/rust/registry/src/index.crates.io-1949cf8c6b5b557f/nalgebra-0.34.2/src/geometry/reflection.rs

Source
use crate::base::constraint::{AreMultipliable, DimEq, SameNumberOfRows, ShapeConstraint};
use crate::base::{Const, Matrix, Unit, Vector};
use crate::dimension::{Dim, U1};
use crate::storage::{Storage, StorageMut};
use simba::scalar::ComplexField;

use crate::geometry::Point;

/// A reflection wrt. a plane.
pub struct Reflection<T, D, S> {
    axis: Vector<T, D, S>,
    bias: T,
}

impl<T: ComplexField, S: Storage<T, Const<D>>, const D: usize> Reflection<T, Const<D>, S> {
    /// Creates a new reflection wrt. the plane orthogonal to the given axis and that contains the
    /// point `pt`.
    pub fn new_containing_point(axis: Unit<Vector<T, Const<D>, S>>, pt: &Point<T, D>) -> Self {
        let bias = axis.dotc(&pt.coords);
        Self::new(axis, bias)
    }
}

impl<T: ComplexField, D: Dim, S: Storage<T, D>> Reflection<T, D, S> {
    /// Creates a new reflection wrt. the plane orthogonal to the given axis and bias.
    ///
    /// The bias is the position of the plane on the axis. In particular, a bias equal to zero
    /// represents a plane that passes through the origin.
    pub fn new(axis: Unit<Vector<T, D, S>>, bias: T) -> Self {
        Self {
            axis: axis.into_inner(),
            bias,
        }
    }

    /// The reflection axis.
    #[must_use]
    pub const fn axis(&self) -> &Vector<T, D, S> {
        &self.axis
    }

    /// The reflection bias.
    ///
    /// The bias is the position of the plane on the axis. In particular, a bias equal to zero
    /// represents a plane that passes through the origin.
    #[must_use]
    pub fn bias(&self) -> T {
        self.bias.clone()
    }

    // TODO: naming convention: reflect_to, reflect_assign ?
    /// Applies the reflection to the columns of `rhs`.
    pub fn reflect<R2: Dim, C2: Dim, S2>(&self, rhs: &mut Matrix<T, R2, C2, S2>)
    where
        S2: StorageMut<T, R2, C2>,
        ShapeConstraint: SameNumberOfRows<R2, D>,
    {
        for i in 0..rhs.ncols() {
            // NOTE: we borrow the column twice here. First it is borrowed immutably for the
            // dot product, and then mutably. Somehow, this allows significantly
            // better optimizations of the dot product from the compiler.
            let m_two: T = crate::convert(-2.0f64);
            let factor = (self.axis.dotc(&rhs.column(i)) - self.bias.clone()) * m_two;
            rhs.column_mut(i).axpy(factor, &self.axis, T::one());
        }
    }

    // TODO: naming convention: reflect_to, reflect_assign ?
    /// Applies the reflection to the columns of `rhs`.
    pub fn reflect_with_sign<R2: Dim, C2: Dim, S2>(&self, rhs: &mut Matrix<T, R2, C2, S2>, sign: T)
    where
        S2: StorageMut<T, R2, C2>,
        ShapeConstraint: SameNumberOfRows<R2, D>,
    {
        for i in 0..rhs.ncols() {
            // NOTE: we borrow the column twice here. First it is borrowed immutably for the
            // dot product, and then mutably. Somehow, this allows significantly
            // better optimizations of the dot product from the compiler.
            let m_two = sign.clone().scale(crate::convert(-2.0f64));
            let factor = (self.axis.dotc(&rhs.column(i)) - self.bias.clone()) * m_two;
            rhs.column_mut(i).axpy(factor, &self.axis, sign.clone());
        }
    }

    /// Applies the reflection to the rows of `lhs`.
    pub fn reflect_rows<R2: Dim, C2: Dim, S2, S3>(
        &self,
        lhs: &mut Matrix<T, R2, C2, S2>,
        work: &mut Vector<T, R2, S3>,
    ) where
        S2: StorageMut<T, R2, C2>,
        S3: StorageMut<T, R2>,
        ShapeConstraint: DimEq<C2, D> + AreMultipliable<R2, C2, D, U1>,
    {
        lhs.mul_to(&self.axis, work);

        if !self.bias.is_zero() {
            work.add_scalar_mut(-self.bias.clone());
        }

        let m_two: T = crate::convert(-2.0f64);
        lhs.gerc(m_two, work, &self.axis, T::one());
    }

    /// Applies the reflection to the rows of `lhs`.
    pub fn reflect_rows_with_sign<R2: Dim, C2: Dim, S2, S3>(
        &self,
        lhs: &mut Matrix<T, R2, C2, S2>,
        work: &mut Vector<T, R2, S3>,
        sign: T,
    ) where
        S2: StorageMut<T, R2, C2>,
        S3: StorageMut<T, R2>,
        ShapeConstraint: DimEq<C2, D> + AreMultipliable<R2, C2, D, U1>,
    {
        lhs.mul_to(&self.axis, work);

        if !self.bias.is_zero() {
            work.add_scalar_mut(-self.bias.clone());
        }

        let m_two = sign.clone().scale(crate::convert(-2.0f64));
        lhs.gerc(m_two, work, &self.axis, sign);
    }
}

Line	Count	Source
1		use crate::base::constraint::{AreMultipliable, DimEq, SameNumberOfRows, ShapeConstraint};
2		use crate::base::{Const, Matrix, Unit, Vector};
3		use crate::dimension::{Dim, U1};
4		use crate::storage::{Storage, StorageMut};
5		use simba::scalar::ComplexField;
6
7		use crate::geometry::Point;
8
9		/// A reflection wrt. a plane.
10		pub struct Reflection<T, D, S> {
11		axis: Vector<T, D, S>,
12		bias: T,
13		}
14
15		impl<T: ComplexField, S: Storage<T, Const<D>>, const D: usize> Reflection<T, Const<D>, S> {
16		/// Creates a new reflection wrt. the plane orthogonal to the given axis and that contains the
17		/// point `pt`.
18		pub fn new_containing_point(axis: Unit<Vector<T, Const<D>, S>>, pt: &Point<T, D>) -> Self {
19		let bias = axis.dotc(&pt.coords);
20		Self::new(axis, bias)
21		}
22		}
23
24		impl<T: ComplexField, D: Dim, S: Storage<T, D>> Reflection<T, D, S> {
25		/// Creates a new reflection wrt. the plane orthogonal to the given axis and bias.
26		///
27		/// The bias is the position of the plane on the axis. In particular, a bias equal to zero
28		/// represents a plane that passes through the origin.
29	0	pub fn new(axis: Unit<Vector<T, D, S>>, bias: T) -> Self {
30	0	Self {
31	0	axis: axis.into_inner(),
32	0	bias,
33	0	}
34	0	} Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Const<2>, nalgebra::base::array_storage::ArrayStorage<f64, 2, 1>>>::new Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Const<3>, nalgebra::base::array_storage::ArrayStorage<f64, 3, 1>>>::new Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Dyn, nalgebra::base::matrix_view::ViewStorage<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>>>::new Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Dyn, nalgebra::base::matrix_view::ViewStorage<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<6>>>>::new Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Dyn, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>>>::new
35
36		/// The reflection axis.
37		#[must_use]
38		pub const fn axis(&self) -> &Vector<T, D, S> {
39		&self.axis
40		}
41
42		/// The reflection bias.
43		///
44		/// The bias is the position of the plane on the axis. In particular, a bias equal to zero
45		/// represents a plane that passes through the origin.
46		#[must_use]
47		pub fn bias(&self) -> T {
48		self.bias.clone()
49		}
50
51		// TODO: naming convention: reflect_to, reflect_assign ?
52		/// Applies the reflection to the columns of `rhs`.
53	0	pub fn reflect<R2: Dim, C2: Dim, S2>(&self, rhs: &mut Matrix<T, R2, C2, S2>)
54	0	where
55	0	S2: StorageMut<T, R2, C2>,
56	0	ShapeConstraint: SameNumberOfRows<R2, D>,
57		{
58	0	for i in 0..rhs.ncols() {
59	0	// NOTE: we borrow the column twice here. First it is borrowed immutably for the
60	0	// dot product, and then mutably. Somehow, this allows significantly
61	0	// better optimizations of the dot product from the compiler.
62	0	let m_two: T = crate::convert(-2.0f64);
63	0	let factor = (self.axis.dotc(&rhs.column(i)) - self.bias.clone()) * m_two;
64	0	rhs.column_mut(i).axpy(factor, &self.axis, T::one());
65	0	}
66	0	} Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Const<2>, nalgebra::base::array_storage::ArrayStorage<f64, 2, 1>>>::reflect::<nalgebra::base::dimension::Const<2>, nalgebra::base::dimension::Dyn, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Const<2>, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>> Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Const<3>, nalgebra::base::array_storage::ArrayStorage<f64, 3, 1>>>::reflect::<nalgebra::base::dimension::Const<3>, nalgebra::base::dimension::Dyn, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Const<3>, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>>
67
68		// TODO: naming convention: reflect_to, reflect_assign ?
69		/// Applies the reflection to the columns of `rhs`.
70	0	pub fn reflect_with_sign<R2: Dim, C2: Dim, S2>(&self, rhs: &mut Matrix<T, R2, C2, S2>, sign: T)
71	0	where
72	0	S2: StorageMut<T, R2, C2>,
73	0	ShapeConstraint: SameNumberOfRows<R2, D>,
74		{
75	0	for i in 0..rhs.ncols() {
76	0	// NOTE: we borrow the column twice here. First it is borrowed immutably for the
77	0	// dot product, and then mutably. Somehow, this allows significantly
78	0	// better optimizations of the dot product from the compiler.
79	0	let m_two = sign.clone().scale(crate::convert(-2.0f64));
80	0	let factor = (self.axis.dotc(&rhs.column(i)) - self.bias.clone()) * m_two;
81	0	rhs.column_mut(i).axpy(factor, &self.axis, sign.clone());
82	0	}
83	0	} Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Dyn, nalgebra::base::matrix_view::ViewStorage<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>>>::reflect_with_sign::<nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Dyn, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>> Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Dyn, nalgebra::base::matrix_view::ViewStorage<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<6>>>>::reflect_with_sign::<nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Dyn, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<6>>> Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Dyn, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>>>::reflect_with_sign::<nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Dyn, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>>
84
85		/// Applies the reflection to the rows of `lhs`.
86	0	pub fn reflect_rows<R2: Dim, C2: Dim, S2, S3>(
87	0	&self,
88	0	lhs: &mut Matrix<T, R2, C2, S2>,
89	0	work: &mut Vector<T, R2, S3>,
90	0	) where
91	0	S2: StorageMut<T, R2, C2>,
92	0	S3: StorageMut<T, R2>,
93	0	ShapeConstraint: DimEq<C2, D> + AreMultipliable<R2, C2, D, U1>,
94		{
95	0	lhs.mul_to(&self.axis, work);
96
97	0	if !self.bias.is_zero() {
98	0	work.add_scalar_mut(-self.bias.clone());
99	0	}
100
101	0	let m_two: T = crate::convert(-2.0f64);
102	0	lhs.gerc(m_two, work, &self.axis, T::one());
103	0	} Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Const<2>, nalgebra::base::array_storage::ArrayStorage<f64, 2, 1>>>::reflect_rows::<nalgebra::base::dimension::Const<2>, nalgebra::base::dimension::Const<2>, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Const<2>, nalgebra::base::dimension::Const<2>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>, nalgebra::base::array_storage::ArrayStorage<f64, 2, 1>> Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Const<2>, nalgebra::base::array_storage::ArrayStorage<f64, 2, 1>>>::reflect_rows::<nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<2>, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<2>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>> Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Const<3>, nalgebra::base::array_storage::ArrayStorage<f64, 3, 1>>>::reflect_rows::<nalgebra::base::dimension::Const<2>, nalgebra::base::dimension::Const<3>, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Const<2>, nalgebra::base::dimension::Const<3>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>, nalgebra::base::array_storage::ArrayStorage<f64, 2, 1>> Unexecuted instantiation: <nalgebra::geometry::reflection::Reflection<f64, nalgebra::base::dimension::Const<3>, nalgebra::base::array_storage::ArrayStorage<f64, 3, 1>>>::reflect_rows::<nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<3>, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<3>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>, nalgebra::base::matrix_view::ViewStorageMut<f64, nalgebra::base::dimension::Dyn, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<1>, nalgebra::base::dimension::Const<2>>>
104
105		/// Applies the reflection to the rows of `lhs`.
106	0	pub fn reflect_rows_with_sign<R2: Dim, C2: Dim, S2, S3>(
107	0	&self,
108	0	lhs: &mut Matrix<T, R2, C2, S2>,
109	0	work: &mut Vector<T, R2, S3>,
110	0	sign: T,
111	0	) where
112	0	S2: StorageMut<T, R2, C2>,
113	0	S3: StorageMut<T, R2>,
114	0	ShapeConstraint: DimEq<C2, D> + AreMultipliable<R2, C2, D, U1>,
115		{
116	0	lhs.mul_to(&self.axis, work);
117
118	0	if !self.bias.is_zero() {
119	0	work.add_scalar_mut(-self.bias.clone());
120	0	}
121
122	0	let m_two = sign.clone().scale(crate::convert(-2.0f64));
123	0	lhs.gerc(m_two, work, &self.axis, sign);
124	0	}
125		}

Coverage Report

Created: 2026-04-29 06:53