Merge matrix overhaul into main

.github/workflows/rust.yml

@@ -17,6 +17,6 @@ jobs:
     steps:
     - uses: actions/checkout@v3
     - name: Build
-      run: cargo build --verbose
+      run: cargo build --verbose --all-features
     - name: Run tests
-      run: cargo test --verbose
+      run: cargo test --verbose --all-features

README.md

@@ -22,3 +22,5 @@ https://www.cs.utexas.edu/~ear/cs341/automatabook/AutomataTheoryBook.pdf
 https://dl.acm.org/doi/pdf/10.1145/360825.360855
 https://docs.google.com/document/d/1KkKC2-ozJkvbWQIAXeJ1MUGqxjn19c-Mmc7RtxFTA3c/edit?tab=t.0
 https://ntrs.nasa.gov/api/citations/19900013774/downloads/19900013774.pdf
+
+https://www.cs.unc.edu/techreports/96-043.pdf

update_version.py

@@ -1,4 +1,4 @@
-VERSION = "0.2.5"
+VERSION = "0.3.0"
 
 locations = [
     "./vec-utils/Cargo.toml",

vec-utils-py/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "vec-utils-py"
-version = "0.2.5"
+version = "0.3.0"
 edition = "2024"
 authors = ["Akari Harada <[email protected]>"]
 license = "GPL-3"
@@ -17,4 +17,4 @@ pyo3 = { version = "0.27.2", features = [
   "generate-import-lib"
 ] }
 rayon = "1.11.0"
-vec-utils = { path = "../vec-utils" }
+vec-utils = { path = "../vec-utils", features = ["matrix"] }

vec-utils-py/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "vec-utils-py"
-version = "0.2.5"
+version = "0.3.0"
 requires-python = ">=3.9"
 authors = [
   { name="Akari202", email="[email protected]" }

vec-utils-py/src/quat.rs

@@ -104,7 +104,7 @@ impl Quat {
     }
 
     fn to_rotation_matrix(&self) -> [[f64; 3]; 3] {
-        self.inner.to_rotation_matrix()
+        self.inner.to_rotation_matrix().to_nested_arr()
     }
 
     fn rotate(&self, v: &Vec3d) -> Vec3d {

vec-utils/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "vec-utils"
-version = "0.2.5"
+version = "0.3.0"
 edition = "2024"
 authors = ["Akari Harada <[email protected]>"]
 license = "GPL-3"
@@ -10,6 +10,9 @@ name = "vec_utils"
 
 [dependencies]
 libm = { version = "0.2.15" }
+matrixmultiply = { version = "0.3.10", default-features = false, features = [
+  "cgemm"
+], optional = true }
 rkyv = { version = "0.8.12", default-features = false, features = ["bytecheck"], optional = true }
 serde = { version = "1.0.219", default-features = false, features = ["derive"], optional = true }
 
@@ -19,6 +22,7 @@ pretty_assertions = "1.4.1"
 
 [features]
 default = ["std"]
+matrix = ["dep:matrixmultiply"]
 rkyv = ["dep:rkyv"]
 serde = ["dep:serde"]
-std = ["rkyv?/std", "serde?/std"]
+std = ["matrixmultiply?/std", "rkyv?/std", "serde?/std"]

vec-utils/src/complex.rs

@@ -1,3 +1,4 @@
+use core::cmp::Ordering;
 use core::fmt;
 use core::ops::{Add, Div, Index, Mul, Sub};
 
@@ -7,6 +8,7 @@ use crate::{
 };
 
 /// A complex number
+#[repr(C)]
 #[cfg_attr(feature = "serde", derive(serde::Deserialize, serde::Serialize))]
 #[cfg_attr(
     feature = "rkyv",
@@ -241,6 +243,42 @@ impl_single_op_variants_other!(
     "Divide a real number by a complex number"
 );
 
+impl PartialOrd for Complex {
+    fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
+        let self_mag_sq = self.real * self.real + self.imaginary * self.imaginary;
+        let other_mag_sq = other.real * other.real + other.imaginary * other.imaginary;
+
+        self_mag_sq.partial_cmp(&other_mag_sq)
+    }
+}
+
+impl PartialEq<f64> for Complex {
+    fn eq(&self, other: &f64) -> bool {
+        self.imaginary == 0.0 && self.real == *other
+    }
+}
+
+impl PartialOrd<f64> for Complex {
+    fn partial_cmp(&self, other: &f64) -> Option<Ordering> {
+        let self_mag_sq = self.real * self.real + self.imaginary * self.imaginary;
+        let other_mag_sq = other * other;
+
+        self_mag_sq.partial_cmp(&other_mag_sq)
+    }
+}
+
+impl PartialEq<Complex> for f64 {
+    fn eq(&self, other: &Complex) -> bool {
+        other.eq(self)
+    }
+}
+
+impl PartialOrd<Complex> for f64 {
+    fn partial_cmp(&self, other: &Complex) -> Option<Ordering> {
+        other.partial_cmp(self).map(Ordering::reverse)
+    }
+}
+
 impl Index<usize> for Complex {
     type Output = f64;
 

vec-utils/src/geometry.rs

@@ -1,6 +1,3 @@
-//! Geometry module
-//! This module contains geometric shapes and operations on them.
-
 /// Circles
 pub mod circle;
 /// Intersections

vec-utils/src/lib.rs

@@ -1,12 +1,19 @@
 #![no_std]
-#![deny(missing_docs)]
 #![warn(clippy::pedantic)]
+#![deny(
+    missing_docs,
+    clippy::undocumented_unsafe_blocks,
+    clippy::unnecessary_safety_doc
+)]
 #![allow(
     clippy::must_use_candidate,
     clippy::many_single_char_names,
-    clippy::return_self_not_must_use
+    clippy::return_self_not_must_use,
+    clippy::derive_ord_xor_partial_ord,
+    incomplete_features
 )]
 #![cfg_attr(not(feature = "std"), feature(core_float_math))]
+#![cfg_attr(feature = "matrix", feature(generic_const_exprs))]
 #![doc(test(attr(deny(dead_code))))]
 //! A crate for 3D vector, quaternion, geometry, and matrix operations
 //! plus some miscellaneous other common things.
@@ -24,11 +31,9 @@ pub mod complex;
 pub mod geometry;
 /// Internal macros
 pub(crate) mod macros;
-/// Functions for working with matrices
-/// currently only 2x2, 3x3, and 4x4 matrices are supported
-/// with functions for calculating the determinant, minor, and cofactor
-/// only available on std until i get around to fixing it or <https://github.com/rust-lang/rust/issues/137578> gets merged
-#[cfg(feature = "std")]
+/// Matrix operations and functions.
+/// Requires the "matrix" feature
+#[cfg(feature = "matrix")]
 pub mod matrix;
 /// Quaternion operations and functions
 pub mod quat;