[−][src]Struct rapier2d::utils::SdpMatrix3
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: SimdRealField> SdpMatrix3<N>
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pub fn new(m11: N, m12: N, m13: N, m22: N, m23: N, m33: N) -> Self
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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: Matrix3<N>) -> Self
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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() -> Self
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Create a new SDP matrix filled with zeros.
pub fn diagonal(val: N) -> Self
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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
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Are all components of this matrix equal to zero?
pub fn inverse_unchecked(&self) -> Self
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Compute the inverse of this SDP matrix without performing any inversibility check.
pub fn quadform3x2(&self, m: &Matrix3x2<N>) -> SdpMatrix2<N>
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Compute the quadratic form m.transpose() * self * m
.
pub fn quadform(&self, m: &Matrix3<N>) -> Self
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Compute the quadratic form m.transpose() * self * m
.
pub fn add_diagonal(&self, elt: N) -> Self
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Adds elt
to the diagonal components of self
.
Trait Implementations
impl<N: Add<N>> Add<SdpMatrix3<N>> for SdpMatrix3<N>
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type Output = SdpMatrix3<N::Output>
The resulting type after applying the +
operator.
fn add(self, rhs: SdpMatrix3<N>) -> Self::Output
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impl<N: Clone> Clone for SdpMatrix3<N>
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fn clone(&self) -> SdpMatrix3<N>
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fn clone_from(&mut self, source: &Self)
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impl<N: Copy> Copy for SdpMatrix3<N>
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impl<N: Debug> Debug for SdpMatrix3<N>
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impl<T> From<[SdpMatrix3<f32>; 4]> for SdpMatrix3<T> where
T: From<[f32; 4]>,
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T: From<[f32; 4]>,
impl<N: SimdRealField> Mul<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>> for SdpMatrix3<N>
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type Output = Vector3<N>
The resulting type after applying the *
operator.
fn mul(self, rhs: Vector3<N>) -> Self::Output
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impl<N: SimdRealField> Mul<Matrix<N, U3, U2, <DefaultAllocator as Allocator<N, U3, U2>>::Buffer>> for SdpMatrix3<N>
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type Output = Matrix3x2<N>
The resulting type after applying the *
operator.
fn mul(self, rhs: Matrix3x2<N>) -> Self::Output
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impl<N: SimdRealField> Mul<Matrix<N, U3, U3, <DefaultAllocator as Allocator<N, U3, U3>>::Buffer>> for SdpMatrix3<N>
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type Output = Matrix3<N>
The resulting type after applying the *
operator.
fn mul(self, rhs: Matrix3<N>) -> Self::Output
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impl<N: PartialEq> PartialEq<SdpMatrix3<N>> for SdpMatrix3<N>
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fn eq(&self, other: &SdpMatrix3<N>) -> bool
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fn ne(&self, other: &SdpMatrix3<N>) -> bool
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impl<N> StructuralPartialEq for SdpMatrix3<N>
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Auto Trait Implementations
impl<N> RefUnwindSafe for SdpMatrix3<N> where
N: RefUnwindSafe,
N: RefUnwindSafe,
impl<N> Send for SdpMatrix3<N> where
N: Send,
N: Send,
impl<N> Sync for SdpMatrix3<N> where
N: Sync,
N: Sync,
impl<N> Unpin for SdpMatrix3<N> where
N: Unpin,
N: Unpin,
impl<N> UnwindSafe for SdpMatrix3<N> where
N: UnwindSafe,
N: UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn as_any(&self) -> &(dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> DowncastSync for T where
T: Send + Sync + Any,
T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> Scalar for T where
T: PartialEq<T> + Copy + Any + Debug,
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T: PartialEq<T> + Copy + Any + Debug,
impl<T> Slottable for T where
T: Copy,
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T: Copy,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
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fn is_in_subset(&self) -> bool
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fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
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fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,