<!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/geometry/reflection.rs`."><meta name="keywords" content="rust, rustlang, rust-lang"><title>reflection.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="kw">use </span><span class="kw">crate</span>::base::constraint::{AreMultipliable, DimEq, SameNumberOfRows, ShapeConstraint};
<span class="kw">use </span><span class="kw">crate</span>::base::{Const, Matrix, Unit, Vector};
<span class="kw">use </span><span class="kw">crate</span>::dimension::{Dim, U1};
<span class="kw">use </span><span class="kw">crate</span>::storage::{Storage, StorageMut};
<span class="kw">use </span>simba::scalar::ComplexField;
<span class="kw">use </span><span class="kw">crate</span>::geometry::Point;
<span class="doccomment">/// A reflection wrt. a plane.
</span><span class="kw">pub struct </span>Reflection<T, D, S> {
axis: Vector<T, D, S>,
bias: T,
}
<span class="kw">impl</span><T: ComplexField, S: Storage<T, Const<D>>, <span class="kw">const </span>D: usize> Reflection<T, Const<D>, S> {
<span class="doccomment">/// Creates a new reflection wrt. the plane orthogonal to the given axis and that contains the
/// point `pt`.
</span><span class="kw">pub fn </span>new_containing_point(axis: Unit<Vector<T, Const<D>, S>>, pt: <span class="kw-2">&</span>Point<T, D>) -> <span class="self">Self </span>{
<span class="kw">let </span>bias = axis.dotc(<span class="kw-2">&</span>pt.coords);
<span class="self">Self</span>::new(axis, bias)
}
}
<span class="kw">impl</span><T: ComplexField, D: Dim, S: Storage<T, D>> Reflection<T, D, S> {
<span class="doccomment">/// Creates a new reflection wrt. the plane orthogonal to the given axis and bias.
///
/// The bias is the position of the plane on the axis. In particular, a bias equal to zero
/// represents a plane that passes through the origin.
</span><span class="kw">pub fn </span>new(axis: Unit<Vector<T, D, S>>, bias: T) -> <span class="self">Self </span>{
<span class="self">Self </span>{
axis: axis.into_inner(),
bias,
}
}
<span class="doccomment">/// The reflection axis.
</span><span class="attr">#[must_use]
</span><span class="kw">pub fn </span>axis(<span class="kw-2">&</span><span class="self">self</span>) -> <span class="kw-2">&</span>Vector<T, D, S> {
<span class="kw-2">&</span><span class="self">self</span>.axis
}
<span class="doccomment">/// The reflection bias.
///
/// The bias is the position of the plane on the axis. In particular, a bias equal to zero
/// represents a plane that passes through the origin.
</span><span class="attr">#[must_use]
</span><span class="kw">pub fn </span>bias(<span class="kw-2">&</span><span class="self">self</span>) -> T {
<span class="self">self</span>.bias.clone()
}
<span class="comment">// TODO: naming convention: reflect_to, reflect_assign ?
</span><span class="doccomment">/// Applies the reflection to the columns of `rhs`.
</span><span class="kw">pub fn </span>reflect<R2: Dim, C2: Dim, S2>(<span class="kw-2">&</span><span class="self">self</span>, rhs: <span class="kw-2">&mut </span>Matrix<T, R2, C2, S2>)
<span class="kw">where
</span>S2: StorageMut<T, R2, C2>,
ShapeConstraint: SameNumberOfRows<R2, D>,
{
<span class="kw">for </span>i <span class="kw">in </span><span class="number">0</span>..rhs.ncols() {
<span class="comment">// NOTE: we borrow the column twice here. First it is borrowed immutably for the
// dot product, and then mutably. Somehow, this allows significantly
// better optimizations of the dot product from the compiler.
</span><span class="kw">let </span>m_two: T = <span class="kw">crate</span>::convert(-<span class="number">2.0f64</span>);
<span class="kw">let </span>factor = (<span class="self">self</span>.axis.dotc(<span class="kw-2">&</span>rhs.column(i)) - <span class="self">self</span>.bias.clone()) * m_two;
rhs.column_mut(i).axpy(factor, <span class="kw-2">&</span><span class="self">self</span>.axis, T::one());
}
}
<span class="comment">// TODO: naming convention: reflect_to, reflect_assign ?
</span><span class="doccomment">/// Applies the reflection to the columns of `rhs`.
</span><span class="kw">pub fn </span>reflect_with_sign<R2: Dim, C2: Dim, S2>(<span class="kw-2">&</span><span class="self">self</span>, rhs: <span class="kw-2">&mut </span>Matrix<T, R2, C2, S2>, sign: T)
<span class="kw">where
</span>S2: StorageMut<T, R2, C2>,
ShapeConstraint: SameNumberOfRows<R2, D>,
{
<span class="kw">for </span>i <span class="kw">in </span><span class="number">0</span>..rhs.ncols() {
<span class="comment">// NOTE: we borrow the column twice here. First it is borrowed immutably for the
// dot product, and then mutably. Somehow, this allows significantly
// better optimizations of the dot product from the compiler.
</span><span class="kw">let </span>m_two = sign.clone().scale(<span class="kw">crate</span>::convert(-<span class="number">2.0f64</span>));
<span class="kw">let </span>factor = (<span class="self">self</span>.axis.dotc(<span class="kw-2">&</span>rhs.column(i)) - <span class="self">self</span>.bias.clone()) * m_two;
rhs.column_mut(i).axpy(factor, <span class="kw-2">&</span><span class="self">self</span>.axis, sign.clone());
}
}
<span class="doccomment">/// Applies the reflection to the rows of `lhs`.
</span><span class="kw">pub fn </span>reflect_rows<R2: Dim, C2: Dim, S2, S3>(
<span class="kw-2">&</span><span class="self">self</span>,
lhs: <span class="kw-2">&mut </span>Matrix<T, R2, C2, S2>,
work: <span class="kw-2">&mut </span>Vector<T, R2, S3>,
) <span class="kw">where
</span>S2: StorageMut<T, R2, C2>,
S3: StorageMut<T, R2>,
ShapeConstraint: DimEq<C2, D> + AreMultipliable<R2, C2, D, U1>,
{
lhs.mul_to(<span class="kw-2">&</span><span class="self">self</span>.axis, work);
<span class="kw">if </span>!<span class="self">self</span>.bias.is_zero() {
work.add_scalar_mut(-<span class="self">self</span>.bias.clone());
}
<span class="kw">let </span>m_two: T = <span class="kw">crate</span>::convert(-<span class="number">2.0f64</span>);
lhs.gerc(m_two, work, <span class="kw-2">&</span><span class="self">self</span>.axis, T::one());
}
<span class="doccomment">/// Applies the reflection to the rows of `lhs`.
</span><span class="kw">pub fn </span>reflect_rows_with_sign<R2: Dim, C2: Dim, S2, S3>(
<span class="kw-2">&</span><span class="self">self</span>,
lhs: <span class="kw-2">&mut </span>Matrix<T, R2, C2, S2>,
work: <span class="kw-2">&mut </span>Vector<T, R2, S3>,
sign: T,
) <span class="kw">where
</span>S2: StorageMut<T, R2, C2>,
S3: StorageMut<T, R2>,
ShapeConstraint: DimEq<C2, D> + AreMultipliable<R2, C2, D, U1>,
{
lhs.mul_to(<span class="kw-2">&</span><span class="self">self</span>.axis, work);
<span class="kw">if </span>!<span class="self">self</span>.bias.is_zero() {
work.add_scalar_mut(-<span class="self">self</span>.bias.clone());
}
<span class="kw">let </span>m_two = sign.clone().scale(<span class="kw">crate</span>::convert(-<span class="number">2.0f64</span>));
lhs.gerc(m_two, work, <span class="kw-2">&</span><span class="self">self</span>.axis, sign);
}
}
</code></pre></div>
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