forked from M-Labs/nalgebra
579 lines
18 KiB
Rust
579 lines
18 KiB
Rust
#[cfg(feature = "mint")]
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use mint;
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use simba::scalar::{SubsetOf, SupersetOf};
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use std::convert::{AsMut, AsRef, From, Into};
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use std::mem;
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use std::ptr;
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use generic_array::ArrayLength;
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use std::ops::Mul;
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use typenum::Prod;
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use crate::base::allocator::{Allocator, SameShapeAllocator};
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use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
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#[cfg(any(feature = "std", feature = "alloc"))]
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use crate::base::dimension::Dynamic;
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use crate::base::dimension::{
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Dim, DimName, U1, U10, U11, U12, U13, U14, U15, U16, U2, U3, U4, U5, U6, U7, U8, U9,
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};
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use crate::base::iter::{MatrixIter, MatrixIterMut};
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use crate::base::storage::{ContiguousStorage, ContiguousStorageMut, Storage, StorageMut};
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#[cfg(any(feature = "std", feature = "alloc"))]
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use crate::base::VecStorage;
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use crate::base::{
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ArrayStorage, DVectorSlice, DVectorSliceMut, DefaultAllocator, Matrix, MatrixMN, MatrixSlice,
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MatrixSliceMut, Scalar,
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};
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use crate::base::{SliceStorage, SliceStorageMut};
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use crate::constraint::DimEq;
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// FIXME: too bad this won't work allo slice conversions.
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impl<N1, N2, R1, C1, R2, C2> SubsetOf<MatrixMN<N2, R2, C2>> for MatrixMN<N1, R1, C1>
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where
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R1: Dim,
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C1: Dim,
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R2: Dim,
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C2: Dim,
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N1: Scalar,
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N2: Scalar + SupersetOf<N1>,
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DefaultAllocator:
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Allocator<N2, R2, C2> + Allocator<N1, R1, C1> + SameShapeAllocator<N1, R1, C1, R2, C2>,
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ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2>,
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{
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#[inline]
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fn to_superset(&self) -> MatrixMN<N2, R2, C2> {
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let (nrows, ncols) = self.shape();
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let nrows2 = R2::from_usize(nrows);
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let ncols2 = C2::from_usize(ncols);
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let mut res = unsafe { MatrixMN::<N2, R2, C2>::new_uninitialized_generic(nrows2, ncols2) };
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for i in 0..nrows {
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for j in 0..ncols {
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unsafe {
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*res.get_unchecked_mut((i, j)) = N2::from_subset(self.get_unchecked((i, j)))
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}
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}
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}
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res
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}
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#[inline]
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fn is_in_subset(m: &MatrixMN<N2, R2, C2>) -> bool {
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m.iter().all(|e| e.is_in_subset())
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}
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#[inline]
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fn from_superset_unchecked(m: &MatrixMN<N2, R2, C2>) -> Self {
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let (nrows2, ncols2) = m.shape();
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let nrows = R1::from_usize(nrows2);
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let ncols = C1::from_usize(ncols2);
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let mut res = unsafe { Self::new_uninitialized_generic(nrows, ncols) };
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for i in 0..nrows2 {
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for j in 0..ncols2 {
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unsafe {
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*res.get_unchecked_mut((i, j)) = m.get_unchecked((i, j)).to_subset_unchecked()
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}
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}
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}
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res
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}
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}
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impl<'a, N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> IntoIterator for &'a Matrix<N, R, C, S> {
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type Item = &'a N;
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type IntoIter = MatrixIter<'a, N, R, C, S>;
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#[inline]
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fn into_iter(self) -> Self::IntoIter {
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self.iter()
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}
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}
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impl<'a, N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> IntoIterator
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for &'a mut Matrix<N, R, C, S>
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{
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type Item = &'a mut N;
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type IntoIter = MatrixIterMut<'a, N, R, C, S>;
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#[inline]
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fn into_iter(self) -> Self::IntoIter {
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self.iter_mut()
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}
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}
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macro_rules! impl_from_into_asref_1D(
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($(($NRows: ident, $NCols: ident) => $SZ: expr);* $(;)*) => {$(
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impl<N> From<[N; $SZ]> for MatrixMN<N, $NRows, $NCols>
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where N: Scalar,
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DefaultAllocator: Allocator<N, $NRows, $NCols> {
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#[inline]
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fn from(arr: [N; $SZ]) -> Self {
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unsafe {
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let mut res = Self::new_uninitialized();
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ptr::copy_nonoverlapping(&arr[0], res.data.ptr_mut(), $SZ);
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res
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}
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}
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}
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impl<N, S> Into<[N; $SZ]> for Matrix<N, $NRows, $NCols, S>
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where N: Scalar,
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S: ContiguousStorage<N, $NRows, $NCols> {
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#[inline]
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fn into(self) -> [N; $SZ] {
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unsafe {
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let mut res: [N; $SZ] = mem::uninitialized();
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ptr::copy_nonoverlapping(self.data.ptr(), &mut res[0], $SZ);
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res
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}
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}
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}
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impl<N, S> AsRef<[N; $SZ]> for Matrix<N, $NRows, $NCols, S>
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where N: Scalar,
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S: ContiguousStorage<N, $NRows, $NCols> {
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#[inline]
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fn as_ref(&self) -> &[N; $SZ] {
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unsafe {
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mem::transmute(self.data.ptr())
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}
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}
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}
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impl<N, S> AsMut<[N; $SZ]> for Matrix<N, $NRows, $NCols, S>
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where N: Scalar,
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S: ContiguousStorageMut<N, $NRows, $NCols> {
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#[inline]
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fn as_mut(&mut self) -> &mut [N; $SZ] {
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unsafe {
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mem::transmute(self.data.ptr_mut())
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}
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}
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}
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)*}
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);
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// Implement for vectors of dimension 1 .. 16.
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impl_from_into_asref_1D!(
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// Row vectors.
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(U1, U1 ) => 1; (U1, U2 ) => 2; (U1, U3 ) => 3; (U1, U4 ) => 4;
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(U1, U5 ) => 5; (U1, U6 ) => 6; (U1, U7 ) => 7; (U1, U8 ) => 8;
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(U1, U9 ) => 9; (U1, U10) => 10; (U1, U11) => 11; (U1, U12) => 12;
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(U1, U13) => 13; (U1, U14) => 14; (U1, U15) => 15; (U1, U16) => 16;
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// Column vectors.
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(U2 , U1) => 2; (U3 , U1) => 3; (U4 , U1) => 4;
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(U5 , U1) => 5; (U6 , U1) => 6; (U7 , U1) => 7; (U8 , U1) => 8;
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(U9 , U1) => 9; (U10, U1) => 10; (U11, U1) => 11; (U12, U1) => 12;
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(U13, U1) => 13; (U14, U1) => 14; (U15, U1) => 15; (U16, U1) => 16;
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);
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macro_rules! impl_from_into_asref_2D(
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($(($NRows: ty, $NCols: ty) => ($SZRows: expr, $SZCols: expr));* $(;)*) => {$(
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impl<N: Scalar> From<[[N; $SZRows]; $SZCols]> for MatrixMN<N, $NRows, $NCols>
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where DefaultAllocator: Allocator<N, $NRows, $NCols> {
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#[inline]
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fn from(arr: [[N; $SZRows]; $SZCols]) -> Self {
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unsafe {
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let mut res = Self::new_uninitialized();
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ptr::copy_nonoverlapping(&arr[0][0], res.data.ptr_mut(), $SZRows * $SZCols);
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res
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}
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}
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}
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impl<N: Scalar, S> Into<[[N; $SZRows]; $SZCols]> for Matrix<N, $NRows, $NCols, S>
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where S: ContiguousStorage<N, $NRows, $NCols> {
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#[inline]
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fn into(self) -> [[N; $SZRows]; $SZCols] {
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unsafe {
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let mut res: [[N; $SZRows]; $SZCols] = mem::uninitialized();
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ptr::copy_nonoverlapping(self.data.ptr(), &mut res[0][0], $SZRows * $SZCols);
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res
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}
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}
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}
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impl<N: Scalar, S> AsRef<[[N; $SZRows]; $SZCols]> for Matrix<N, $NRows, $NCols, S>
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where S: ContiguousStorage<N, $NRows, $NCols> {
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#[inline]
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fn as_ref(&self) -> &[[N; $SZRows]; $SZCols] {
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unsafe {
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mem::transmute(self.data.ptr())
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}
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}
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}
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impl<N: Scalar, S> AsMut<[[N; $SZRows]; $SZCols]> for Matrix<N, $NRows, $NCols, S>
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where S: ContiguousStorageMut<N, $NRows, $NCols> {
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#[inline]
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fn as_mut(&mut self) -> &mut [[N; $SZRows]; $SZCols] {
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unsafe {
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mem::transmute(self.data.ptr_mut())
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}
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}
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}
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)*}
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);
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// Implement for matrices with shape 2x2 .. 6x6.
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impl_from_into_asref_2D!(
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(U2, U2) => (2, 2); (U2, U3) => (2, 3); (U2, U4) => (2, 4); (U2, U5) => (2, 5); (U2, U6) => (2, 6);
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(U3, U2) => (3, 2); (U3, U3) => (3, 3); (U3, U4) => (3, 4); (U3, U5) => (3, 5); (U3, U6) => (3, 6);
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(U4, U2) => (4, 2); (U4, U3) => (4, 3); (U4, U4) => (4, 4); (U4, U5) => (4, 5); (U4, U6) => (4, 6);
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(U5, U2) => (5, 2); (U5, U3) => (5, 3); (U5, U4) => (5, 4); (U5, U5) => (5, 5); (U5, U6) => (5, 6);
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(U6, U2) => (6, 2); (U6, U3) => (6, 3); (U6, U4) => (6, 4); (U6, U5) => (6, 5); (U6, U6) => (6, 6);
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);
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#[cfg(feature = "mint")]
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macro_rules! impl_from_into_mint_1D(
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($($NRows: ident => $VT:ident [$SZ: expr]);* $(;)*) => {$(
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impl<N> From<mint::$VT<N>> for MatrixMN<N, $NRows, U1>
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where N: Scalar,
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DefaultAllocator: Allocator<N, $NRows, U1> {
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#[inline]
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fn from(v: mint::$VT<N>) -> Self {
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unsafe {
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let mut res = Self::new_uninitialized();
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ptr::copy_nonoverlapping(&v.x, res.data.ptr_mut(), $SZ);
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res
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}
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}
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}
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impl<N, S> Into<mint::$VT<N>> for Matrix<N, $NRows, U1, S>
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where N: Scalar,
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S: ContiguousStorage<N, $NRows, U1> {
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#[inline]
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fn into(self) -> mint::$VT<N> {
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unsafe {
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let mut res: mint::$VT<N> = mem::uninitialized();
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ptr::copy_nonoverlapping(self.data.ptr(), &mut res.x, $SZ);
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res
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}
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}
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}
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impl<N, S> AsRef<mint::$VT<N>> for Matrix<N, $NRows, U1, S>
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where N: Scalar,
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S: ContiguousStorage<N, $NRows, U1> {
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#[inline]
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fn as_ref(&self) -> &mint::$VT<N> {
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unsafe {
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mem::transmute(self.data.ptr())
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}
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}
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}
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impl<N, S> AsMut<mint::$VT<N>> for Matrix<N, $NRows, U1, S>
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where N: Scalar,
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S: ContiguousStorageMut<N, $NRows, U1> {
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#[inline]
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fn as_mut(&mut self) -> &mut mint::$VT<N> {
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unsafe {
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mem::transmute(self.data.ptr_mut())
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}
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}
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}
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)*}
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);
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// Implement for vectors of dimension 2 .. 4.
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#[cfg(feature = "mint")]
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impl_from_into_mint_1D!(
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U2 => Vector2[2];
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U3 => Vector3[3];
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U4 => Vector4[4];
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);
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#[cfg(feature = "mint")]
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macro_rules! impl_from_into_mint_2D(
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($(($NRows: ty, $NCols: ty) => $MV:ident{ $($component:ident),* }[$SZRows: expr]);* $(;)*) => {$(
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impl<N> From<mint::$MV<N>> for MatrixMN<N, $NRows, $NCols>
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where N: Scalar,
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DefaultAllocator: Allocator<N, $NRows, $NCols> {
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#[inline]
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fn from(m: mint::$MV<N>) -> Self {
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unsafe {
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let mut res = Self::new_uninitialized();
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let mut ptr = res.data.ptr_mut();
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$(
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ptr::copy_nonoverlapping(&m.$component.x, ptr, $SZRows);
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ptr = ptr.offset($SZRows);
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)*
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let _ = ptr;
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res
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}
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}
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}
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impl<N> Into<mint::$MV<N>> for MatrixMN<N, $NRows, $NCols>
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where N: Scalar,
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DefaultAllocator: Allocator<N, $NRows, $NCols> {
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#[inline]
|
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fn into(self) -> mint::$MV<N> {
|
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unsafe {
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let mut res: mint::$MV<N> = mem::uninitialized();
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let mut ptr = self.data.ptr();
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$(
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ptr::copy_nonoverlapping(ptr, &mut res.$component.x, $SZRows);
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ptr = ptr.offset($SZRows);
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)*
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let _ = ptr;
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res
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}
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}
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}
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)*}
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);
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|
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// Implement for matrices with shape 2x2 .. 4x4.
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#[cfg(feature = "mint")]
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impl_from_into_mint_2D!(
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(U2, U2) => ColumnMatrix2{x, y}[2];
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(U2, U3) => ColumnMatrix2x3{x, y, z}[2];
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(U3, U3) => ColumnMatrix3{x, y, z}[3];
|
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(U3, U4) => ColumnMatrix3x4{x, y, z, w}[3];
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(U4, U4) => ColumnMatrix4{x, y, z, w}[4];
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);
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|
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impl<'a, N, R, C, RStride, CStride> From<MatrixSlice<'a, N, R, C, RStride, CStride>>
|
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for Matrix<N, R, C, ArrayStorage<N, R, C>>
|
||
where
|
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N: Scalar,
|
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R: DimName,
|
||
C: DimName,
|
||
RStride: Dim,
|
||
CStride: Dim,
|
||
R::Value: Mul<C::Value>,
|
||
Prod<R::Value, C::Value>: ArrayLength<N>,
|
||
{
|
||
fn from(matrix_slice: MatrixSlice<'a, N, R, C, RStride, CStride>) -> Self {
|
||
matrix_slice.into_owned()
|
||
}
|
||
}
|
||
|
||
#[cfg(any(feature = "std", feature = "alloc"))]
|
||
impl<'a, N, C, RStride, CStride> From<MatrixSlice<'a, N, Dynamic, C, RStride, CStride>>
|
||
for Matrix<N, Dynamic, C, VecStorage<N, Dynamic, C>>
|
||
where
|
||
N: Scalar,
|
||
C: Dim,
|
||
RStride: Dim,
|
||
CStride: Dim,
|
||
{
|
||
fn from(matrix_slice: MatrixSlice<'a, N, Dynamic, C, RStride, CStride>) -> Self {
|
||
matrix_slice.into_owned()
|
||
}
|
||
}
|
||
|
||
#[cfg(any(feature = "std", feature = "alloc"))]
|
||
impl<'a, N, R, RStride, CStride> From<MatrixSlice<'a, N, R, Dynamic, RStride, CStride>>
|
||
for Matrix<N, R, Dynamic, VecStorage<N, R, Dynamic>>
|
||
where
|
||
N: Scalar,
|
||
R: DimName,
|
||
RStride: Dim,
|
||
CStride: Dim,
|
||
{
|
||
fn from(matrix_slice: MatrixSlice<'a, N, R, Dynamic, RStride, CStride>) -> Self {
|
||
matrix_slice.into_owned()
|
||
}
|
||
}
|
||
|
||
impl<'a, N, R, C, RStride, CStride> From<MatrixSliceMut<'a, N, R, C, RStride, CStride>>
|
||
for Matrix<N, R, C, ArrayStorage<N, R, C>>
|
||
where
|
||
N: Scalar,
|
||
R: DimName,
|
||
C: DimName,
|
||
RStride: Dim,
|
||
CStride: Dim,
|
||
R::Value: Mul<C::Value>,
|
||
Prod<R::Value, C::Value>: ArrayLength<N>,
|
||
{
|
||
fn from(matrix_slice: MatrixSliceMut<'a, N, R, C, RStride, CStride>) -> Self {
|
||
matrix_slice.into_owned()
|
||
}
|
||
}
|
||
|
||
#[cfg(any(feature = "std", feature = "alloc"))]
|
||
impl<'a, N, C, RStride, CStride> From<MatrixSliceMut<'a, N, Dynamic, C, RStride, CStride>>
|
||
for Matrix<N, Dynamic, C, VecStorage<N, Dynamic, C>>
|
||
where
|
||
N: Scalar,
|
||
C: Dim,
|
||
RStride: Dim,
|
||
CStride: Dim,
|
||
{
|
||
fn from(matrix_slice: MatrixSliceMut<'a, N, Dynamic, C, RStride, CStride>) -> Self {
|
||
matrix_slice.into_owned()
|
||
}
|
||
}
|
||
|
||
#[cfg(any(feature = "std", feature = "alloc"))]
|
||
impl<'a, N, R, RStride, CStride> From<MatrixSliceMut<'a, N, R, Dynamic, RStride, CStride>>
|
||
for Matrix<N, R, Dynamic, VecStorage<N, R, Dynamic>>
|
||
where
|
||
N: Scalar,
|
||
R: DimName,
|
||
RStride: Dim,
|
||
CStride: Dim,
|
||
{
|
||
fn from(matrix_slice: MatrixSliceMut<'a, N, R, Dynamic, RStride, CStride>) -> Self {
|
||
matrix_slice.into_owned()
|
||
}
|
||
}
|
||
|
||
impl<'a, N, R, C, RSlice, CSlice, RStride, CStride, S> From<&'a Matrix<N, R, C, S>>
|
||
for MatrixSlice<'a, N, RSlice, CSlice, RStride, CStride>
|
||
where
|
||
N: Scalar,
|
||
R: Dim,
|
||
C: Dim,
|
||
RSlice: Dim,
|
||
CSlice: Dim,
|
||
RStride: Dim,
|
||
CStride: Dim,
|
||
S: Storage<N, R, C>,
|
||
ShapeConstraint: DimEq<R, RSlice>
|
||
+ DimEq<C, CSlice>
|
||
+ DimEq<RStride, S::RStride>
|
||
+ DimEq<CStride, S::CStride>,
|
||
{
|
||
fn from(m: &'a Matrix<N, R, C, S>) -> Self {
|
||
let (row, col) = m.data.shape();
|
||
let row_slice = RSlice::from_usize(row.value());
|
||
let col_slice = CSlice::from_usize(col.value());
|
||
|
||
let (rstride, cstride) = m.strides();
|
||
|
||
let rstride_slice = RStride::from_usize(rstride);
|
||
let cstride_slice = CStride::from_usize(cstride);
|
||
|
||
unsafe {
|
||
let data = SliceStorage::from_raw_parts(
|
||
m.data.ptr(),
|
||
(row_slice, col_slice),
|
||
(rstride_slice, cstride_slice),
|
||
);
|
||
Matrix::from_data_statically_unchecked(data)
|
||
}
|
||
}
|
||
}
|
||
|
||
impl<'a, N, R, C, RSlice, CSlice, RStride, CStride, S> From<&'a mut Matrix<N, R, C, S>>
|
||
for MatrixSlice<'a, N, RSlice, CSlice, RStride, CStride>
|
||
where
|
||
N: Scalar,
|
||
R: Dim,
|
||
C: Dim,
|
||
RSlice: Dim,
|
||
CSlice: Dim,
|
||
RStride: Dim,
|
||
CStride: Dim,
|
||
S: Storage<N, R, C>,
|
||
ShapeConstraint: DimEq<R, RSlice>
|
||
+ DimEq<C, CSlice>
|
||
+ DimEq<RStride, S::RStride>
|
||
+ DimEq<CStride, S::CStride>,
|
||
{
|
||
fn from(m: &'a mut Matrix<N, R, C, S>) -> Self {
|
||
let (row, col) = m.data.shape();
|
||
let row_slice = RSlice::from_usize(row.value());
|
||
let col_slice = CSlice::from_usize(col.value());
|
||
|
||
let (rstride, cstride) = m.strides();
|
||
|
||
let rstride_slice = RStride::from_usize(rstride);
|
||
let cstride_slice = CStride::from_usize(cstride);
|
||
|
||
unsafe {
|
||
let data = SliceStorage::from_raw_parts(
|
||
m.data.ptr(),
|
||
(row_slice, col_slice),
|
||
(rstride_slice, cstride_slice),
|
||
);
|
||
Matrix::from_data_statically_unchecked(data)
|
||
}
|
||
}
|
||
}
|
||
|
||
impl<'a, N, R, C, RSlice, CSlice, RStride, CStride, S> From<&'a mut Matrix<N, R, C, S>>
|
||
for MatrixSliceMut<'a, N, RSlice, CSlice, RStride, CStride>
|
||
where
|
||
N: Scalar,
|
||
R: Dim,
|
||
C: Dim,
|
||
RSlice: Dim,
|
||
CSlice: Dim,
|
||
RStride: Dim,
|
||
CStride: Dim,
|
||
S: StorageMut<N, R, C>,
|
||
ShapeConstraint: DimEq<R, RSlice>
|
||
+ DimEq<C, CSlice>
|
||
+ DimEq<RStride, S::RStride>
|
||
+ DimEq<CStride, S::CStride>,
|
||
{
|
||
fn from(m: &'a mut Matrix<N, R, C, S>) -> Self {
|
||
let (row, col) = m.data.shape();
|
||
let row_slice = RSlice::from_usize(row.value());
|
||
let col_slice = CSlice::from_usize(col.value());
|
||
|
||
let (rstride, cstride) = m.strides();
|
||
|
||
let rstride_slice = RStride::from_usize(rstride);
|
||
let cstride_slice = CStride::from_usize(cstride);
|
||
|
||
unsafe {
|
||
let data = SliceStorageMut::from_raw_parts(
|
||
m.data.ptr_mut(),
|
||
(row_slice, col_slice),
|
||
(rstride_slice, cstride_slice),
|
||
);
|
||
Matrix::from_data_statically_unchecked(data)
|
||
}
|
||
}
|
||
}
|
||
|
||
impl<'a, N: Scalar + Copy, R: Dim, C: Dim, S: ContiguousStorage<N, R, C>> Into<&'a [N]>
|
||
for &'a Matrix<N, R, C, S>
|
||
{
|
||
#[inline]
|
||
fn into(self) -> &'a [N] {
|
||
self.as_slice()
|
||
}
|
||
}
|
||
|
||
impl<'a, N: Scalar + Copy, R: Dim, C: Dim, S: ContiguousStorageMut<N, R, C>> Into<&'a mut [N]>
|
||
for &'a mut Matrix<N, R, C, S>
|
||
{
|
||
#[inline]
|
||
fn into(self) -> &'a mut [N] {
|
||
self.as_mut_slice()
|
||
}
|
||
}
|
||
|
||
impl<'a, N: Scalar + Copy> From<&'a [N]> for DVectorSlice<'a, N> {
|
||
#[inline]
|
||
fn from(slice: &'a [N]) -> Self {
|
||
Self::from_slice(slice, slice.len())
|
||
}
|
||
}
|
||
|
||
impl<'a, N: Scalar + Copy> From<&'a mut [N]> for DVectorSliceMut<'a, N> {
|
||
#[inline]
|
||
fn from(slice: &'a mut [N]) -> Self {
|
||
Self::from_slice(slice, slice.len())
|
||
}
|
||
}
|