multibody_dynamics 0.4.0

Multibody dynamics algorithms in Rust
Documentation
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</pre><pre class="rust"><code><span class="attr">#[cfg(feature = <span class="string">&quot;arbitrary&quot;</span>)]
</span><span class="kw">use </span><span class="kw">crate</span>::base::storage::Owned;
<span class="attr">#[cfg(feature = <span class="string">&quot;arbitrary&quot;</span>)]
</span><span class="kw">use </span>quickcheck::{Arbitrary, Gen};

<span class="kw">use </span>num::One;
<span class="attr">#[cfg(feature = <span class="string">&quot;rand-no-std&quot;</span>)]
</span><span class="kw">use </span>rand::{
    distributions::{Distribution, Standard},
    Rng,
};

<span class="kw">use </span>simba::scalar::{ClosedMul, SupersetOf};

<span class="kw">use </span><span class="kw">crate</span>::base::{SVector, Scalar};
<span class="kw">use </span><span class="kw">crate</span>::geometry::Scale;

<span class="kw">impl</span>&lt;T: Scalar, <span class="kw">const </span>D: usize&gt; Scale&lt;T, D&gt; {
    <span class="doccomment">/// Creates a new identity scale.
    ///
    /// # Example
    /// ```
    /// # use nalgebra::{Point2, Point3, Scale2, Scale3};
    /// let t = Scale2::identity();
    /// let p = Point2::new(1.0, 2.0);
    /// assert_eq!(t * p, p);
    ///
    /// // Works in all dimensions.
    /// let t = Scale3::identity();
    /// let p = Point3::new(1.0, 2.0, 3.0);
    /// assert_eq!(t * p, p);
    /// ```
    </span><span class="attr">#[inline]
    </span><span class="kw">pub fn </span>identity() -&gt; Scale&lt;T, D&gt;
    <span class="kw">where
        </span>T: One,
    {
        Scale::from(SVector::from_element(T::one()))
    }

    <span class="doccomment">/// Cast the components of `self` to another type.
    ///
    /// # Example
    /// ```
    /// # use nalgebra::Scale2;
    /// let tra = Scale2::new(1.0f64, 2.0);
    /// let tra2 = tra.cast::&lt;f32&gt;();
    /// assert_eq!(tra2, Scale2::new(1.0f32, 2.0));
    /// ```
    </span><span class="kw">pub fn </span>cast&lt;To: Scalar&gt;(<span class="self">self</span>) -&gt; Scale&lt;To, D&gt;
    <span class="kw">where
        </span>Scale&lt;To, D&gt;: SupersetOf&lt;<span class="self">Self</span>&gt;,
    {
        <span class="kw">crate</span>::convert(<span class="self">self</span>)
    }
}

<span class="kw">impl</span>&lt;T: Scalar + One + ClosedMul, <span class="kw">const </span>D: usize&gt; One <span class="kw">for </span>Scale&lt;T, D&gt; {
    <span class="attr">#[inline]
    </span><span class="kw">fn </span>one() -&gt; <span class="self">Self </span>{
        <span class="self">Self</span>::identity()
    }
}

<span class="attr">#[cfg(feature = <span class="string">&quot;rand-no-std&quot;</span>)]
</span><span class="kw">impl</span>&lt;T: Scalar, <span class="kw">const </span>D: usize&gt; Distribution&lt;Scale&lt;T, D&gt;&gt; <span class="kw">for </span>Standard
<span class="kw">where
    </span>Standard: Distribution&lt;T&gt;,
{
    <span class="doccomment">/// Generate an arbitrary random variate for testing purposes.
    </span><span class="attr">#[inline]
    </span><span class="kw">fn </span>sample&lt;G: Rng + <span class="question-mark">?</span>Sized&gt;(<span class="kw-2">&amp;</span><span class="self">self</span>, rng: <span class="kw-2">&amp;mut </span>G) -&gt; Scale&lt;T, D&gt; {
        Scale::from(rng.gen::&lt;SVector&lt;T, D&gt;&gt;())
    }
}

<span class="attr">#[cfg(feature = <span class="string">&quot;arbitrary&quot;</span>)]
</span><span class="kw">impl</span>&lt;T: Scalar + Arbitrary + Send, <span class="kw">const </span>D: usize&gt; Arbitrary <span class="kw">for </span>Scale&lt;T, D&gt;
<span class="kw">where
    </span>Owned&lt;T, <span class="kw">crate</span>::Const&lt;D&gt;&gt;: Send,
{
    <span class="attr">#[inline]
    </span><span class="kw">fn </span>arbitrary(rng: <span class="kw-2">&amp;mut </span>Gen) -&gt; <span class="self">Self </span>{
        <span class="kw">let </span>v: SVector&lt;T, D&gt; = Arbitrary::arbitrary(rng);
        <span class="self">Self</span>::from(v)
    }
}

<span class="comment">/*
 *
 * Small Scale construction from components.
 *
 */
</span><span class="macro">macro_rules! </span>componentwise_constructors_impl(
    ($(<span class="macro-nonterminal">$doc</span>: expr; <span class="macro-nonterminal">$D</span>: expr, $(<span class="macro-nonterminal">$args</span>: ident:<span class="macro-nonterminal">$irow</span>: expr),<span class="kw-2">*</span>);* $(;)<span class="kw-2">*</span>) =&gt; {$(
        <span class="kw">impl</span>&lt;T&gt; Scale&lt;T, <span class="macro-nonterminal">$D</span>&gt;
             {
            <span class="attr">#[doc = <span class="string">&quot;Initializes this Scale from its components.&quot;</span>]
            #[doc = <span class="string">&quot;# Example\n```&quot;</span>]
            #[doc = <span class="macro-nonterminal">$doc</span>]
            #[doc = <span class="string">&quot;```&quot;</span>]
            #[inline]
            </span><span class="kw">pub const fn </span>new($(<span class="macro-nonterminal">$args</span>: T),<span class="kw-2">*</span>) -&gt; <span class="self">Self </span>{
                <span class="self">Self </span>{ vector: SVector::&lt;T, <span class="macro-nonterminal">$D</span>&gt;::new($(<span class="macro-nonterminal">$args</span>),<span class="kw-2">*</span>) }
            }
        }
    )<span class="kw-2">*</span>}
);

<span class="macro">componentwise_constructors_impl!</span>(
    <span class="string">&quot;# use nalgebra::Scale1;\nlet t = Scale1::new(1.0);\nassert!(t.vector.x == 1.0);&quot;</span>;
    <span class="number">1</span>, x:<span class="number">0</span>;
    <span class="string">&quot;# use nalgebra::Scale2;\nlet t = Scale2::new(1.0, 2.0);\nassert!(t.vector.x == 1.0 &amp;&amp; t.vector.y == 2.0);&quot;</span>;
    <span class="number">2</span>, x:<span class="number">0</span>, y:<span class="number">1</span>;
    <span class="string">&quot;# use nalgebra::Scale3;\nlet t = Scale3::new(1.0, 2.0, 3.0);\nassert!(t.vector.x == 1.0 &amp;&amp; t.vector.y == 2.0 &amp;&amp; t.vector.z == 3.0);&quot;</span>;
    <span class="number">3</span>, x:<span class="number">0</span>, y:<span class="number">1</span>, z:<span class="number">2</span>;
    <span class="string">&quot;# use nalgebra::Scale4;\nlet t = Scale4::new(1.0, 2.0, 3.0, 4.0);\nassert!(t.vector.x == 1.0 &amp;&amp; t.vector.y == 2.0 &amp;&amp; t.vector.z == 3.0 &amp;&amp; t.vector.w == 4.0);&quot;</span>;
    <span class="number">4</span>, x:<span class="number">0</span>, y:<span class="number">1</span>, z:<span class="number">2</span>, w:<span class="number">3</span>;
    <span class="string">&quot;# use nalgebra::Scale5;\nlet t = Scale5::new(1.0, 2.0, 3.0, 4.0, 5.0);\nassert!(t.vector.x == 1.0 &amp;&amp; t.vector.y == 2.0 &amp;&amp; t.vector.z == 3.0 &amp;&amp; t.vector.w == 4.0 &amp;&amp; t.vector.a == 5.0);&quot;</span>;
    <span class="number">5</span>, x:<span class="number">0</span>, y:<span class="number">1</span>, z:<span class="number">2</span>, w:<span class="number">3</span>, a:<span class="number">4</span>;
    <span class="string">&quot;# use nalgebra::Scale6;\nlet t = Scale6::new(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);\nassert!(t.vector.x == 1.0 &amp;&amp; t.vector.y == 2.0 &amp;&amp; t.vector.z == 3.0 &amp;&amp; t.vector.w == 4.0 &amp;&amp; t.vector.a == 5.0 &amp;&amp; t.vector.b == 6.0);&quot;</span>;
    <span class="number">6</span>, x:<span class="number">0</span>, y:<span class="number">1</span>, z:<span class="number">2</span>, w:<span class="number">3</span>, a:<span class="number">4</span>, b:<span class="number">5</span>;
);
</code></pre></div>
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