Module math

Expand description

Elementary mathematical entities (vectors, matrices, isometries, etc).

Re-exports§

ANG_DIM: The maximum number of rotational degrees of freedom of a rigid-body.
DEFAULT_EPSILON: The default tolerance used for geometric operations.
DIM: The dimension of the space.
MAX_MANIFOLD_POINTS: Max number of pairs of contact points from the same contact manifold that can be solved as part of a single contact constraint.
SIMD_LAST_INDEX: SIMD_WIDTH - 1
SIMD_WIDTH: The number of lanes of a SIMD number.
SPATIAL_DIM: The maximum number of possible rotations and translations of a rigid body.
TWO_DIM: The dimension of the space multiplied by two.

AngDim: The dimension of the rotations.
AngVector: The angular vector type.
AngularInertia: The angular inertia of a rigid body.
CrossMatrix: A matrix that represent the cross product with a given vector.
Dim: The dimension of the ambient space.
Isometry: The transformation matrix type.
Jacobian: The type of a constraint Jacobian in twist coordinates.
JacobianView: The type of a slice of the constraint Jacobian in twist coordinates.
JacobianViewMut: The type of a mutable slice of the constraint Jacobian in twist coordinates.
Matrix: The matrix type.
Orientation: The orientation type.
Point: The point type.
PrincipalAngularInertia: The principal angular inertia of a rigid body.
Rotation: The rotation matrix type.
SdpMatrix: A 3D symmetric-definite-positive matrix.
SimdBool: A SIMD bool with SIMD_WIDTH lanes.
SimdReal: A SIMD float with SIMD_WIDTH lanes.
SpacialVector: A vector with a dimension equal to the maximum number of degrees of freedom of a rigid body.
SpatialDim: The dimension of a spatial vector.
SpatialVector: The vector type with dimension SpatialDim × 1.
TangentImpulse: The type of impulse applied for friction constraints.
Translation: The translation type.
UnitVector: The unit vector type.
Vector: The vector type.