example
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/// ```
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/// # use nalgebra::{Point2, Point3};
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/// let p = Point2::new(1.0, 2.0);
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/// assert_eq!(p.len(), 2);
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///
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/// // This works in any dimension.
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/// let p = Point3::new(10.0, 20.0, 30.0);
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/// assert_eq!(p.len(), 3);
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/// ```
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2016-12-05 05:44:42 +08:00
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#[inline]
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pub fn len(&self) -> usize {
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self.coords.len()
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}
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2020-11-19 19:24:26 +08:00
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/// Returns true if the point contains no elements.
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///
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/// # Example
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/// ```
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/// # use nalgebra::{Point2, Point3};
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/// let p = Point2::new(1.0, 2.0);
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/// assert!(!p.is_empty());
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/// ```
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#[inline]
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pub fn is_empty(&self) -> bool {
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self.len() == 0
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}
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|
2016-12-05 05:44:42 +08:00
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/// The stride of this point. This is the number of buffer element separating each component of
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/// this point.
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#[inline]
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2018-10-27 17:00:11 +08:00
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#[deprecated(note = "This methods is no longer significant and will always return 1.")]
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2016-12-05 05:44:42 +08:00
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pub fn stride(&self) -> usize {
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self.coords.strides().0
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}
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/// Iterates through this point coordinates.
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2018-10-27 17:00:11 +08:00
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///
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/// # Example
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/// ```
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/// # use nalgebra::Point3;
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/// let p = Point3::new(1.0, 2.0, 3.0);
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/// let mut it = p.iter().cloned();
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///
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/// assert_eq!(it.next(), Some(1.0));
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/// assert_eq!(it.next(), Some(2.0));
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/// assert_eq!(it.next(), Some(3.0));
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/// assert_eq!(it.next(), None);
|
2016-12-05 05:44:42 +08:00
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#[inline]
|
2017-08-03 01:37:44 +08:00
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pub fn iter(&self) -> MatrixIter<N, D, U1, <DefaultAllocator as Allocator<N, D>>::Buffer> {
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2016-12-05 05:44:42 +08:00
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self.coords.iter()
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}
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/// Gets a reference to i-th element of this point without bound-checking.
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#[inline]
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|
pub unsafe fn get_unchecked(&self, i: usize) -> &N {
|
2017-08-03 01:37:44 +08:00
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self.coords.vget_unchecked(i)
|
2016-12-05 05:44:42 +08:00
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}
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/// Mutably iterates through this point coordinates.
|
2018-10-27 17:00:11 +08:00
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///
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|
/// # Example
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|
|
/// ```
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|
|
/// # use nalgebra::Point3;
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|
|
/// let mut p = Point3::new(1.0, 2.0, 3.0);
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|
///
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|
/// for e in p.iter_mut() {
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|
/// *e *= 10.0;
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|
/// }
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|
///
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|
|
/// assert_eq!(p, Point3::new(10.0, 20.0, 30.0));
|
2016-12-05 05:44:42 +08:00
|
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|
#[inline]
|
2018-02-02 19:26:35 +08:00
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|
pub fn iter_mut(
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|
|
&mut self,
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|
|
) -> MatrixIterMut<N, D, U1, <DefaultAllocator as Allocator<N, D>>::Buffer> {
|
2016-12-05 05:44:42 +08:00
|
|
|
self.coords.iter_mut()
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|
}
|
|
|
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|
|
/// Gets a mutable reference to i-th element of this point without bound-checking.
|
|
|
|
#[inline]
|
|
|
|
pub unsafe fn get_unchecked_mut(&mut self, i: usize) -> &mut N {
|
2017-08-03 01:37:44 +08:00
|
|
|
self.coords.vget_unchecked_mut(i)
|
2016-12-05 05:44:42 +08:00
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|
}
|
|
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|
/// Swaps two entries without bound-checking.
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|
|
#[inline]
|
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pub unsafe fn swap_unchecked(&mut self, i1: usize, i2: usize) {
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|
self.coords.swap_unchecked((i1, 0), (i2, 0))
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}
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}
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|
2019-12-17 07:09:14 +08:00
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impl<N: Scalar + AbsDiffEq, D: DimName> AbsDiffEq for Point<N, D>
|
2018-02-02 19:26:35 +08:00
|
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|
where
|
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|
DefaultAllocator: Allocator<N, D>,
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|
|
N::Epsilon: Copy,
|
|
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|
{
|
2016-12-05 05:44:42 +08:00
|
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|
type Epsilon = N::Epsilon;
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|
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|
#[inline]
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|
|
|
fn default_epsilon() -> Self::Epsilon {
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|
|
N::default_epsilon()
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|
}
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|
#[inline]
|
2018-05-19 21:41:58 +08:00
|
|
|
fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool {
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|
|
self.coords.abs_diff_eq(&other.coords, epsilon)
|
2016-12-05 05:44:42 +08:00
|
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|
}
|
2018-05-19 21:41:58 +08:00
|
|
|
}
|
2016-12-05 05:44:42 +08:00
|
|
|
|
2019-12-17 07:09:14 +08:00
|
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|
impl<N: Scalar + RelativeEq, D: DimName> RelativeEq for Point<N, D>
|
2018-05-19 21:41:58 +08:00
|
|
|
where
|
|
|
|
DefaultAllocator: Allocator<N, D>,
|
|
|
|
N::Epsilon: Copy,
|
|
|
|
{
|
2016-12-05 05:44:42 +08:00
|
|
|
#[inline]
|
2018-05-19 21:41:58 +08:00
|
|
|
fn default_max_relative() -> Self::Epsilon {
|
|
|
|
N::default_max_relative()
|
2016-12-05 05:44:42 +08:00
|
|
|
}
|
|
|
|
|
|
|
|
#[inline]
|
2018-02-02 19:26:35 +08:00
|
|
|
fn relative_eq(
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|
|
|
&self,
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|
|
|
other: &Self,
|
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|
|
epsilon: Self::Epsilon,
|
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|
|
max_relative: Self::Epsilon,
|
2020-04-06 00:49:48 +08:00
|
|
|
) -> bool {
|
2018-02-02 19:26:35 +08:00
|
|
|
self.coords
|
|
|
|
.relative_eq(&other.coords, epsilon, max_relative)
|
2016-12-05 05:44:42 +08:00
|
|
|
}
|
2018-05-19 21:41:58 +08:00
|
|
|
}
|
|
|
|
|
2019-12-17 07:09:14 +08:00
|
|
|
impl<N: Scalar + UlpsEq, D: DimName> UlpsEq for Point<N, D>
|
2018-05-19 21:41:58 +08:00
|
|
|
where
|
|
|
|
DefaultAllocator: Allocator<N, D>,
|
|
|
|
N::Epsilon: Copy,
|
|
|
|
{
|
|
|
|
#[inline]
|
|
|
|
fn default_max_ulps() -> u32 {
|
|
|
|
N::default_max_ulps()
|
|
|
|
}
|
2016-12-05 05:44:42 +08:00
|
|
|
|
|
|
|
#[inline]
|
|
|
|
fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
|
|
|
|
self.coords.ulps_eq(&other.coords, epsilon, max_ulps)
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2019-12-17 07:09:14 +08:00
|
|
|
impl<N: Scalar + Eq, D: DimName> Eq for Point<N, D> where DefaultAllocator: Allocator<N, D> {}
|
2016-12-05 05:44:42 +08:00
|
|
|
|
2019-12-17 07:09:14 +08:00
|
|
|
impl<N: Scalar, D: DimName> PartialEq for Point<N, D>
|
2020-04-06 00:49:48 +08:00
|
|
|
where
|
|
|
|
DefaultAllocator: Allocator<N, D>,
|
2018-02-02 19:26:35 +08:00
|
|
|
{
|
2016-12-05 05:44:42 +08:00
|
|
|
#[inline]
|
|
|
|
fn eq(&self, right: &Self) -> bool {
|
|
|
|
self.coords == right.coords
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2019-12-17 07:09:14 +08:00
|
|
|
impl<N: Scalar + PartialOrd, D: DimName> PartialOrd for Point<N, D>
|
2020-04-06 00:49:48 +08:00
|
|
|
where
|
|
|
|
DefaultAllocator: Allocator<N, D>,
|
2018-02-02 19:26:35 +08:00
|
|
|
{
|
2016-12-05 05:44:42 +08:00
|
|
|
#[inline]
|
|
|
|
fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
|
|
|
|
self.coords.partial_cmp(&other.coords)
|
|
|
|
}
|
|
|
|
|
|
|
|
#[inline]
|
|
|
|
fn lt(&self, right: &Self) -> bool {
|
|
|
|
self.coords.lt(&right.coords)
|
|
|
|
}
|
|
|
|
|
|
|
|
#[inline]
|
|
|
|
fn le(&self, right: &Self) -> bool {
|
|
|
|
self.coords.le(&right.coords)
|
|
|
|
}
|
|
|
|
|
|
|
|
#[inline]
|
|
|
|
fn gt(&self, right: &Self) -> bool {
|
|
|
|
self.coords.gt(&right.coords)
|
|
|
|
}
|
|
|
|
|
|
|
|
#[inline]
|
|
|
|
fn ge(&self, right: &Self) -> bool {
|
|
|
|
self.coords.ge(&right.coords)
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2020-03-25 02:06:28 +08:00
|
|
|
/*
|
|
|
|
* inf/sup
|
|
|
|
*/
|
|
|
|
impl<N: Scalar + SimdPartialOrd, D: DimName> Point<N, D>
|
2020-04-06 00:49:48 +08:00
|
|
|
where
|
|
|
|
DefaultAllocator: Allocator<N, D>,
|
2020-03-25 02:06:28 +08:00
|
|
|
{
|
|
|
|
/// Computes the infimum (aka. componentwise min) of two points.
|
|
|
|
#[inline]
|
|
|
|
pub fn inf(&self, other: &Self) -> Point<N, D> {
|
|
|
|
self.coords.inf(&other.coords).into()
|
|
|
|
}
|
|
|
|
|
|
|
|
/// Computes the supremum (aka. componentwise max) of two points.
|
|
|
|
#[inline]
|
|
|
|
pub fn sup(&self, other: &Self) -> Point<N, D> {
|
|
|
|
self.coords.sup(&other.coords).into()
|
|
|
|
}
|
|
|
|
|
|
|
|
/// Computes the (infimum, supremum) of two points.
|
|
|
|
#[inline]
|
|
|
|
pub fn inf_sup(&self, other: &Self) -> (Point<N, D>, Point<N, D>) {
|
|
|
|
let (inf, sup) = self.coords.inf_sup(&other.coords);
|
|
|
|
(inf.into(), sup.into())
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2016-12-05 05:44:42 +08:00
|
|
|
/*
|
|
|
|
*
|
|
|
|
* Display
|
|
|
|
*
|
|
|
|
*/
|
2019-12-17 07:09:14 +08:00
|
|
|
impl<N: Scalar + fmt::Display, D: DimName> fmt::Display for Point<N, D>
|
2020-04-06 00:49:48 +08:00
|
|
|
where
|
|
|
|
DefaultAllocator: Allocator<N, D>,
|
2018-02-02 19:26:35 +08:00
|
|
|
{
|
2016-12-05 05:44:42 +08:00
|
|
|
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
|
2019-03-23 21:29:07 +08:00
|
|
|
write!(f, "{{")?;
|
2016-12-05 05:44:42 +08:00
|
|
|
|
|
|
|
let mut it = self.coords.iter();
|
|
|
|
|
2019-03-23 21:29:07 +08:00
|
|
|
write!(f, "{}", *it.next().unwrap())?;
|
2016-12-05 05:44:42 +08:00
|
|
|
|
|
|
|
for comp in it {
|
2019-03-23 21:29:07 +08:00
|
|
|
write!(f, ", {}", *comp)?;
|
2016-12-05 05:44:42 +08:00
|
|
|
}
|
|
|
|
|
|
|
|
write!(f, "}}")
|
|
|
|
}
|
|
|
|
}
|