multibody_dynamics 0.4.0

Multibody dynamics algorithms in Rust
Documentation 
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</pre><pre class="rust"><code><span class="kw">use </span>simba::scalar::{RealField, SubsetOf};

<span class="kw">use </span><span class="kw">crate</span>::base::allocator::Allocator;
<span class="kw">use </span><span class="kw">crate</span>::base::dimension::{DimNameAdd, DimNameSum, U1};
<span class="kw">use </span><span class="kw">crate</span>::base::{Const, DefaultAllocator, OMatrix};

<span class="kw">use </span><span class="kw">crate</span>::geometry::{SuperTCategoryOf, TCategory, Transform};

<span class="kw">impl</span>&lt;T1, T2, C1, C2, <span class="kw">const </span>D: usize&gt; SubsetOf&lt;Transform&lt;T2, C2, D&gt;&gt; <span class="kw">for </span>Transform&lt;T1, C1, D&gt;
<span class="kw">where
    </span>T1: RealField + SubsetOf&lt;T2&gt;,
    T2: RealField,
    C1: TCategory,
    C2: SuperTCategoryOf&lt;C1&gt;,
    Const&lt;D&gt;: DimNameAdd&lt;U1&gt;,
    DefaultAllocator: Allocator&lt;T1, DimNameSum&lt;Const&lt;D&gt;, U1&gt;, DimNameSum&lt;Const&lt;D&gt;, U1&gt;&gt;
        + Allocator&lt;T2, DimNameSum&lt;Const&lt;D&gt;, U1&gt;, DimNameSum&lt;Const&lt;D&gt;, U1&gt;&gt;,
    T1::Epsilon: Copy,
    T2::Epsilon: Copy,
{
    <span class="attr">#[inline]
    </span><span class="kw">fn </span>to_superset(<span class="kw-2">&amp;</span><span class="self">self</span>) -&gt; Transform&lt;T2, C2, D&gt; {
        Transform::from_matrix_unchecked(<span class="self">self</span>.to_homogeneous().to_superset())
    }

    <span class="attr">#[inline]
    </span><span class="kw">fn </span>is_in_subset(t: <span class="kw-2">&amp;</span>Transform&lt;T2, C2, D&gt;) -&gt; bool {
        &lt;<span class="self">Self </span><span class="kw">as </span>SubsetOf&lt;<span class="kw">_</span>&gt;&gt;::is_in_subset(t.matrix())
    }

    <span class="attr">#[inline]
    </span><span class="kw">fn </span>from_superset_unchecked(t: <span class="kw-2">&amp;</span>Transform&lt;T2, C2, D&gt;) -&gt; <span class="self">Self </span>{
        <span class="self">Self</span>::from_superset_unchecked(t.matrix())
    }
}

<span class="kw">impl</span>&lt;T1, T2, C, <span class="kw">const </span>D: usize&gt;
    SubsetOf&lt;OMatrix&lt;T2, DimNameSum&lt;Const&lt;D&gt;, U1&gt;, DimNameSum&lt;Const&lt;D&gt;, U1&gt;&gt;&gt;
    <span class="kw">for </span>Transform&lt;T1, C, D&gt;
<span class="kw">where
    </span>T1: RealField + SubsetOf&lt;T2&gt;,
    T2: RealField,
    C: TCategory,
    Const&lt;D&gt;: DimNameAdd&lt;U1&gt;,
    DefaultAllocator: Allocator&lt;T1, DimNameSum&lt;Const&lt;D&gt;, U1&gt;, DimNameSum&lt;Const&lt;D&gt;, U1&gt;&gt;
        + Allocator&lt;T2, DimNameSum&lt;Const&lt;D&gt;, U1&gt;, DimNameSum&lt;Const&lt;D&gt;, U1&gt;&gt;,
    T1::Epsilon: Copy,
    T2::Epsilon: Copy,
{
    <span class="attr">#[inline]
    </span><span class="kw">fn </span>to_superset(<span class="kw-2">&amp;</span><span class="self">self</span>) -&gt; OMatrix&lt;T2, DimNameSum&lt;Const&lt;D&gt;, U1&gt;, DimNameSum&lt;Const&lt;D&gt;, U1&gt;&gt; {
        <span class="self">self</span>.matrix().to_superset()
    }

    <span class="attr">#[inline]
    </span><span class="kw">fn </span>is_in_subset(m: <span class="kw-2">&amp;</span>OMatrix&lt;T2, DimNameSum&lt;Const&lt;D&gt;, U1&gt;, DimNameSum&lt;Const&lt;D&gt;, U1&gt;&gt;) -&gt; bool {
        C::check_homogeneous_invariants(m)
    }

    <span class="attr">#[inline]
    </span><span class="kw">fn </span>from_superset_unchecked(
        m: <span class="kw-2">&amp;</span>OMatrix&lt;T2, DimNameSum&lt;Const&lt;D&gt;, U1&gt;, DimNameSum&lt;Const&lt;D&gt;, U1&gt;&gt;,
    ) -&gt; <span class="self">Self </span>{
        <span class="self">Self</span>::from_matrix_unchecked(<span class="kw">crate</span>::convert_ref_unchecked(m))
    }
}

<span class="kw">impl</span>&lt;T: RealField, C, <span class="kw">const </span>D: usize&gt; From&lt;Transform&lt;T, C, D&gt;&gt;
    <span class="kw">for </span>OMatrix&lt;T, DimNameSum&lt;Const&lt;D&gt;, U1&gt;, DimNameSum&lt;Const&lt;D&gt;, U1&gt;&gt;
<span class="kw">where
    </span>Const&lt;D&gt;: DimNameAdd&lt;U1&gt;,
    C: TCategory,
    DefaultAllocator: Allocator&lt;T, DimNameSum&lt;Const&lt;D&gt;, U1&gt;, DimNameSum&lt;Const&lt;D&gt;, U1&gt;&gt;,
{
    <span class="attr">#[inline]
    </span><span class="kw">fn </span>from(t: Transform&lt;T, C, D&gt;) -&gt; <span class="self">Self </span>{
        t.to_homogeneous()
    }
}
</code></pre></div>
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