multibody_dynamics 0.4.0

Multibody dynamics algorithms in Rust
Documentation 
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</pre><pre class="rust"><code><span class="doccomment">//! Abstract definition of a matrix data storage allocator.

</span><span class="kw">use </span>std::any::Any;

<span class="kw">use </span><span class="kw">crate</span>::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
<span class="kw">use </span><span class="kw">crate</span>::base::dimension::{Dim, U1};
<span class="kw">use </span><span class="kw">crate</span>::base::{DefaultAllocator, Scalar};
<span class="kw">use </span><span class="kw">crate</span>::storage::{IsContiguous, RawStorageMut};
<span class="kw">use </span><span class="kw">crate</span>::StorageMut;
<span class="kw">use </span>std::fmt::Debug;
<span class="kw">use </span>std::mem::MaybeUninit;

<span class="doccomment">/// A matrix allocator of a memory buffer that may contain `R::to_usize() * C::to_usize()`
/// elements of type `T`.
///
/// An allocator is said to be:
///   − static:  if `R` and `C` both implement `DimName`.
///   − dynamic: if either one (or both) of `R` or `C` is equal to `Dyn`.
///
/// Every allocator must be both static and dynamic. Though not all implementations may share the
/// same `Buffer` type.
</span><span class="kw">pub trait </span>Allocator&lt;T, R: Dim, C: Dim = U1&gt;: Any + Sized {
    <span class="doccomment">/// The type of buffer this allocator can instanciate.
    </span><span class="kw">type </span>Buffer: StorageMut&lt;T, R, C&gt; + IsContiguous + Clone + Debug;
    <span class="doccomment">/// The type of buffer with uninitialized components this allocator can instanciate.
    </span><span class="kw">type </span>BufferUninit: RawStorageMut&lt;MaybeUninit&lt;T&gt;, R, C&gt; + IsContiguous;

    <span class="doccomment">/// Allocates a buffer with the given number of rows and columns without initializing its content.
    </span><span class="kw">fn </span>allocate_uninit(nrows: R, ncols: C) -&gt; <span class="self">Self</span>::BufferUninit;

    <span class="doccomment">/// Assumes a data buffer to be initialized.
    ///
    /// # Safety
    /// The user must make sure that every single entry of the buffer has been initialized,
    /// or Undefined Behavior will immediately occur.    
    </span><span class="kw">unsafe fn </span>assume_init(uninit: <span class="self">Self</span>::BufferUninit) -&gt; <span class="self">Self</span>::Buffer;

    <span class="doccomment">/// Allocates a buffer initialized with the content of the given iterator.
    </span><span class="kw">fn </span>allocate_from_iterator&lt;I: IntoIterator&lt;Item = T&gt;&gt;(
        nrows: R,
        ncols: C,
        iter: I,
    ) -&gt; <span class="self">Self</span>::Buffer;

    <span class="attr">#[inline]
    </span><span class="doccomment">/// Allocates a buffer initialized with the content of the given row-major order iterator.
    </span><span class="kw">fn </span>allocate_from_row_iterator&lt;I: IntoIterator&lt;Item = T&gt;&gt;(
        nrows: R,
        ncols: C,
        iter: I,
    ) -&gt; <span class="self">Self</span>::Buffer {
        <span class="kw">let </span><span class="kw-2">mut </span>res = <span class="self">Self</span>::allocate_uninit(nrows, ncols);
        <span class="kw">let </span><span class="kw-2">mut </span>count = <span class="number">0</span>;

        <span class="kw">unsafe </span>{
            <span class="comment">// OK because the allocated buffer is guaranteed to be contiguous.
            </span><span class="kw">let </span>res_ptr = res.as_mut_slice_unchecked();

            <span class="kw">for </span>(k, e) <span class="kw">in </span>iter
                .into_iter()
                .take(ncols.value() * nrows.value())
                .enumerate()
            {
                <span class="kw">let </span>i = k / ncols.value();
                <span class="kw">let </span>j = k % ncols.value();
                <span class="comment">// result[(i, j)] = e;
                </span><span class="kw-2">*</span>res_ptr.get_unchecked_mut(i + j * nrows.value()) = MaybeUninit::new(e);
                count += <span class="number">1</span>;
            }

            <span class="macro">assert!</span>(
                count == nrows.value() * ncols.value(),
                <span class="string">&quot;Matrix init. from row iterator: iterator not long enough.&quot;
            </span>);

            &lt;<span class="self">Self </span><span class="kw">as </span>Allocator&lt;T, R, C&gt;&gt;::assume_init(res)
        }
    }
}

<span class="doccomment">/// A matrix reallocator. Changes the size of the memory buffer that initially contains (`RFrom` ×
/// `CFrom`) elements to a smaller or larger size (`RTo`, `CTo`).
</span><span class="kw">pub trait </span>Reallocator&lt;T: Scalar, RFrom: Dim, CFrom: Dim, RTo: Dim, CTo: Dim&gt;:
    Allocator&lt;T, RFrom, CFrom&gt; + Allocator&lt;T, RTo, CTo&gt;
{
    <span class="doccomment">/// Reallocates a buffer of shape `(RTo, CTo)`, possibly reusing a previously allocated buffer
    /// `buf`. Data stored by `buf` are linearly copied to the output:
    ///
    /// # Safety
    /// The following invariants must be respected by the implementors of this method:
    /// * The copy is performed as if both were just arrays (without taking into account the matrix structure).
    /// * If the underlying buffer is being shrunk, the removed elements must **not** be dropped
    ///   by this method. Dropping them is the responsibility of the caller.
    </span><span class="kw">unsafe fn </span>reallocate_copy(
        nrows: RTo,
        ncols: CTo,
        buf: &lt;<span class="self">Self </span><span class="kw">as </span>Allocator&lt;T, RFrom, CFrom&gt;&gt;::Buffer,
    ) -&gt; &lt;<span class="self">Self </span><span class="kw">as </span>Allocator&lt;T, RTo, CTo&gt;&gt;::BufferUninit;
}

<span class="doccomment">/// The number of rows of the result of a componentwise operation on two matrices.
</span><span class="kw">pub type </span>SameShapeR&lt;R1, R2&gt; = &lt;ShapeConstraint <span class="kw">as </span>SameNumberOfRows&lt;R1, R2&gt;&gt;::Representative;

<span class="doccomment">/// The number of columns of the result of a componentwise operation on two matrices.
</span><span class="kw">pub type </span>SameShapeC&lt;C1, C2&gt; = &lt;ShapeConstraint <span class="kw">as </span>SameNumberOfColumns&lt;C1, C2&gt;&gt;::Representative;

<span class="comment">// TODO: Bad name.
</span><span class="doccomment">/// Restricts the given number of rows and columns to be respectively the same.
</span><span class="kw">pub trait </span>SameShapeAllocator&lt;T, R1, C1, R2, C2&gt;:
    Allocator&lt;T, R1, C1&gt; + Allocator&lt;T, SameShapeR&lt;R1, R2&gt;, SameShapeC&lt;C1, C2&gt;&gt;
<span class="kw">where
    </span>R1: Dim,
    R2: Dim,
    C1: Dim,
    C2: Dim,
    ShapeConstraint: SameNumberOfRows&lt;R1, R2&gt; + SameNumberOfColumns&lt;C1, C2&gt;,
{
}

<span class="kw">impl</span>&lt;T, R1, R2, C1, C2&gt; SameShapeAllocator&lt;T, R1, C1, R2, C2&gt; <span class="kw">for </span>DefaultAllocator
<span class="kw">where
    </span>R1: Dim,
    R2: Dim,
    C1: Dim,
    C2: Dim,
    DefaultAllocator: Allocator&lt;T, R1, C1&gt; + Allocator&lt;T, SameShapeR&lt;R1, R2&gt;, SameShapeC&lt;C1, C2&gt;&gt;,
    ShapeConstraint: SameNumberOfRows&lt;R1, R2&gt; + SameNumberOfColumns&lt;C1, C2&gt;,
{
}

<span class="comment">// XXX: Bad name.
</span><span class="doccomment">/// Restricts the given number of rows to be equal.
</span><span class="kw">pub trait </span>SameShapeVectorAllocator&lt;T, R1, R2&gt;:
    Allocator&lt;T, R1&gt; + Allocator&lt;T, SameShapeR&lt;R1, R2&gt;&gt; + SameShapeAllocator&lt;T, R1, U1, R2, U1&gt;
<span class="kw">where
    </span>R1: Dim,
    R2: Dim,
    ShapeConstraint: SameNumberOfRows&lt;R1, R2&gt;,
{
}

<span class="kw">impl</span>&lt;T, R1, R2&gt; SameShapeVectorAllocator&lt;T, R1, R2&gt; <span class="kw">for </span>DefaultAllocator
<span class="kw">where
    </span>R1: Dim,
    R2: Dim,
    DefaultAllocator: Allocator&lt;T, R1, U1&gt; + Allocator&lt;T, SameShapeR&lt;R1, R2&gt;&gt;,
    ShapeConstraint: SameNumberOfRows&lt;R1, R2&gt;,
{
}
</code></pre></div>
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