Merge pull request #63 from phaazon/refactor

Refactor

CHANGELOG.md

@@ -2,6 +2,9 @@
 
 <!-- vim-markdown-toc GFM -->
 
+* [4.0](#40)
+  * [Major changes](#major-changes)
+  * [Patch changes](#patch-changes)
 * [3.5.4](#354)
 * [3.5.3](#353)
 * [3.5.2](#352)
@@ -14,19 +17,19 @@
 * [3.2](#32)
 * [3.1](#31)
 * [3.0](#30)
-  * [Major changes](#major-changes)
+  * [Major changes](#major-changes-1)
-  * [Patch changes](#patch-changes)
+  * [Patch changes](#patch-changes-1)
 * [2.2](#22)
 * [2.1.1](#211)
 * [2.1](#21)
 * [2.0.1](#201)
 * [2.0](#20)
-  * [Major changes](#major-changes-1)
+  * [Major changes](#major-changes-2)
   * [Minor changes](#minor-changes)
 * [1.0](#10)
-  * [Major changes](#major-changes-2)
+  * [Major changes](#major-changes-3)
   * [Minor changes](#minor-changes-1)
-  * [Patch changes](#patch-changes-1)
+  * [Patch changes](#patch-changes-2)
 * [0.2.3](#023)
 * [0.2.2](#022)
 * [0.2.1](#021)
@@ -36,6 +39,26 @@
 
 <!-- vim-markdown-toc -->
 
+# 4.0
+
+> Mar 05, 2021
+
+## Major changes
+
+- Switch the `Interpolation` enum to `#[non_exhaustive]` to allow adding more interpolation modes (if any) in the
+  future.
+- Introduce `SampledWithKey`, which is a more elegant / typed way to access a sample along with its associated key
+  index.
+- Refactor the `Interpolate` trait and add the `Interpolator` trait.
+
+## Patch changes
+
+- Highly simplify the various implementors (`cgmath`, `nalgebra` and `glam`) so that maintenance is easy.
+- Expose the `impl_Interpolate` macro, allowing to implement the API all at once if a type implements the various
+  `std::ops:*` traits. Since most of the crates do, this macro makes it really easy to add support for a crate.
+- Drop `simba` as a direct dependency.
+- Drop `num-traits` as a direct dependency.
+
 # 3.5.4
 
 > Feb 27, 2021

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "splines"
-version = "3.5.4"
+version = "4.0.0"
 license = "BSD-3-Clause"
 authors = ["Dimitri Sabadie <dimitri.sabadie@gmail.com>"]
 description = "Spline interpolation made easy"
@@ -23,7 +23,7 @@ maintenance = { status = "actively-developed" }
 default = ["std"]
 impl-cgmath = ["cgmath"]
 impl-glam = ["glam"]
-impl-nalgebra = ["nalgebra", "num-traits", "simba"]
+impl-nalgebra = ["nalgebra"]
 serialization = ["serde", "serde_derive"]
 std = []
 
@@ -31,10 +31,8 @@ std = []
 cgmath = { version = ">=0.17, <0.19", optional = true }
 glam = { version = ">=0.10, <0.13", optional = true }
 nalgebra = { version = ">=0.21, <0.25", optional = true }
-num-traits = { version = "0.2", optional = true }
 serde =  { version = "1", optional = true }
 serde_derive = { version = "1", optional = true }
-simba = { version = ">=0.1.2, <0.5", optional = true }
 
 [dev-dependencies]
 float-cmp = ">=0.6, < 0.9"

src/cgmath.rs

@@ -1,92 +1,15 @@
-use cgmath::{
+use crate::impl_Interpolate;
-  BaseFloat, BaseNum, InnerSpace, Quaternion, Vector1, Vector2, Vector3, Vector4, VectorSpace,
-};
 
-use crate::interpolate::{
+use cgmath::{Quaternion, Vector1, Vector2, Vector3, Vector4};
-  cubic_bezier_def, cubic_hermite_def, quadratic_bezier_def, Additive, Interpolate, Linear, One,
-};
 
-macro_rules! impl_interpolate_vec {
+impl_Interpolate!(f32, Vector1<f32>, std::f32::consts::PI);
-  ($($t:tt)*) => {
+impl_Interpolate!(f32, Vector2<f32>, std::f32::consts::PI);
-    impl<T> Linear<T> for $($t)*<T> where T: BaseNum {
+impl_Interpolate!(f32, Vector3<f32>, std::f32::consts::PI);
-      #[inline(always)]
+impl_Interpolate!(f32, Vector4<f32>, std::f32::consts::PI);
-      fn outer_mul(self, t: T) -> Self {
+impl_Interpolate!(f32, Quaternion<f32>, std::f32::consts::PI);
-        self * t
-      }
 
-      #[inline(always)]
+impl_Interpolate!(f64, Vector1<f64>, std::f64::consts::PI);
-      fn outer_div(self, t: T) -> Self {
+impl_Interpolate!(f64, Vector2<f64>, std::f64::consts::PI);
-        self / t
+impl_Interpolate!(f64, Vector3<f64>, std::f64::consts::PI);
-      }
+impl_Interpolate!(f64, Vector4<f64>, std::f64::consts::PI);
-    }
+impl_Interpolate!(f64, Quaternion<f64>, std::f64::consts::PI);
-
-    impl<T> Interpolate<T> for $($t)*<T>
-    where Self: InnerSpace<Scalar = T>, T: Additive + BaseFloat + One {
-      #[inline(always)]
-      fn lerp(a: Self, b: Self, t: T) -> Self {
-        a.lerp(b, t)
-      }
-
-      #[inline(always)]
-      fn cubic_hermite(x: (Self, T), a: (Self, T), b: (Self, T), y: (Self, T), t: T) -> Self {
-        cubic_hermite_def(x, a, b, y, t)
-      }
-
-      #[inline(always)]
-      fn quadratic_bezier(a: Self, u: Self, b: Self, t: T) -> Self {
-        quadratic_bezier_def(a, u, b, t)
-      }
-
-      #[inline(always)]
-      fn cubic_bezier(a: Self, u: Self, v: Self, b: Self, t: T) -> Self {
-        cubic_bezier_def(a, u, v, b, t)
-      }
-    }
-  }
-}
-
-impl_interpolate_vec!(Vector1);
-impl_interpolate_vec!(Vector2);
-impl_interpolate_vec!(Vector3);
-impl_interpolate_vec!(Vector4);
-
-impl<T> Linear<T> for Quaternion<T>
-where
-  T: BaseFloat,
-{
-  #[inline(always)]
-  fn outer_mul(self, t: T) -> Self {
-    self * t
-  }
-
-  #[inline(always)]
-  fn outer_div(self, t: T) -> Self {
-    self / t
-  }
-}
-
-impl<T> Interpolate<T> for Quaternion<T>
-where
-  Self: InnerSpace<Scalar = T>,
-  T: Additive + BaseFloat + One,
-{
-  #[inline(always)]
-  fn lerp(a: Self, b: Self, t: T) -> Self {
-    a.nlerp(b, t)
-  }
-
-  #[inline(always)]
-  fn cubic_hermite(x: (Self, T), a: (Self, T), b: (Self, T), y: (Self, T), t: T) -> Self {
-    cubic_hermite_def(x, a, b, y, t)
-  }
-
-  #[inline(always)]
-  fn quadratic_bezier(a: Self, u: Self, b: Self, t: T) -> Self {
-    quadratic_bezier_def(a, u, b, t)
-  }
-
-  #[inline(always)]
-  fn cubic_bezier(a: Self, u: Self, v: Self, b: Self, t: T) -> Self {
-    cubic_bezier_def(a, u, v, b, t)
-  }
-}

src/glam.rs

@@ -1,88 +1,8 @@
+use crate::impl_Interpolate;
 use glam::{Quat, Vec2, Vec3, Vec3A, Vec4};
 
-use crate::interpolate::{
+impl_Interpolate!(f32, Vec2, std::f32::consts::PI);
-  cubic_bezier_def, cubic_hermite_def, quadratic_bezier_def, Interpolate, Linear,
+impl_Interpolate!(f32, Vec3, std::f32::consts::PI);
-};
+impl_Interpolate!(f32, Vec3A, std::f32::consts::PI);
-
+impl_Interpolate!(f32, Vec4, std::f32::consts::PI);
-macro_rules! impl_interpolate_vec {
+impl_Interpolate!(f32, Quat, std::f32::consts::PI);
-  ($($t:tt)*) => {
-    impl Linear<f32> for $($t)* {
-      #[inline(always)]
-      fn outer_mul(self, t: f32) -> Self {
-        self * t
-      }
-
-      #[inline(always)]
-      fn outer_div(self, t: f32) -> Self {
-        self / t
-      }
-    }
-
-    impl Interpolate<f32> for $($t)* {
-      #[inline(always)]
-      fn lerp(a: Self, b: Self, t: f32) -> Self {
-        a.lerp(b, t)
-      }
-
-      #[inline(always)]
-      fn cubic_hermite(
-        x: (Self, f32),
-        a: (Self, f32),
-        b: (Self, f32),
-        y: (Self, f32),
-        t: f32,
-      ) -> Self {
-        cubic_hermite_def(x, a, b, y, t)
-      }
-
-      #[inline(always)]
-      fn quadratic_bezier(a: Self, u: Self, b: Self, t: f32) -> Self {
-        quadratic_bezier_def(a, u, b, t)
-      }
-
-      #[inline(always)]
-      fn cubic_bezier(a: Self, u: Self, v: Self, b: Self, t: f32) -> Self {
-        cubic_bezier_def(a, u, v, b, t)
-      }
-    }
-  }
-}
-
-impl_interpolate_vec!(Vec2);
-impl_interpolate_vec!(Vec3);
-impl_interpolate_vec!(Vec3A);
-impl_interpolate_vec!(Vec4);
-
-impl Linear<f32> for Quat {
-  #[inline(always)]
-  fn outer_mul(self, t: f32) -> Self {
-    self * t
-  }
-
-  #[inline(always)]
-  fn outer_div(self, t: f32) -> Self {
-    self / t
-  }
-}
-
-impl Interpolate<f32> for Quat {
-  #[inline(always)]
-  fn lerp(a: Self, b: Self, t: f32) -> Self {
-    a.lerp(b, t)
-  }
-
-  #[inline(always)]
-  fn cubic_hermite(x: (Self, f32), a: (Self, f32), b: (Self, f32), y: (Self, f32), t: f32) -> Self {
-    cubic_hermite_def(x, a, b, y, t)
-  }
-
-  #[inline(always)]
-  fn quadratic_bezier(a: Self, u: Self, b: Self, t: f32) -> Self {
-    quadratic_bezier_def(a, u, b, t)
-  }
-
-  #[inline(always)]
-  fn cubic_bezier(a: Self, u: Self, v: Self, b: Self, t: f32) -> Self {
-    cubic_bezier_def(a, u, v, b, t)
-  }
-}

src/interpolate.rs

@@ -42,277 +42,126 @@ use core::ops::{Add, Mul, Sub};
 use std::f32;
 #[cfg(feature = "std")]
 use std::f64;
-#[cfg(feature = "std")]
-use std::ops::{Add, Mul, Sub};
 
-/// Keys that can be interpolated in between. Implementing this trait is required to perform
+/// Types that can be used as interpolator in splines.
-/// sampling on splines.
 ///
-/// `T` is the variable used to sample with. Typical implementations use [`f32`] or [`f64`], but
+/// An interpolator value is like the fabric on which control keys (and sampled values) live on.
-/// you’re free to use the ones you like. Feel free to have a look at [`Spline::sample`] for
+pub trait Interpolator: Sized + Copy + PartialOrd {
-/// instance to know which trait your type must implement to be usable.
+  /// Normalize the interpolator.
+  fn normalize(self, start: Self, end: Self) -> Self;
+}
+
+macro_rules! impl_Interpolator {
+  ($t:ty) => {
+    impl Interpolator for $t {
+      fn normalize(self, start: Self, end: Self) -> Self {
+        (self - start) / (end - start)
+      }
+    }
+  };
+}
+
+impl_Interpolator!(f32);
+impl_Interpolator!(f64);
+
+/// Values that can be interpolated. Implementing this trait is required to perform sampling on splines.
 ///
-/// [`Spline::sample`]: crate::spline::Spline::sample
+/// `T` is the interpolator used to sample with. Typical implementations use [`f32`] or [`f64`], but
-pub trait Interpolate<T>: Sized + Copy + Linear<T> {
+/// you’re free to use the ones you like.
+pub trait Interpolate<T>: Sized + Copy {
+  /// Step interpolation.
+  fn step(t: T, threshold: T, a: Self, b: Self) -> Self;
+
   /// Linear interpolation.
-  fn lerp(a: Self, b: Self, t: T) -> Self;
+  fn lerp(t: T, a: Self, b: Self) -> Self;
+
+  /// Cosine interpolation.
+  fn cosine(t: T, a: Self, b: Self) -> Self;
 
   /// Cubic hermite interpolation.
-  ///
+  fn cubic_hermite(t: T, x: (T, Self), a: (T, Self), b: (T, Self), y: (T, Self)) -> Self;
-  /// Default to [`lerp`].
-  ///
-  /// [`lerp`]: Interpolate::lerp
-  fn cubic_hermite(_: (Self, T), a: (Self, T), b: (Self, T), _: (Self, T), t: T) -> Self {
-    Self::lerp(a.0, b.0, t)
-  }
 
   /// Quadratic Bézier interpolation.
-  fn quadratic_bezier(a: Self, u: Self, b: Self, t: T) -> Self;
+  ///
+  /// `a` is the first point; `b` is the second point and `u` is the tangent of `a` to the curve.
+  fn quadratic_bezier(t: T, a: Self, u: Self, b: Self) -> Self;
 
   /// Cubic Bézier interpolation.
-  fn cubic_bezier(a: Self, u: Self, v: Self, b: Self, t: T) -> Self;
+  ///
+  /// `a` is the first point; `b` is the second point; `u` is the output tangent of `a` to the curve and `v` is the
+  /// input tangent of `b` to the curve.
+  fn cubic_bezier(t: T, a: Self, u: Self, v: Self, b: Self) -> Self;
+
+  /// Cubic Bézier interpolation – special case for non-explicit second tangent.
+  ///
+  /// This version does the same computation as [`Interpolate::cubic_bezier`] but computes the second tangent by
+  /// inversing it (typical when the next point uses a Bézier interpolation, where input and output tangents are
+  /// mirrored for the same key).
+  fn cubic_bezier_mirrored(t: T, a: Self, u: Self, v: Self, b: Self) -> Self;
 }
 
-/// Set of types that support additions and subtraction.
+#[macro_export]
-///
+macro_rules! impl_Interpolate {
-/// The [`Copy`] trait is also a supertrait as it’s likely to be used everywhere.
+  ($t:ty, $v:ty, $pi:expr) => {
-pub trait Additive: Copy + Add<Self, Output = Self> + Sub<Self, Output = Self> {}
+    impl $crate::interpolate::Interpolate<$t> for $v {
-
+      fn step(t: $t, threshold: $t, a: Self, b: Self) -> Self {
-impl<T> Additive for T where T: Copy + Add<Self, Output = Self> + Sub<Self, Output = Self> {}
+        if t < threshold {
-
+          a
-/// Set of additive types that support outer multiplication and division, making them linear.
+        } else {
-pub trait Linear<T>: Additive {
+          b
-  /// Apply an outer multiplication law.
+        }
-  fn outer_mul(self, t: T) -> Self;
-
-  /// Apply an outer division law.
-  fn outer_div(self, t: T) -> Self;
-}
-
-macro_rules! impl_linear_simple {
-  ($t:ty) => {
-    impl Linear<$t> for $t {
-      fn outer_mul(self, t: $t) -> Self {
-        self * t
       }
 
-      /// Apply an outer division law.
+      fn cosine(t: $t, a: Self, b: Self) -> Self {
-      fn outer_div(self, t: $t) -> Self {
+        let cos_nt = (1. - (t * $pi).cos()) * 0.5;
-        self / t
+        <Self as $crate::interpolate::Interpolate<$t>>::lerp(cos_nt, a, b)
-      }
-    }
-  };
-}
-
-impl_linear_simple!(f32);
-impl_linear_simple!(f64);
-
-macro_rules! impl_linear_cast {
-  ($t:ty, $q:ty) => {
-    impl Linear<$t> for $q {
-      fn outer_mul(self, t: $t) -> Self {
-        self * t as $q
       }
 
-      /// Apply an outer division law.
+      fn lerp(t: $t, a: Self, b: Self) -> Self {
-      fn outer_div(self, t: $t) -> Self {
-        self / t as $q
-      }
-    }
-  };
-}
-
-impl_linear_cast!(f32, f64);
-impl_linear_cast!(f64, f32);
-
-/// Types with a neutral element for multiplication.
-pub trait One {
-  /// The neutral element for the multiplicative monoid — typically called `1`.
-  fn one() -> Self;
-}
-
-macro_rules! impl_one_float {
-  ($t:ty) => {
-    impl One for $t {
-      #[inline(always)]
-      fn one() -> Self {
-        1.
-      }
-    }
-  };
-}
-
-impl_one_float!(f32);
-impl_one_float!(f64);
-
-/// Types with a sane definition of π and cosine.
-pub trait Trigo {
-  /// π.
-  fn pi() -> Self;
-
-  /// Cosine of the argument.
-  fn cos(self) -> Self;
-}
-
-impl Trigo for f32 {
-  #[inline(always)]
-  fn pi() -> Self {
-    f32::consts::PI
-  }
-
-  #[inline(always)]
-  fn cos(self) -> Self {
-    #[cfg(feature = "std")]
-    {
-      self.cos()
-    }
-
-    #[cfg(not(feature = "std"))]
-    {
-      unsafe { cosf32(self) }
-    }
-  }
-}
-
-impl Trigo for f64 {
-  #[inline(always)]
-  fn pi() -> Self {
-    f64::consts::PI
-  }
-
-  #[inline(always)]
-  fn cos(self) -> Self {
-    #[cfg(feature = "std")]
-    {
-      self.cos()
-    }
-
-    #[cfg(not(feature = "std"))]
-    {
-      unsafe { cosf64(self) }
-    }
-  }
-}
-
-/// Default implementation of [`Interpolate::cubic_hermite`].
-///
-/// `V` is the value being interpolated. `T` is the sampling value (also sometimes called time).
-pub fn cubic_hermite_def<V, T>(x: (V, T), a: (V, T), b: (V, T), y: (V, T), t: T) -> V
-where
-  V: Linear<T>,
-  T: Additive + Mul<T, Output = T> + One,
-{
-  // some stupid generic constants, because Rust doesn’t have polymorphic literals…
-  let one_t = T::one();
-  let two_t = one_t + one_t; // lolololol
-  let three_t = two_t + one_t; // megalol
-
-  // sampler stuff
-  let t2 = t * t;
-  let t3 = t2 * t;
-  let two_t3 = t3 * two_t;
-  let three_t2 = t2 * three_t;
-
-  // tangents
-  let m0 = (b.0 - x.0).outer_div(b.1 - x.1);
-  let m1 = (y.0 - a.0).outer_div(y.1 - a.1);
-
-  a.0.outer_mul(two_t3 - three_t2 + one_t)
-    + m0.outer_mul(t3 - t2 * two_t + t)
-    + b.0.outer_mul(three_t2 - two_t3)
-    + m1.outer_mul(t3 - t2)
-}
-
-/// Default implementation of [`Interpolate::quadratic_bezier`].
-///
-/// `V` is the value being interpolated. `T` is the sampling value (also sometimes called time).
-pub fn quadratic_bezier_def<V, T>(a: V, u: V, b: V, t: T) -> V
-where
-  V: Linear<T>,
-  T: Additive + Mul<T, Output = T> + One,
-{
-  let one_t = T::one() - t;
-  let one_t_2 = one_t * one_t;
-  u + (a - u).outer_mul(one_t_2) + (b - u).outer_mul(t * t)
-}
-
-/// Default implementation of [`Interpolate::cubic_bezier`].
-///
-/// `V` is the value being interpolated. `T` is the sampling value (also sometimes called time).
-pub fn cubic_bezier_def<V, T>(a: V, u: V, v: V, b: V, t: T) -> V
-where
-  V: Linear<T>,
-  T: Additive + Mul<T, Output = T> + One,
-{
-  let one_t = T::one() - t;
-  let one_t_2 = one_t * one_t;
-  let one_t_3 = one_t_2 * one_t;
-  let three = T::one() + T::one() + T::one();
-
-  a.outer_mul(one_t_3)
-    + u.outer_mul(three * one_t_2 * t)
-    + v.outer_mul(three * one_t * t * t)
-    + b.outer_mul(t * t * t)
-}
-
-macro_rules! impl_interpolate_simple {
-  ($t:ty) => {
-    impl Interpolate<$t> for $t {
-      fn lerp(a: Self, b: Self, t: $t) -> Self {
         a * (1. - t) + b * t
       }
 
-      fn cubic_hermite(x: (Self, $t), a: (Self, $t), b: (Self, $t), y: (Self, $t), t: $t) -> Self {
+      fn cubic_hermite(t: $t, x: ($t, Self), a: ($t, Self), b: ($t, Self), y: ($t, Self)) -> Self {
-        cubic_hermite_def(x, a, b, y, t)
+        // sampler stuff
+        let two_t = t * 2.;
+        let three_t = t * 3.;
+        let t2 = t * t;
+        let t3 = t2 * t;
+        let two_t3 = t3 * two_t;
+        let three_t2 = t2 * three_t;
+
+        // tangents
+        let m0 = (b.1 - x.1) / (b.0 - x.0);
+        let m1 = (y.1 - a.1) / (y.0 - a.0);
+
+        a.1 * (two_t3 - three_t2 + 1.)
+          + m0 * (t3 - t2 * two_t + t)
+          + b.1 * (three_t2 - two_t3)
+          + m1 * (t3 - t2)
       }
 
-      fn quadratic_bezier(a: Self, u: Self, b: Self, t: $t) -> Self {
+      fn quadratic_bezier(t: $t, a: Self, u: Self, b: Self) -> Self {
-        quadratic_bezier_def(a, u, b, t)
+        let one_t = 1. - t;
+        let one_t2 = one_t * one_t;
+
+        u + (a - u) * one_t2 + (b - u) * t * t
       }
 
-      fn cubic_bezier(a: Self, u: Self, v: Self, b: Self, t: $t) -> Self {
+      fn cubic_bezier(t: $t, a: Self, u: Self, v: Self, b: Self) -> Self {
-        cubic_bezier_def(a, u, v, b, t)
+        let one_t = 1. - t;
+        let one_t2 = one_t * one_t;
+        let one_t3 = one_t2 * one_t;
+        let t2 = t * t;
+
+        a * one_t3 + (u * one_t2 * t + v * one_t * t2) * 3. + b * t2 * t
+      }
+
+      fn cubic_bezier_mirrored(t: $t, a: Self, u: Self, v: Self, b: Self) -> Self {
+        <Self as $crate::interpolate::Interpolate<$t>>::cubic_bezier(t, a, u, b + b - v, b)
       }
     }
   };
 }
 
-impl_interpolate_simple!(f32);
+impl_Interpolate!(f32, f32, std::f32::consts::PI);
-impl_interpolate_simple!(f64);
+impl_Interpolate!(f64, f64, std::f64::consts::PI);
-
-macro_rules! impl_interpolate_via {
-  ($t:ty, $v:ty) => {
-    impl Interpolate<$t> for $v {
-      fn lerp(a: Self, b: Self, t: $t) -> Self {
-        a * (1. - t as $v) + b * t as $v
-      }
-
-      fn cubic_hermite(
-        (x, xt): (Self, $t),
-        (a, at): (Self, $t),
-        (b, bt): (Self, $t),
-        (y, yt): (Self, $t),
-        t: $t,
-      ) -> Self {
-        cubic_hermite_def(
-          (x, xt as $v),
-          (a, at as $v),
-          (b, bt as $v),
-          (y, yt as $v),
-          t as $v,
-        )
-      }
-
-      fn quadratic_bezier(a: Self, u: Self, b: Self, t: $t) -> Self {
-        quadratic_bezier_def(a, u, b, t as $v)
-      }
-
-      fn cubic_bezier(a: Self, u: Self, v: Self, b: Self, t: $t) -> Self {
-        cubic_bezier_def(a, u, v, b, t as $v)
-      }
-    }
-  };
-}
-
-impl_interpolate_via!(f32, f64);
-impl_interpolate_via!(f64, f32);

src/interpolation.rs

@@ -6,9 +6,13 @@ use serde_derive::{Deserialize, Serialize};
 /// Available kind of interpolations.
 ///
 /// Feel free to visit each variant for more documentation.
+#[non_exhaustive]
 #[derive(Copy, Clone, Debug, Eq, PartialEq)]
-#[cfg_attr(feature = "serialization", derive(Deserialize, Serialize))]
+#[cfg_attr(
-#[cfg_attr(feature = "serialization", serde(rename_all = "snake_case"))]
+  feature = "serialization",
+  derive(Deserialize, Serialize),
+  serde(rename_all = "snake_case")
+)]
 pub enum Interpolation<T, V> {
   /// Hold a [`Key`] until the sampling value passes the normalized step threshold, in which
   /// case the next key is used.
@@ -20,12 +24,16 @@ pub enum Interpolation<T, V> {
   ///
   /// [`Key`]: crate::key::Key
   Step(T),
+
   /// Linear interpolation between a key and the next one.
   Linear,
+
   /// Cosine interpolation between a key and the next one.
   Cosine,
+
   /// Catmull-Rom interpolation, performing a cubic Hermite interpolation using four keys.
   CatmullRom,
+
   /// Bézier interpolation.
   ///
   /// A control point that uses such an interpolation is associated with an extra point. The segmant
@@ -41,6 +49,7 @@ pub enum Interpolation<T, V> {
   ///   point and the current control point’s associated point. This is called _quadratic Bézer
   ///   interpolation_ and it kicks ass too, but a bit less than cubic.
   Bezier(V),
+
   /// A special Bézier interpolation using an _input tangent_ and an _output tangent_.
   ///
   /// With this kind of interpolation, a control point has an input tangent, which has the same role
@@ -53,8 +62,6 @@ pub enum Interpolation<T, V> {
   ///
   /// Stroke Bézier interpolation is always a cubic Bézier interpolation by default.
   StrokeBezier(V, V),
-  #[doc(hidden)]
-  __NonExhaustive,
 }
 
 impl<T, V> Default for Interpolation<T, V> {

src/key.rs

@@ -1,16 +1,15 @@
 //! Spline control points.
 //!
-//! A control point associates to a “sampling value” (a.k.a. time) a carriede value that can be
+//! A control point associates to a “sampling value” (a.k.a. time) a carried value that can be
 //! interpolated along the curve made by the control points.
 //!
 //! Splines constructed with this crate have the property that it’s possible to change the
 //! interpolation mode on a key-based way, allowing you to implement and encode complex curves.
 
+use crate::interpolation::Interpolation;
 #[cfg(feature = "serialization")]
 use serde_derive::{Deserialize, Serialize};
 
-use crate::interpolation::Interpolation;
-
 /// A spline control point.
 ///
 /// This type associates a value at a given interpolation parameter value. It also contains an
@@ -19,8 +18,11 @@ use crate::interpolation::Interpolation;
 ///
 /// [`Interpolation`]: crate::interpolation::Interpolation
 #[derive(Copy, Clone, Debug, Eq, PartialEq)]
-#[cfg_attr(feature = "serialization", derive(Deserialize, Serialize))]
+#[cfg_attr(
-#[cfg_attr(feature = "serialization", serde(rename_all = "snake_case"))]
+  feature = "serialization",
+  derive(Deserialize, Serialize),
+  serde(rename_all = "snake_case")
+)]
 pub struct Key<T, V> {
   /// Interpolation parameter at which the [`Key`] should be reached.
   pub t: T,

src/nalgebra.rs

@@ -1,70 +1,18 @@
-use nalgebra::{Scalar, Vector, Vector1, Vector2, Vector3, Vector4, Vector5, Vector6};
+use crate::impl_Interpolate;
-use num_traits as nt;
+use nalgebra::{Quaternion, Vector1, Vector2, Vector3, Vector4, Vector5, Vector6};
-use simba::scalar::{ClosedAdd, ClosedDiv, ClosedMul, ClosedSub};
-use std::ops::Mul;
 
-use crate::interpolate::{
+impl_Interpolate!(f32, Vector1<f32>, std::f32::consts::PI);
-  cubic_bezier_def, cubic_hermite_def, quadratic_bezier_def, Additive, Interpolate, Linear, One,
+impl_Interpolate!(f32, Vector2<f32>, std::f32::consts::PI);
-};
+impl_Interpolate!(f32, Vector3<f32>, std::f32::consts::PI);
+impl_Interpolate!(f32, Vector4<f32>, std::f32::consts::PI);
+impl_Interpolate!(f32, Vector5<f32>, std::f32::consts::PI);
+impl_Interpolate!(f32, Vector6<f32>, std::f32::consts::PI);
+impl_Interpolate!(f32, Quaternion<f32>, std::f32::consts::PI);
 
-macro_rules! impl_interpolate_vector {
+impl_Interpolate!(f64, Vector1<f64>, std::f64::consts::PI);
-  ($($t:tt)*) => {
+impl_Interpolate!(f64, Vector2<f64>, std::f64::consts::PI);
-    // implement Linear
+impl_Interpolate!(f64, Vector3<f64>, std::f64::consts::PI);
-    impl<T> Linear<T> for $($t)*<T>
+impl_Interpolate!(f64, Vector4<f64>, std::f64::consts::PI);
-    where T: Scalar +
+impl_Interpolate!(f64, Vector5<f64>, std::f64::consts::PI);
-             Copy +
+impl_Interpolate!(f64, Vector6<f64>, std::f64::consts::PI);
-             ClosedAdd +
+impl_Interpolate!(f64, Quaternion<f64>, std::f64::consts::PI);
-             ClosedSub +
-             ClosedMul +
-             ClosedDiv {
-      #[inline(always)]
-      fn outer_mul(self, t: T) -> Self {
-        self * t
-      }
-
-      #[inline(always)]
-      fn outer_div(self, t: T) -> Self {
-        self / t
-      }
-    }
-
-    impl<T, V> Interpolate<T> for $($t)*<V>
-    where Self: Linear<T>,
-          T: Additive + One + Mul<T, Output = T>,
-          V: nt::One +
-             nt::Zero +
-             Additive +
-             Scalar +
-             ClosedAdd +
-             ClosedMul +
-             ClosedSub +
-             Interpolate<T> {
-      #[inline(always)]
-      fn lerp(a: Self, b: Self, t: T) -> Self {
-        Vector::zip_map(&a, &b, |c1, c2| Interpolate::lerp(c1, c2, t))
-      }
-
-      #[inline(always)]
-      fn cubic_hermite(x: (Self, T), a: (Self, T), b: (Self, T), y: (Self, T), t: T) -> Self {
-        cubic_hermite_def(x, a, b, y, t)
-      }
-
-      #[inline(always)]
-      fn quadratic_bezier(a: Self, u: Self, b: Self, t: T) -> Self {
-        quadratic_bezier_def(a, u, b, t)
-      }
-
-      #[inline(always)]
-      fn cubic_bezier(a: Self, u: Self, v: Self, b: Self, t: T) -> Self {
-        cubic_bezier_def(a, u, v, b, t)
-      }
-    }
-  }
-}
-
-impl_interpolate_vector!(Vector1);
-impl_interpolate_vector!(Vector2);
-impl_interpolate_vector!(Vector3);
-impl_interpolate_vector!(Vector4);
-impl_interpolate_vector!(Vector5);
-impl_interpolate_vector!(Vector6);

src/spline.rs

@@ -1,5 +1,9 @@
 //! Spline curves and operations.
 
+#[cfg(feature = "std")]
+use crate::interpolate::{Interpolate, Interpolator};
+use crate::interpolation::Interpolation;
+use crate::key::Key;
 #[cfg(not(feature = "std"))]
 use alloc::vec::Vec;
 #[cfg(not(feature = "std"))]
@@ -10,12 +14,6 @@ use core::ops::{Div, Mul};
 use serde_derive::{Deserialize, Serialize};
 #[cfg(feature = "std")]
 use std::cmp::Ordering;
-#[cfg(feature = "std")]
-use std::ops::{Div, Mul};
-
-use crate::interpolate::{Additive, Interpolate, One, Trigo};
-use crate::interpolation::Interpolation;
-use crate::key::Key;
 
 /// Spline curve used to provide interpolation between control points (keys).
 ///
@@ -102,40 +100,38 @@ impl<T, V> Spline<T, V> {
   /// sampling impossible. For instance, [`Interpolation::CatmullRom`] requires *four* keys. If
   /// you’re near the beginning of the spline or its end, ensure you have enough keys around to make
   /// the sampling.
-  pub fn sample_with_key(&self, t: T) -> Option<(V, &Key<T, V>, Option<&Key<T, V>>)>
+  pub fn sample_with_key(&self, t: T) -> Option<SampledWithKey<V>>
   where
-    T: Additive + One + Trigo + Mul<T, Output = T> + Div<T, Output = T> + PartialOrd,
+    T: Interpolator,
-    V: Additive + Interpolate<T>,
+    V: Interpolate<T>,
   {
     let keys = &self.0;
     let i = search_lower_cp(keys, t)?;
     let cp0 = &keys[i];
 
-    match cp0.interpolation {
+    let value = match cp0.interpolation {
       Interpolation::Step(threshold) => {
         let cp1 = &keys[i + 1];
-        let nt = normalize_time(t, cp0, cp1);
+        let nt = t.normalize(cp0.t, cp1.t);
-        let value = if nt < threshold { cp0.value } else { cp1.value };
+        let value = V::step(nt, threshold, cp0.value, cp1.value);
 
-        Some((value, cp0, Some(cp1)))
+        Some(value)
       }
 
       Interpolation::Linear => {
         let cp1 = &keys[i + 1];
-        let nt = normalize_time(t, cp0, cp1);
+        let nt = t.normalize(cp0.t, cp1.t);
-        let value = Interpolate::lerp(cp0.value, cp1.value, nt);
+        let value = V::lerp(nt, cp0.value, cp1.value);
 
-        Some((value, cp0, Some(cp1)))
+        Some(value)
       }
 
       Interpolation::Cosine => {
-        let two_t = T::one() + T::one();
         let cp1 = &keys[i + 1];
-        let nt = normalize_time(t, cp0, cp1);
+        let nt = t.normalize(cp0.t, cp1.t);
-        let cos_nt = (T::one() - (nt * T::pi()).cos()) / two_t;
+        let value = V::cosine(nt, cp0.value, cp1.value);
-        let value = Interpolate::lerp(cp0.value, cp1.value, cos_nt);
 
-        Some((value, cp0, Some(cp1)))
+        Some(value)
       }
 
       Interpolation::CatmullRom => {
@@ -147,51 +143,47 @@ impl<T, V> Spline<T, V> {
           let cp1 = &keys[i + 1];
           let cpm0 = &keys[i - 1];
           let cpm1 = &keys[i + 2];
-          let nt = normalize_time(t, cp0, cp1);
+          let nt = t.normalize(cp0.t, cp1.t);
-          let value = Interpolate::cubic_hermite(
+          let value = V::cubic_hermite(
-            (cpm0.value, cpm0.t),
-            (cp0.value, cp0.t),
-            (cp1.value, cp1.t),
-            (cpm1.value, cpm1.t),
             nt,
+            (cpm0.t, cpm0.value),
+            (cp0.t, cp0.value),
+            (cp1.t, cp1.value),
+            (cpm1.t, cpm1.value),
           );
 
-          Some((value, cp0, Some(cp1)))
+          Some(value)
         }
       }
 
       Interpolation::Bezier(u) | Interpolation::StrokeBezier(_, u) => {
         // We need to check the next control point to see whether we want quadratic or cubic Bezier.
         let cp1 = &keys[i + 1];
-        let nt = normalize_time(t, cp0, cp1);
+        let nt = t.normalize(cp0.t, cp1.t);
 
         let value = match cp1.interpolation {
-          Interpolation::Bezier(v) => {
+          Interpolation::Bezier(v) => V::cubic_bezier_mirrored(nt, cp0.value, u, v, cp1.value),
-            Interpolate::cubic_bezier(cp0.value, u, cp1.value + cp1.value - v, cp1.value, nt)
-          }
 
-          Interpolation::StrokeBezier(v, _) => {
+          Interpolation::StrokeBezier(v, _) => V::cubic_bezier(nt, cp0.value, u, v, cp1.value),
-            Interpolate::cubic_bezier(cp0.value, u, v, cp1.value, nt)
-          }
 
-          _ => Interpolate::quadratic_bezier(cp0.value, u, cp1.value, nt),
+          _ => V::quadratic_bezier(nt, cp0.value, u, cp1.value),
         };
 
-        Some((value, cp0, Some(cp1)))
+        Some(value)
       }
+    };
 
-      Interpolation::__NonExhaustive => unreachable!(),
+    value.map(|value| SampledWithKey { value, key: i })
-    }
   }
 
   /// Sample a spline at a given time.
   ///
   pub fn sample(&self, t: T) -> Option<V>
   where
-    T: Additive + One + Trigo + Mul<T, Output = T> + Div<T, Output = T> + PartialOrd,
+    T: Interpolator,
-    V: Additive + Interpolate<T>,
+    V: Interpolate<T>,
   {
-    self.sample_with_key(t).map(|(v, _, _)| v)
+    self.sample_with_key(t).map(|sampled| sampled.value)
   }
 
   /// Sample a spline at a given time with clamping, returning the interpolated value along with its
@@ -205,10 +197,10 @@ impl<T, V> Spline<T, V> {
   /// # Error
   ///
   /// This function returns [`None`] if you have no key.
-  pub fn clamped_sample_with_key(&self, t: T) -> Option<(V, &Key<T, V>, Option<&Key<T, V>>)>
+  pub fn clamped_sample_with_key(&self, t: T) -> Option<SampledWithKey<V>>
   where
-    T: Additive + One + Trigo + Mul<T, Output = T> + Div<T, Output = T> + PartialOrd,
+    T: Interpolator,
-    V: Additive + Interpolate<T>,
+    V: Interpolate<T>,
   {
     if self.0.is_empty() {
       return None;
@@ -216,18 +208,22 @@ impl<T, V> Spline<T, V> {
 
     self.sample_with_key(t).or_else(move || {
       let first = self.0.first().unwrap();
+
       if t <= first.t {
-        let second = if self.0.len() >= 2 {
+        let sampled = SampledWithKey {
-          Some(&self.0[1])
+          value: first.value,
-        } else {
+          key: 0,
-          None
         };
-        Some((first.value, &first, second))
+        Some(sampled)
       } else {
         let last = self.0.last().unwrap();
 
         if t >= last.t {
-          Some((last.value, &last, None))
+          let sampled = SampledWithKey {
+            value: last.value,
+            key: self.0.len() - 1,
+          };
+          Some(sampled)
         } else {
           None
         }
@@ -238,10 +234,10 @@ impl<T, V> Spline<T, V> {
   /// Sample a spline at a given time with clamping.
   pub fn clamped_sample(&self, t: T) -> Option<V>
   where
-    T: Additive + One + Trigo + Mul<T, Output = T> + Div<T, Output = T> + PartialOrd,
+    T: Interpolator,
-    V: Additive + Interpolate<T>,
+    V: Interpolate<T>,
   {
-    self.clamped_sample_with_key(t).map(|(v, _, _)| v)
+    self.clamped_sample_with_key(t).map(|sampled| sampled.value)
   }
 
   /// Add a key into the spline.
@@ -295,11 +291,22 @@ impl<T, V> Spline<T, V> {
   }
 }
 
+/// A sampled value along with its key index.
+#[derive(Clone, Debug, Eq, Hash, PartialEq)]
+pub struct SampledWithKey<V> {
+  /// Sampled value.
+  pub value: V,
+
+  /// Key index.
+  pub key: usize,
+}
+
 /// A mutable [`Key`].
 ///
 /// Mutable keys allow to edit the carried values and the interpolation mode but not the actual
 /// interpolator value as it would invalidate the internal structure of the [`Spline`]. If you
 /// want to achieve this, you’re advised to use [`Spline::replace`].
+#[derive(Debug)]
 pub struct KeyMut<'a, T, V> {
   /// Carried value.
   pub value: &'a mut V,
@@ -307,16 +314,6 @@ pub struct KeyMut<'a, T, V> {
   pub interpolation: &'a mut Interpolation<T, V>,
 }
 
-// Normalize a time ([0;1]) given two control points.
-#[inline(always)]
-pub(crate) fn normalize_time<T, V>(t: T, cp: &Key<T, V>, cp1: &Key<T, V>) -> T
-where
-  T: Additive + Div<T, Output = T> + PartialEq,
-{
-  assert!(cp1.t != cp.t, "overlapping keys");
-  (t - cp.t) / (cp1.t - cp.t)
-}
-
 // Find the lower control point corresponding to a given time.
 fn search_lower_cp<T, V>(cps: &[Key<T, V>], t: T) -> Option<usize>
 where

tests/cgmath.rs

@@ -0,0 +1,43 @@
+#![cfg(feature = "cgmath")]
+
+use cgmath as cg;
+use splines::{Interpolation, Key, Spline};
+
+#[test]
+fn cgmath_vector_interpolation() {
+  use splines::Interpolate;
+
+  let start = cg::Vector2::new(0.0, 0.0);
+  let mid = cg::Vector2::new(0.5, 0.5);
+  let end = cg::Vector2::new(1.0, 1.0);
+
+  assert_eq!(Interpolate::lerp(0., start, end), start);
+  assert_eq!(Interpolate::lerp(1., start, end), end);
+  assert_eq!(Interpolate::lerp(0.5, start, end), mid);
+}
+
+#[test]
+fn stroke_bezier_straight() {
+  use float_cmp::approx_eq;
+
+  let keys = vec![
+    Key::new(
+      0.0,
+      cg::Vector2::new(0., 1.),
+      Interpolation::StrokeBezier(cg::Vector2::new(0., 1.), cg::Vector2::new(0., 1.)),
+    ),
+    Key::new(
+      5.0,
+      cg::Vector2::new(5., 1.),
+      Interpolation::StrokeBezier(cg::Vector2::new(5., 1.), cg::Vector2::new(5., 1.)),
+    ),
+  ];
+  let spline = Spline::from_vec(keys);
+
+  assert!(approx_eq!(f32, spline.clamped_sample(0.0).unwrap().y, 1.));
+  assert!(approx_eq!(f32, spline.clamped_sample(1.0).unwrap().y, 1.));
+  assert!(approx_eq!(f32, spline.clamped_sample(2.0).unwrap().y, 1.));
+  assert!(approx_eq!(f32, spline.clamped_sample(3.0).unwrap().y, 1.));
+  assert!(approx_eq!(f32, spline.clamped_sample(4.0).unwrap().y, 1.));
+  assert!(approx_eq!(f32, spline.clamped_sample(5.0).unwrap().y, 1.));
+}

tests/integ.rs

@@ -1,9 +1,4 @@
-use splines::{Interpolation, Key, Spline};
+use splines::{spline::SampledWithKey, Interpolation, Key, Spline};
-
-#[cfg(feature = "cgmath")]
-use cgmath as cg;
-#[cfg(feature = "nalgebra")]
-use nalgebra as na;
 
 #[test]
 fn step_interpolation_f32() {
@@ -18,8 +13,14 @@ fn step_interpolation_f32() {
   assert_eq!(spline.sample(0.9), Some(10.));
   assert_eq!(spline.sample(1.), None);
   assert_eq!(spline.clamped_sample(1.), Some(10.));
-  assert_eq!(spline.sample_with_key(0.2), Some((10., &start, Some(&end))));
+  assert_eq!(
-  assert_eq!(spline.clamped_sample_with_key(1.), Some((10., &end, None)));
+    spline.sample_with_key(0.2),
+    Some(SampledWithKey { value: 10., key: 0 })
+  );
+  assert_eq!(
+    spline.clamped_sample_with_key(1.),
+    Some(SampledWithKey { value: 10., key: 1 })
+  );
 }
 
 #[test]
@@ -35,8 +36,14 @@ fn step_interpolation_f64() {
   assert_eq!(spline.sample(0.9), Some(10.));
   assert_eq!(spline.sample(1.), None);
   assert_eq!(spline.clamped_sample(1.), Some(10.));
-  assert_eq!(spline.sample_with_key(0.2), Some((10., &start, Some(&end))));
+  assert_eq!(
-  assert_eq!(spline.clamped_sample_with_key(1.), Some((10., &end, None)));
+    spline.sample_with_key(0.2),
+    Some(SampledWithKey { value: 10., key: 0 })
+  );
+  assert_eq!(
+    spline.clamped_sample_with_key(1.),
+    Some(SampledWithKey { value: 10., key: 1 })
+  );
 }
 
 #[test]
@@ -151,61 +158,6 @@ fn several_interpolations_several_keys() {
   assert_eq!(spline.clamped_sample(11.), Some(4.));
 }
 
-#[cfg(feature = "cgmath")]
-#[test]
-fn stroke_bezier_straight() {
-  use float_cmp::approx_eq;
-
-  let keys = vec![
-    Key::new(
-      0.0,
-      cg::Vector2::new(0., 1.),
-      Interpolation::StrokeBezier(cg::Vector2::new(0., 1.), cg::Vector2::new(0., 1.)),
-    ),
-    Key::new(
-      5.0,
-      cg::Vector2::new(5., 1.),
-      Interpolation::StrokeBezier(cg::Vector2::new(5., 1.), cg::Vector2::new(5., 1.)),
-    ),
-  ];
-  let spline = Spline::from_vec(keys);
-
-  assert!(approx_eq!(f32, spline.clamped_sample(0.0).unwrap().y, 1.));
-  assert!(approx_eq!(f32, spline.clamped_sample(1.0).unwrap().y, 1.));
-  assert!(approx_eq!(f32, spline.clamped_sample(2.0).unwrap().y, 1.));
-  assert!(approx_eq!(f32, spline.clamped_sample(3.0).unwrap().y, 1.));
-  assert!(approx_eq!(f32, spline.clamped_sample(4.0).unwrap().y, 1.));
-  assert!(approx_eq!(f32, spline.clamped_sample(5.0).unwrap().y, 1.));
-}
-
-#[cfg(feature = "cgmath")]
-#[test]
-fn cgmath_vector_interpolation() {
-  use splines::Interpolate;
-
-  let start = cg::Vector2::new(0.0, 0.0);
-  let mid = cg::Vector2::new(0.5, 0.5);
-  let end = cg::Vector2::new(1.0, 1.0);
-
-  assert_eq!(Interpolate::lerp(start, end, 0.0), start);
-  assert_eq!(Interpolate::lerp(start, end, 1.0), end);
-  assert_eq!(Interpolate::lerp(start, end, 0.5), mid);
-}
-
-#[cfg(feature = "nalgebra")]
-#[test]
-fn nalgebra_vector_interpolation() {
-  use splines::Interpolate;
-
-  let start = na::Vector2::new(0.0, 0.0);
-  let mid = na::Vector2::new(0.5, 0.5);
-  let end = na::Vector2::new(1.0, 1.0);
-
-  assert_eq!(Interpolate::lerp(start, end, 0.0), start);
-  assert_eq!(Interpolate::lerp(start, end, 1.0), end);
-  assert_eq!(Interpolate::lerp(start, end, 0.5), mid);
-}
-
 #[test]
 fn add_key_empty() {
   let mut spline: Spline<f32, f32> = Spline::from_vec(vec![]);

tests/nalgebra.rs

@@ -0,0 +1,16 @@
+#![cfg(feature = "nalgebra")]
+
+use nalgebra as na;
+
+#[test]
+fn nalgebra_vector_interpolation() {
+  use splines::Interpolate;
+
+  let start = na::Vector2::new(0.0, 0.0);
+  let mid = na::Vector2::new(0.5, 0.5);
+  let end = na::Vector2::new(1.0, 1.0);
+
+  assert_eq!(Interpolate::lerp(0., start, end), start);
+  assert_eq!(Interpolate::lerp(1., start, end), end);
+  assert_eq!(Interpolate::lerp(0.5, start, end), mid);
+}