multibody_dynamics 0.4.0

Multibody dynamics algorithms in Rust
Documentation
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<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="Source of the Rust file `/Users/erlendbasso/.cargo/registry/src/github.com-1ecc6299db9ec823/nalgebra-0.32.1/src/base/storage.rs`."><meta name="keywords" content="rust, rustlang, rust-lang"><title>storage.rs - source</title><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceSerif4-Regular-1f7d512b176f0f72.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/FiraSans-Regular-018c141bf0843ffd.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/FiraSans-Medium-8f9a781e4970d388.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceCodePro-Regular-562dcc5011b6de7d.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceSerif4-Bold-124a1ca42af929b6.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceCodePro-Semibold-d899c5a5c4aeb14a.ttf.woff2"><link rel="stylesheet" href="../../../static.files/normalize-76eba96aa4d2e634.css"><link rel="stylesheet" href="../../../static.files/rustdoc-6827029ac823cab7.css" id="mainThemeStyle"><link rel="stylesheet" id="themeStyle" href="../../../static.files/light-ebce58d0a40c3431.css"><link rel="stylesheet" disabled href="../../../static.files/dark-f23faae4a2daf9a6.css"><link rel="stylesheet" disabled href="../../../static.files/ayu-8af5e100b21cd173.css"><script id="default-settings" ></script><script src="../../../static.files/storage-d43fa987303ecbbb.js"></script><script defer src="../../../static.files/source-script-5cf2e01a42cc9858.js"></script><script defer src="../../../source-files.js"></script><script defer src="../../../static.files/main-c55e1eb52e1886b4.js"></script><noscript><link rel="stylesheet" href="../../../static.files/noscript-13285aec31fa243e.css"></noscript><link rel="icon" href="https://nalgebra.org/img/favicon.ico"></head><body class="rustdoc source"><!--[if lte IE 11]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="sidebar"></nav><main><div class="width-limiter"><nav class="sub"><a class="sub-logo-container" href="../../../nalgebra/index.html"><img class="rust-logo" src="../../../static.files/rust-logo-151179464ae7ed46.svg" alt="logo"></a><form class="search-form"><span></span><input class="search-input" name="search" aria-label="Run search in the documentation" autocomplete="off" spellcheck="false" placeholder="Click or press ‘S’ to search, ‘?’ for more options…" type="search"><div id="help-button" title="help" tabindex="-1"><a href="../../../help.html">?</a></div><div id="settings-menu" tabindex="-1"><a href="../../../settings.html" title="settings"><img width="22" height="22" alt="Change settings" src="../../../static.files/wheel-5ec35bf9ca753509.svg"></a></div></form></nav><section id="main-content" class="content"><div class="example-wrap"><pre class="src-line-numbers"><a href="#1" id="1">1</a>
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</pre><pre class="rust"><code><span class="doccomment">//! Abstract definition of a matrix data storage.

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

<span class="kw">use </span><span class="kw">crate</span>::base::allocator::{Allocator, SameShapeC, SameShapeR};
<span class="kw">use </span><span class="kw">crate</span>::base::default_allocator::DefaultAllocator;
<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::Scalar;

<span class="comment">/*
 * Aliases for allocation results.
 */
</span><span class="doccomment">/// The data storage for the sum of two matrices with dimensions `(R1, C1)` and `(R2, C2)`.
</span><span class="kw">pub type </span>SameShapeStorage&lt;T, R1, C1, R2, C2&gt; =
    &lt;DefaultAllocator <span class="kw">as </span>Allocator&lt;T, SameShapeR&lt;R1, R2&gt;, SameShapeC&lt;C1, C2&gt;&gt;&gt;::Buffer;

<span class="comment">// TODO: better name than Owned ?
</span><span class="doccomment">/// The owned data storage that can be allocated from `S`.
</span><span class="kw">pub type </span>Owned&lt;T, R, C = U1&gt; = &lt;DefaultAllocator <span class="kw">as </span>Allocator&lt;T, R, C&gt;&gt;::Buffer;

<span class="doccomment">/// The owned data storage that can be allocated from `S`.
</span><span class="kw">pub type </span>OwnedUninit&lt;T, R, C = U1&gt; = &lt;DefaultAllocator <span class="kw">as </span>Allocator&lt;T, R, C&gt;&gt;::BufferUninit;

<span class="doccomment">/// The row-stride of the owned data storage for a buffer of dimension `(R, C)`.
</span><span class="kw">pub type </span>RStride&lt;T, R, C = U1&gt; =
    &lt;&lt;DefaultAllocator <span class="kw">as </span>Allocator&lt;T, R, C&gt;&gt;::Buffer <span class="kw">as </span>RawStorage&lt;T, R, C&gt;&gt;::RStride;

<span class="doccomment">/// The column-stride of the owned data storage for a buffer of dimension `(R, C)`.
</span><span class="kw">pub type </span>CStride&lt;T, R, C = U1&gt; =
    &lt;&lt;DefaultAllocator <span class="kw">as </span>Allocator&lt;T, R, C&gt;&gt;::Buffer <span class="kw">as </span>RawStorage&lt;T, R, C&gt;&gt;::CStride;

<span class="doccomment">/// The trait shared by all matrix data storage.
///
/// TODO: doc
/// In generic code, it is recommended use the `Storage` trait bound instead. The `RawStorage`
/// trait bound is generally used by code that needs to work with storages that contains
/// `MaybeUninit&lt;T&gt;` elements.
///
/// Note that `Self` must always have a number of elements compatible with the matrix length (given
/// by `R` and `C` if they are known at compile-time). For example, implementors of this trait
/// should **not** allow the user to modify the size of the underlying buffer with safe methods
/// (for example the `VecStorage::data_mut` method is unsafe because the user could change the
/// vector&#39;s size so that it no longer contains enough elements: this will lead to UB.
</span><span class="kw">pub unsafe trait </span>RawStorage&lt;T, R: Dim, C: Dim = U1&gt;: Sized {
    <span class="doccomment">/// The static stride of this storage&#39;s rows.
    </span><span class="kw">type </span>RStride: Dim;

    <span class="doccomment">/// The static stride of this storage&#39;s columns.
    </span><span class="kw">type </span>CStride: Dim;

    <span class="doccomment">/// The matrix data pointer.
    </span><span class="kw">fn </span>ptr(<span class="kw-2">&amp;</span><span class="self">self</span>) -&gt; <span class="kw-2">*const </span>T;

    <span class="doccomment">/// The dimension of the matrix at run-time. Arr length of zero indicates the additive identity
    /// element of any dimension. Must be equal to `Self::dimension()` if it is not `None`.
    </span><span class="kw">fn </span>shape(<span class="kw-2">&amp;</span><span class="self">self</span>) -&gt; (R, C);

    <span class="doccomment">/// The spacing between consecutive row elements and consecutive column elements.
    ///
    /// For example this returns `(1, 5)` for a row-major matrix with 5 columns.
    </span><span class="kw">fn </span>strides(<span class="kw-2">&amp;</span><span class="self">self</span>) -&gt; (<span class="self">Self</span>::RStride, <span class="self">Self</span>::CStride);

    <span class="doccomment">/// Compute the index corresponding to the irow-th row and icol-th column of this matrix. The
    /// index must be such that the following holds:
    ///
    /// ```ignore
    /// let lindex = self.linear_index(irow, icol);
    /// assert!(*self.get_unchecked(irow, icol) == *self.get_unchecked_linear(lindex))
    /// ```
    </span><span class="attr">#[inline]
    </span><span class="kw">fn </span>linear_index(<span class="kw-2">&amp;</span><span class="self">self</span>, irow: usize, icol: usize) -&gt; usize {
        <span class="kw">let </span>(rstride, cstride) = <span class="self">self</span>.strides();

        irow * rstride.value() + icol * cstride.value()
    }

    <span class="doccomment">/// Gets the address of the i-th matrix component without performing bound-checking.
    ///
    /// # Safety
    /// If the index is out of bounds, dereferencing the result will cause undefined behavior.
    </span><span class="attr">#[inline]
    </span><span class="kw">fn </span>get_address_unchecked_linear(<span class="kw-2">&amp;</span><span class="self">self</span>, i: usize) -&gt; <span class="kw-2">*const </span>T {
        <span class="self">self</span>.ptr().wrapping_add(i)
    }

    <span class="doccomment">/// Gets the address of the i-th matrix component without performing bound-checking.
    ///
    /// # Safety
    /// If the index is out of bounds, dereferencing the result will cause undefined behavior.
    </span><span class="attr">#[inline]
    </span><span class="kw">fn </span>get_address_unchecked(<span class="kw-2">&amp;</span><span class="self">self</span>, irow: usize, icol: usize) -&gt; <span class="kw-2">*const </span>T {
        <span class="self">self</span>.get_address_unchecked_linear(<span class="self">self</span>.linear_index(irow, icol))
    }

    <span class="doccomment">/// Retrieves a reference to the i-th element without bound-checking.
    ///
    /// # Safety
    /// If the index is out of bounds, the method will cause undefined behavior.
    </span><span class="attr">#[inline]
    </span><span class="kw">unsafe fn </span>get_unchecked_linear(<span class="kw-2">&amp;</span><span class="self">self</span>, i: usize) -&gt; <span class="kw-2">&amp;</span>T {
        <span class="kw-2">&amp;*</span><span class="self">self</span>.get_address_unchecked_linear(i)
    }

    <span class="doccomment">/// Retrieves a reference to the i-th element without bound-checking.
    ///
    /// # Safety
    /// If the index is out of bounds, the method will cause undefined behavior.
    </span><span class="attr">#[inline]
    </span><span class="kw">unsafe fn </span>get_unchecked(<span class="kw-2">&amp;</span><span class="self">self</span>, irow: usize, icol: usize) -&gt; <span class="kw-2">&amp;</span>T {
        <span class="self">self</span>.get_unchecked_linear(<span class="self">self</span>.linear_index(irow, icol))
    }

    <span class="doccomment">/// Indicates whether this data buffer stores its elements contiguously.
    ///
    /// # Safety
    /// This function must not return `true` if the underlying storage is not contiguous,
    /// or undefined behaviour will occur.
    </span><span class="kw">fn </span>is_contiguous(<span class="kw-2">&amp;</span><span class="self">self</span>) -&gt; bool;

    <span class="doccomment">/// Retrieves the data buffer as a contiguous slice.
    ///
    /// # Safety
    /// The matrix components may not be stored in a contiguous way, depending on the strides.
    /// This method is unsafe because this can yield to invalid aliasing when called on some pairs
    /// of matrix views originating from the same matrix with strides.
    ///
    /// Call the safe alternative `matrix.as_slice()` instead.
    </span><span class="kw">unsafe fn </span>as_slice_unchecked(<span class="kw-2">&amp;</span><span class="self">self</span>) -&gt; <span class="kw-2">&amp;</span>[T];
}

<span class="doccomment">/// Trait shared by all matrix data storage that don’t contain any uninitialized elements.
</span><span class="kw">pub unsafe trait </span>Storage&lt;T, R: Dim, C: Dim = U1&gt;: RawStorage&lt;T, R, C&gt; {
    <span class="doccomment">/// Builds a matrix data storage that does not contain any reference.
    </span><span class="kw">fn </span>into_owned(<span class="self">self</span>) -&gt; Owned&lt;T, R, C&gt;
    <span class="kw">where
        </span>DefaultAllocator: Allocator&lt;T, R, C&gt;;

    <span class="doccomment">/// Clones this data storage to one that does not contain any reference.
    </span><span class="kw">fn </span>clone_owned(<span class="kw-2">&amp;</span><span class="self">self</span>) -&gt; Owned&lt;T, R, C&gt;
    <span class="kw">where
        </span>DefaultAllocator: Allocator&lt;T, R, C&gt;;
}

<span class="doccomment">/// Trait implemented by matrix data storage that can provide a mutable access to its elements.
///
/// In generic code, it is recommended use the `StorageMut` trait bound instead. The
/// `RawStorageMut` trait bound is generally used by code that needs to work with storages that
/// contains `MaybeUninit&lt;T&gt;` elements.
///
/// Note that a mutable access does not mean that the matrix owns its data. For example, a mutable
/// matrix view can provide mutable access to its elements even if it does not own its data (it
/// contains only an internal reference to them).
</span><span class="kw">pub unsafe trait </span>RawStorageMut&lt;T, R: Dim, C: Dim = U1&gt;: RawStorage&lt;T, R, C&gt; {
    <span class="doccomment">/// The matrix mutable data pointer.
    </span><span class="kw">fn </span>ptr_mut(<span class="kw-2">&amp;mut </span><span class="self">self</span>) -&gt; <span class="kw-2">*mut </span>T;

    <span class="doccomment">/// Gets the mutable address of the i-th matrix component without performing bound-checking.
    ///
    /// # Safety
    /// If the index is out of bounds, dereferencing the result will cause undefined behavior.
    </span><span class="attr">#[inline]
    </span><span class="kw">fn </span>get_address_unchecked_linear_mut(<span class="kw-2">&amp;mut </span><span class="self">self</span>, i: usize) -&gt; <span class="kw-2">*mut </span>T {
        <span class="self">self</span>.ptr_mut().wrapping_add(i)
    }

    <span class="doccomment">/// Gets the mutable address of the i-th matrix component without performing bound-checking.
    ///
    /// # Safety
    /// If the index is out of bounds, dereferencing the result will cause undefined behavior.
    </span><span class="attr">#[inline]
    </span><span class="kw">fn </span>get_address_unchecked_mut(<span class="kw-2">&amp;mut </span><span class="self">self</span>, irow: usize, icol: usize) -&gt; <span class="kw-2">*mut </span>T {
        <span class="kw">let </span>lid = <span class="self">self</span>.linear_index(irow, icol);
        <span class="self">self</span>.get_address_unchecked_linear_mut(lid)
    }

    <span class="doccomment">/// Retrieves a mutable reference to the i-th element without bound-checking.
    ///
    /// # Safety
    /// If the index is out of bounds, the method will cause undefined behavior.
    </span><span class="kw">unsafe fn </span>get_unchecked_linear_mut(<span class="kw-2">&amp;mut </span><span class="self">self</span>, i: usize) -&gt; <span class="kw-2">&amp;mut </span>T {
        <span class="kw-2">&amp;mut *</span><span class="self">self</span>.get_address_unchecked_linear_mut(i)
    }

    <span class="doccomment">/// Retrieves a mutable reference to the element at `(irow, icol)` without bound-checking.
    ///
    /// # Safety
    /// If the index is out of bounds, the method will cause undefined behavior.
    </span><span class="attr">#[inline]
    </span><span class="kw">unsafe fn </span>get_unchecked_mut(<span class="kw-2">&amp;mut </span><span class="self">self</span>, irow: usize, icol: usize) -&gt; <span class="kw-2">&amp;mut </span>T {
        <span class="kw-2">&amp;mut *</span><span class="self">self</span>.get_address_unchecked_mut(irow, icol)
    }

    <span class="doccomment">/// Swaps two elements using their linear index without bound-checking.
    ///
    /// # Safety
    /// If the indices are out of bounds, the method will cause undefined behavior.
    </span><span class="attr">#[inline]
    </span><span class="kw">unsafe fn </span>swap_unchecked_linear(<span class="kw-2">&amp;mut </span><span class="self">self</span>, i1: usize, i2: usize) {
        <span class="kw">let </span>a = <span class="self">self</span>.get_address_unchecked_linear_mut(i1);
        <span class="kw">let </span>b = <span class="self">self</span>.get_address_unchecked_linear_mut(i2);

        ptr::swap(a, b);
    }

    <span class="doccomment">/// Swaps two elements without bound-checking.
    ///
    /// # Safety
    /// If the indices are out of bounds, the method will cause undefined behavior.
    </span><span class="attr">#[inline]
    </span><span class="kw">unsafe fn </span>swap_unchecked(<span class="kw-2">&amp;mut </span><span class="self">self</span>, row_col1: (usize, usize), row_col2: (usize, usize)) {
        <span class="kw">let </span>lid1 = <span class="self">self</span>.linear_index(row_col1.<span class="number">0</span>, row_col1.<span class="number">1</span>);
        <span class="kw">let </span>lid2 = <span class="self">self</span>.linear_index(row_col2.<span class="number">0</span>, row_col2.<span class="number">1</span>);

        <span class="self">self</span>.swap_unchecked_linear(lid1, lid2)
    }

    <span class="doccomment">/// Retrieves the mutable data buffer as a contiguous slice.
    ///
    /// Matrix components may not be contiguous, depending on its strides.    
    ///
    /// # Safety
    /// The matrix components may not be stored in a contiguous way, depending on the strides.
    /// This method is unsafe because this can yield to invalid aliasing when called on some pairs
    /// of matrix slices originating from the same matrix with strides.
    </span><span class="kw">unsafe fn </span>as_mut_slice_unchecked(<span class="kw-2">&amp;mut </span><span class="self">self</span>) -&gt; <span class="kw-2">&amp;mut </span>[T];
}

<span class="doccomment">/// Trait shared by all mutable matrix data storage that don’t contain any uninitialized elements.
</span><span class="kw">pub unsafe trait </span>StorageMut&lt;T, R: Dim, C: Dim = U1&gt;:
    Storage&lt;T, R, C&gt; + RawStorageMut&lt;T, R, C&gt;
{
}

<span class="kw">unsafe impl</span>&lt;S, T, R, C&gt; StorageMut&lt;T, R, C&gt; <span class="kw">for </span>S
<span class="kw">where
    </span>R: Dim,
    C: Dim,
    S: Storage&lt;T, R, C&gt; + RawStorageMut&lt;T, R, C&gt;,
{
}

<span class="doccomment">/// Marker trait indicating that a storage is stored contiguously in memory.
///
/// The storage requirement means that for any value of `i` in `[0, nrows * ncols - 1]`, the value
/// `.get_unchecked_linear` returns one of the matrix component. This trait is unsafe because
/// failing to comply to this may cause Undefined Behaviors.
</span><span class="kw">pub unsafe trait </span>IsContiguous {}

<span class="doccomment">/// A matrix storage that can be reshaped in-place.
</span><span class="kw">pub trait </span>ReshapableStorage&lt;T, R1, C1, R2, C2&gt;: RawStorage&lt;T, R1, C1&gt;
<span class="kw">where
    </span>T: Scalar,
    R1: Dim,
    C1: Dim,
    R2: Dim,
    C2: Dim,
{
    <span class="doccomment">/// The reshaped storage type.
    </span><span class="kw">type </span>Output: RawStorage&lt;T, R2, C2&gt;;

    <span class="doccomment">/// Reshapes the storage into the output storage type.
    </span><span class="kw">fn </span>reshape_generic(<span class="self">self</span>, nrows: R2, ncols: C2) -&gt; <span class="self">Self</span>::Output;
}
</code></pre></div>
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