Struct SymMat4 

pub struct SymMat4 {
    pub m: [f64; 10],
}

A symmetric 4×4 matrix stored as 10 unique elements (upper triangle).

Layout: a00 a01 a02 a03 a11 a12 a13 a22 a23 a33

Fields

m: [f64; 10]

Elements stored in row-major upper-triangle order.

Implementations

impl SymMat4

pub fn zero() -> Self

Zero matrix.

pub fn from_plane(a: f64, b: f64, c: f64, d: f64) -> Self

Build quadric matrix from plane equation ax + by + cz + d = 0.

pub fn add(&self, other: &Self) -> Self

Add two symmetric matrices.

pub fn scale(&self, s: f64) -> Self

Scale by a scalar.

pub fn evaluate(&self, v: [f64; 3]) -> f64

Evaluate the quadric error v^T Q v for a 3D point (homogeneous w=1).

pub fn optimal_point(&self) -> Option<[f64; 3]>

Try to find the optimal point that minimizes the quadric error.

Solves the 3×3 linear system from ∂(v^T Q v)/∂v = 0. Returns None if the system is singular.

Trait Implementations

impl Clone for SymMat4

fn clone(&self) -> SymMat4

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SymMat4

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

Formats the value using the given formatter.

impl Copy for SymMat4