Struct heron::rapier_plugin::rapier::parry::utils::SdpMatrix3

pub struct SdpMatrix3<N> {
    pub m11: N,
    pub m12: N,
    pub m13: N,
    pub m22: N,
    pub m23: N,
    pub m33: N,
}

A 3x3 symmetric-definite-positive matrix.

Fields

m11: N

The component at the first row and first column of this matrix.

m12: N

The component at the first row and second column of this matrix.

m13: N

The component at the first row and third column of this matrix.

m22: N

The component at the second row and second column of this matrix.

m23: N

The component at the second row and third column of this matrix.

m33: N

The component at the third row and third column of this matrix.

Implementations

impl<N> SdpMatrix3<N> where
    N: SimdRealField, 

pub fn new(m11: N, m12: N, m13: N, m22: N, m23: N, m33: N) -> SdpMatrix3<N>

A new SDP 3x3 matrix with the given components.

Because the matrix is symmetric, only the lower off-diagonal components is required.

pub fn from_sdp_matrix(
    mat: Matrix<N, Const<{_: usize}>, Const<{_: usize}>, ArrayStorage<N, 3_usize, 3_usize>>
) -> SdpMatrix3<N>

Build an SdpMatrix3 structure from a plain matrix, assuming it is SDP.

No check is performed to ensure mat is actually SDP.

pub fn zero() -> SdpMatrix3<N>

Create a new SDP matrix filled with zeros.

pub fn diagonal(val: N) -> SdpMatrix3<N>

Create a new SDP matrix with its diagonal filled with val, and its off-diagonal elements set to zero.

pub fn is_zero(&self) -> bool

Are all components of this matrix equal to zero?

pub fn inverse_unchecked(&self) -> SdpMatrix3<N>

Compute the inverse of this SDP matrix without performing any inversibility check.

pub fn quadform3x2(
    &self,
    m: &Matrix<N, Const<{_: usize}>, Const<{_: usize}>, ArrayStorage<N, 3_usize, 2_usize>>
) -> SdpMatrix2<N>

Compute the quadratic form m.transpose() * self * m.

pub fn quadform(
    &self,
    m: &Matrix<N, Const<{_: usize}>, Const<{_: usize}>, ArrayStorage<N, 3_usize, 3_usize>>
) -> SdpMatrix3<N>

Compute the quadratic form m.transpose() * self * m.

pub fn add_diagonal(&self, elt: N) -> SdpMatrix3<N>

Adds elt to the diagonal components of self.

Trait Implementations

impl<N> Add<SdpMatrix3<N>> for SdpMatrix3<N> where
    N: Add<N>, 

type Output = SdpMatrix3<<N as Add<N>>::Output>

The resulting type after applying the + operator.

pub fn add(
    self,
    rhs: SdpMatrix3<N>
) -> <SdpMatrix3<N> as Add<SdpMatrix3<N>>>::Output

Performs the + operation.

impl<N> Clone for SdpMatrix3<N> where
    N: Clone, 

pub fn clone(&self) -> SdpMatrix3<N>

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<N> Copy for SdpMatrix3<N> where
    N: Copy, 

impl<N> Debug for SdpMatrix3<N> where
    N: Debug, 

pub fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl<T> From<[SdpMatrix3<f32>; 4]> for SdpMatrix3<T> where
    T: From<[f32; 4]>, 

pub fn from(data: [SdpMatrix3<f32>; 4]) -> SdpMatrix3<T>

Performs the conversion.

impl<N> Mul<Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 3_usize, 1_usize>>> for SdpMatrix3<N> where
    N: SimdRealField, 

type Output = Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 3_usize, 1_usize>>

The resulting type after applying the * operator.

pub fn mul(
    self,
    rhs: Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 3_usize, 1_usize>>
) -> <SdpMatrix3<N> as Mul<Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 3_usize, 1_usize>>>>::Output

Performs the * operation.

impl<N> Mul<Matrix<N, Const<{_: usize}>, Const<{_: usize}>, ArrayStorage<N, 3_usize, 2_usize>>> for SdpMatrix3<N> where
    N: SimdRealField, 

type Output = Matrix<N, Const<{_: usize}>, Const<{_: usize}>, ArrayStorage<N, 3_usize, 2_usize>>

The resulting type after applying the * operator.

pub fn mul(
    self,
    rhs: Matrix<N, Const<{_: usize}>, Const<{_: usize}>, ArrayStorage<N, 3_usize, 2_usize>>
) -> <SdpMatrix3<N> as Mul<Matrix<N, Const<{_: usize}>, Const<{_: usize}>, ArrayStorage<N, 3_usize, 2_usize>>>>::Output

Performs the * operation.

impl<N> Mul<Matrix<N, Const<{_: usize}>, Const<{_: usize}>, ArrayStorage<N, 3_usize, 3_usize>>> for SdpMatrix3<N> where
    N: SimdRealField, 

type Output = Matrix<N, Const<{_: usize}>, Const<{_: usize}>, ArrayStorage<N, 3_usize, 3_usize>>

The resulting type after applying the * operator.

pub fn mul(
    self,
    rhs: Matrix<N, Const<{_: usize}>, Const<{_: usize}>, ArrayStorage<N, 3_usize, 3_usize>>
) -> <SdpMatrix3<N> as Mul<Matrix<N, Const<{_: usize}>, Const<{_: usize}>, ArrayStorage<N, 3_usize, 3_usize>>>>::Output

Performs the * operation.

impl Mul<f32> for SdpMatrix3<f32>

type Output = SdpMatrix3<f32>

The resulting type after applying the * operator.

pub fn mul(self, rhs: f32) -> <SdpMatrix3<f32> as Mul<f32>>::Output

Performs the * operation.

impl<N> PartialEq<SdpMatrix3<N>> for SdpMatrix3<N> where
    N: PartialEq<N>, 

pub fn eq(&self, other: &SdpMatrix3<N>) -> bool

This method tests for self and other values to be equal, and is used by ==.

pub fn ne(&self, other: &SdpMatrix3<N>) -> bool

This method tests for !=.

impl<N> StructuralPartialEq for SdpMatrix3<N>