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mod builder;
mod device;
mod legacy_transducer;
mod normal_phase_transducer;
mod normal_transducer;
mod transducer;
pub type Vector3 = nalgebra::Vector3<f64>;
pub type Vector4 = nalgebra::Vector4<f64>;
pub type Quaternion = nalgebra::Quaternion<f64>;
pub type UnitQuaternion = nalgebra::UnitQuaternion<f64>;
pub type Matrix3 = nalgebra::Matrix3<f64>;
pub type Matrix4 = nalgebra::Matrix4<f64>;
use std::ops::{Index, IndexMut};
pub use builder::*;
pub use device::*;
pub use legacy_transducer::*;
pub use normal_phase_transducer::*;
pub use normal_transducer::*;
pub use transducer::*;
use crate::error::AUTDInternalError;
#[derive(Default)]
pub struct Geometry<T: Transducer> {
transducers: Vec<T>,
device_map: Vec<usize>,
}
impl<T: Transducer> Geometry<T> {
fn new() -> Geometry<T> {
Geometry {
transducers: vec![],
device_map: vec![],
}
}
pub fn add_device<D: Device<T>>(&mut self, dev: D) -> anyhow::Result<()> {
let id = self.transducers.len();
let mut transducers = dev.get_transducers(id);
if transducers.len() > 256 {
return Err(AUTDInternalError::TransducersNumInDeviceOutOfRange.into());
}
self.device_map.push(transducers.len());
self.transducers.append(&mut transducers);
Ok(())
}
pub fn num_devices(&self) -> usize {
self.device_map.len()
}
pub fn num_transducers(&self) -> usize {
self.transducers.len()
}
pub fn transducers(&self) -> std::slice::Iter<'_, T> {
self.transducers.iter()
}
pub fn transducers_mut(&mut self) -> std::slice::IterMut<'_, T> {
self.transducers.iter_mut()
}
pub fn center(&self) -> Vector3 {
self.transducers
.iter()
.map(|d| d.position())
.sum::<Vector3>()
/ self.transducers.len() as f64
}
pub fn device_map(&self) -> &[usize] {
&self.device_map
}
}
impl<T: Transducer> Index<usize> for Geometry<T> {
type Output = T;
fn index(&self, idx: usize) -> &Self::Output {
&self.transducers[idx]
}
}
impl<T: Transducer> IndexMut<usize> for Geometry<T> {
fn index_mut(&mut self, idx: usize) -> &mut Self::Output {
&mut self.transducers[idx]
}
}
impl<'a, T> IntoIterator for &'a Geometry<T>
where
T: Transducer,
{
type Item = &'a T;
type IntoIter = std::slice::Iter<'a, T>;
fn into_iter(self) -> std::slice::Iter<'a, T> {
self.transducers()
}
}
impl<'a, T> IntoIterator for &'a mut Geometry<T>
where
T: Transducer,
{
type Item = &'a mut T;
type IntoIter = std::slice::IterMut<'a, T>;
fn into_iter(self) -> std::slice::IterMut<'a, T> {
self.transducers_mut()
}
}