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[Sofa.Type] Fix compile-time Mat and Vec #3281

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Merged
damienmarchal merged 3 commits into from
Sep 21, 2022
Merged

[Sofa.Type] Fix compile-time Mat and Vec #3281

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d1b821f
mat: std abs only constexpr in c++23
fredroy Sep 8, 2022
e2e637c
sqrt is not constexpr in std
fredroy Sep 8, 2022
7b55fef
make rabs non-constexpr as std::abs is not constexpr
fredroy Sep 13, 2022
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18 changes: 9 additions & 9 deletions Sofa/framework/Type/src/sofa/type/Mat.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
namespace // anonymous
{
template<typename real>
constexpr real rabs(const real r)
real rabs(const real r)
{
if constexpr (std::is_signed<real>())
return std::abs(r);
Expand All @@ -41,7 +41,7 @@ namespace // anonymous
}

template<typename real>
constexpr real equalsZero(const real r, const real epsilon = std::numeric_limits<real>::epsilon())
real equalsZero(const real r, const real epsilon = std::numeric_limits<real>::epsilon())
{
return rabs(r) <= epsilon;
}
Expand All @@ -65,8 +65,8 @@ class Mat : public fixed_array<VecNoInit<C,real>, L>
typedef VecNoInit<C,real> LineNoInit;
typedef Vec<L,real> Col;

static const Size nbLines = L;
static const Size nbCols = C;
static constexpr Size nbLines = L;
static constexpr Size nbCols = C;

constexpr Mat() noexcept
{
Expand Down Expand Up @@ -389,15 +389,15 @@ class Mat : public fixed_array<VecNoInit<C,real>, L>
}


constexpr bool isSymmetric() const
bool isSymmetric() const
{
for (Size i=0; i<L; i++)
for (Size j=i+1; j<C; j++)
if( rabs( this->elems[i][j] - this->elems[j][i] ) > EQUALITY_THRESHOLD ) return false;
return true;
}

constexpr bool isDiagonal() const noexcept
bool isDiagonal() const noexcept
{
for (Size i=0; i<L; i++)
{
Expand Down Expand Up @@ -799,7 +799,7 @@ constexpr real determinant(const Mat<3,2,real>& m) noexcept

// one-norm of a 3 x 3 matrix
template<class real>
constexpr real oneNorm(const Mat<3,3,real>& A)
real oneNorm(const Mat<3,3,real>& A)
{
real norm = 0.0;
for (sofa::Size i=0; i<3; i++)
Expand All @@ -813,7 +813,7 @@ constexpr real oneNorm(const Mat<3,3,real>& A)

// inf-norm of a 3 x 3 matrix
template<class real>
constexpr real infNorm(const Mat<3,3,real>& A)
real infNorm(const Mat<3,3,real>& A)
{
real norm = 0.0;
for (sofa::Size i=0; i<3; i++)
Expand Down Expand Up @@ -847,7 +847,7 @@ constexpr Vec<N,real> diagonal(const Mat<N,N,real>& m)

/// Matrix inversion (general case).
template<sofa::Size S, class real>
[[nodiscard]] constexpr bool invertMatrix(Mat<S,S,real>& dest, const Mat<S,S,real>& from)
[[nodiscard]] bool invertMatrix(Mat<S,S,real>& dest, const Mat<S,S,real>& from)
{
sofa::Size i{0}, j{0}, k{0};
Vec<S, sofa::Size> r, c, row, col;
Expand Down
14 changes: 7 additions & 7 deletions Sofa/framework/Type/src/sofa/type/Vec.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ namespace sofa::type
namespace // anonymous
{
template<typename real>
constexpr real rabs(const real r)
real rabs(const real r)
{
if constexpr (std::is_signed<real>())
return std::abs(r);
Expand Down Expand Up @@ -441,15 +441,15 @@ class Vec : public sofa::type::fixed_array<ValueType,size_t(N)>
}

/// Euclidean norm.
constexpr ValueType norm() const noexcept
ValueType norm() const noexcept
{
return ValueType(std::sqrt(norm2()));
}

/// l-norm of the vector
/// The type of norm is set by parameter l.
/// Use l<0 for the infinite norm.
constexpr ValueType lNorm( int l ) const
ValueType lNorm( int l ) const
{
if( l==2 ) return norm(); // euclidian norm
else if( l<0 ) // infinite norm
Expand Down Expand Up @@ -504,29 +504,29 @@ class Vec : public sofa::type::fixed_array<ValueType,size_t(N)>

/// Normalize the vector.
/// returns false iff the norm is too small
constexpr bool normalize(ValueType threshold=std::numeric_limits<ValueType>::epsilon()) noexcept
bool normalize(ValueType threshold=std::numeric_limits<ValueType>::epsilon()) noexcept
{
return normalizeWithNorm(norm(),threshold);
}

/// Normalize the vector with a failsafe.
/// If the norm is too small, the vector becomes the failsafe.
constexpr void normalize(Vec<N,ValueType> failsafe, ValueType threshold=std::numeric_limits<ValueType>::epsilon()) noexcept
void normalize(Vec<N,ValueType> failsafe, ValueType threshold=std::numeric_limits<ValueType>::epsilon()) noexcept
{
if( !normalize(threshold) ) *this=failsafe;
}

/// Return the normalized vector.
/// @warning 'this' is not normalized.
constexpr Vec<N,ValueType> normalized() const noexcept
Vec<N,ValueType> normalized() const noexcept
{
Vec<N,ValueType> r(*this);
r.normalize();
return r;
}

/// return true if norm()==1
constexpr bool isNormalized( ValueType threshold=std::numeric_limits<ValueType>::epsilon()*(ValueType)10 ) const
bool isNormalized( ValueType threshold=std::numeric_limits<ValueType>::epsilon()*(ValueType)10 ) const
{
return rabs( norm2() - static_cast<ValueType>(1) ) <= threshold;
}
Expand Down