fix no_std

Prepare v4.3.1.

.github/workflows/ci.yaml

@@ -6,38 +6,22 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v1
-      - name: Build
-        run: |
-          cargo build --verbose --all-features
       - name: Test
-        run: |
+        run: cargo test --verbose --all-features
-          cargo test --verbose --all-features
 
   build-windows:
     runs-on: windows-latest
     steps:
       - uses: actions/checkout@v1
-      - name: Build
-        run: |
-          cargo build --verbose --all-features
       - name: Test
-        run: |
+        run: cargo test --verbose --all-features
-          cargo test --verbose --all-features
 
   build-macosx:
     runs-on: macOS-latest
     steps:
       - uses: actions/checkout@v1
-      - name: Rust requirements
-        run: curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --profile=minimal
-      - name: Build
-        run: |
-          . ~/.cargo/env
-          cargo build --verbose --all-features
       - name: Test
-        run: |
+        run: cargo test --verbose --all-features
-          . ~/.cargo/env
-          cargo test --verbose --all-features
 
   quality:
     runs-on: ubuntu-latest

CHANGELOG.md

@@ -1,7 +1,10 @@
 # Changelog
 
-<!-- vim-markdown-toc GFM -->
+* [4.3.1](#431)
-
+* [4.3](#43)
+* [4.2](#42)
+* [4.1.1](#411)
+* [4.1](#41)
 * [4.0.3](#403)
 * [4.0.2](#402)
 * [4.0.1](#401)
@@ -40,7 +43,48 @@
 * [0.1.1](#011)
 * [0.1](#01)
 
-<!-- vim-markdown-toc -->
+# 4.3.1
+
+> Nov 22, 2023
+
+- Add `Default` implementation for `Spline`. [c6ba847](https://github.com/phaazon/splines/commit/c6ba847)
+
+# 4.3
+
+> Sep 23, 2023
+
+- Add support for `glam-0.23` and `glam-0.24`. [cdc48a4](https://github.com/phaazon/splines/commit/cdc48a4)
+- Add `Spline::clear` to clear a spline keys without deallocating its internal storage. [eca09f1](https://github.com/phaazon/splines/commit/eca09f1)
+
+# 4.2
+
+> Feb 1, 2023
+
+- Add support for `glam-0.22`.
+- Add support for `nalgebra-0.32`.
+- Add deprecation lints for `impl-*` feature gates. Those shouldn’t be used anymore and the `*` variant should be 
+  preferred. For instance, if you used `impl-cgmath`, you should just use the `cgmath` feature gate now.
+
+# 4.1.1
+
+> Jul 27, 2022
+
+- Internal enhancement of sampling splines by looking for control points. That brings the lookup from _O(N)_ to
+  _O(log(N))_. That is super embarassing because it should have been the default from the very first commit. Sorry
+  about that.
+- Fix hermite cubic interpolation.
+- Add support for `glam-0.21`.
+- Add support for `nalgebra-0.31`.
+
+# 4.1
+
+> Mar 28, 2022
+
+- Support for edition 2021.
+- Bump `float-cmp` dependency.
+- Bump `glam` dependency.
+- Bump `nalgebra` dependency.
+- Simplify the CI.
 
 # 4.0.3
 

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "splines"
-version = "4.0.3"
+version = "4.3.1"
 license = "BSD-3-Clause"
 authors = ["Dimitri Sabadie <dimitri.sabadie@gmail.com>"]
 description = "Spline interpolation made easy"
@@ -11,13 +11,7 @@ repository = "https://github.com/phaazon/splines"
 documentation = "https://docs.rs/splines"
 readme = "README.md"
 
-edition = "2018"
+edition = "2021"
-
-[badges]
-travis-ci = { repository = "phaazon/splines", branch = "master" }
-is-it-maintained-issue-resolution = { repository = "phaazon/splines" }
-is-it-maintained-open-issues = { repository = "phaazon/splines" }
-maintenance = { status = "actively-developed" }
 
 [features]
 default = ["std"]
@@ -25,20 +19,20 @@ impl-cgmath = ["cgmath"]
 impl-glam = ["glam"]
 impl-nalgebra = ["nalgebra"]
 serialization = ["serde"]
-std = []
+std = ["nalgebra/std"]
 
 [dependencies]
 cgmath = { version = ">=0.17, <0.19", optional = true }
-glam = { version = ">=0.10, <0.18", optional = true }
+glam = { version = ">=0.10, <0.25", optional = true }
-nalgebra = { version = ">=0.21, <0.28", optional = true }
+nalgebra = { version = ">=0.21, <0.33", default-features = false, optional = true }
-serde =  { version = "1", features = ["derive"], optional = true }
+serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-float-cmp = ">=0.6, < 0.9"
+float-cmp = ">=0.6, < 0.10"
 serde_json = "1"
 
 [package.metadata.docs.rs]
-all-features = true
+features = ["std", "cgmath", "glam", "nalgebra", "serde"]
 
 [[example]]
 name = "hello-world"

rustfmt.toml

@@ -1,6 +1,6 @@
 edition = "2018"
 
-fn_args_layout = "Tall"
+fn_params_layout = "Tall"
 force_explicit_abi = true
 hard_tabs = false
 max_width = 100

src/interpolate.rs

@@ -112,10 +112,15 @@ macro_rules! impl_Interpolate {
         }
       }
 
+      #[cfg(feature = "std")]
       fn cosine(t: $t, a: Self, b: Self) -> Self {
         let cos_nt = (1. - (t * $pi).cos()) * 0.5;
         <Self as $crate::interpolate::Interpolate<$t>>::lerp(cos_nt, a, b)
       }
+      #[cfg(not(feature = "std"))]
+      fn cosine(t: $t, a: Self, b: Self) -> Self {
+        unimplemented!();
+      }
 
       fn lerp(t: $t, a: Self, b: Self) -> Self {
         a * (1. - t) + b * t
@@ -127,15 +132,16 @@ macro_rules! impl_Interpolate {
         let three_t = t * 3.;
         let t2 = t * t;
         let t3 = t2 * t;
-        let two_t3 = t3 * two_t;
+        let two_t3 = t2 * two_t;
-        let three_t2 = t2 * three_t;
+        let two_t2 = t * two_t;
+        let three_t2 = t * three_t;
 
         // tangents
-        let m0 = (b.1 - x.1) / (b.0 - x.0);
+        let m0 = (b.1 - x.1) / (b.0 - x.0) * (b.0 - a.0);
-        let m1 = (y.1 - a.1) / (y.0 - a.0);
+        let m1 = (y.1 - a.1) / (y.0 - a.0) * (b.0 - a.0);
 
         a.1 * (two_t3 - three_t2 + 1.)
-          + m0 * (t3 - t2 * two_t + t)
+          + m0 * (t3 - two_t2 + t)
           + b.1 * (three_t2 - two_t3)
           + m1 * (t3 - t2)
       }
@@ -175,10 +181,15 @@ macro_rules! impl_InterpolateT {
         }
       }
 
+      #[cfg(feature = "std")]
       fn cosine(t: $t, a: Self, b: Self) -> Self {
         let cos_nt = (1. - (t * $pi).cos()) * 0.5;
         <Self as $crate::interpolate::Interpolate<$t>>::lerp(cos_nt, a, b)
       }
+      #[cfg(not(feature = "std"))]
+      fn cosine(t: $t, a: Self, b: Self) -> Self {
+        unimplemented!()
+      }
 
       fn lerp(t: $t, a: Self, b: Self) -> Self {
         let t = Self::from(t);
@@ -192,15 +203,16 @@ macro_rules! impl_InterpolateT {
         let three_t = t * 3.;
         let t2 = t * t;
         let t3 = t2 * t;
-        let two_t3 = t3 * two_t;
+        let two_t3 = t2 * two_t;
-        let three_t2 = t2 * three_t;
+        let two_t2 = t * two_t;
+        let three_t2 = t * three_t;
 
         // tangents
-        let m0 = (b.1 - x.1) / (Self::from(b.0 - x.0));
+        let m0 = (b.1 - x.1) / (Self::from(b.0 - x.0)) * (Self::from(b.0 - a.0));
-        let m1 = (y.1 - a.1) / (Self::from(y.0 - a.0));
+        let m1 = (y.1 - a.1) / (Self::from(y.0 - a.0)) * (Self::from(b.0 - a.0));
 
         a.1 * (two_t3 - three_t2 + 1.)
-          + m0 * (t3 - t2 * two_t + t)
+          + m0 * (t3 - two_t2 + t)
           + b.1 * (three_t2 - two_t3)
           + m1 * (t3 - t2)
       }
@@ -230,6 +242,6 @@ macro_rules! impl_InterpolateT {
   };
 }
 
-impl_Interpolate!(f32, f32, std::f32::consts::PI);
+impl_Interpolate!(f32, f32, f32::consts::PI);
-impl_Interpolate!(f64, f64, std::f64::consts::PI);
+impl_Interpolate!(f64, f64, f64::consts::PI);
-impl_InterpolateT!(f32, f64, std::f32::consts::PI);
+impl_InterpolateT!(f32, f64, f32::consts::PI);

src/lib.rs

@@ -108,6 +108,17 @@
 #![cfg_attr(not(feature = "std"), no_std)]
 #![cfg_attr(not(feature = "std"), feature(alloc))]
 #![cfg_attr(not(feature = "std"), feature(core_intrinsics))]
+#![cfg_attr(
+  any(
+    feature = "impl-cgmath",
+    feature = "impl-glam",
+    feature = "impl-nalgebra"
+  ),
+  deprecated(
+    since = "4.2.0",
+    note = "you are using an impl-* feature gate; please switch to * (e.g. impl-cgmath becomes cgmath)"
+  )
+)]
 
 #[cfg(not(feature = "std"))]
 extern crate alloc;

src/nalgebra.rs

@@ -1,18 +1,27 @@
+#[cfg(not(feature = "std"))]
+use core::f32;
+#[cfg(not(feature = "std"))]
+use core::f64;
+#[cfg(feature = "std")]
+use std::f32;
+#[cfg(feature = "std")]
+use std::f64;
+
 use crate::impl_Interpolate;
 use nalgebra::{Quaternion, Vector1, Vector2, Vector3, Vector4, Vector5, Vector6};
 
-impl_Interpolate!(f32, Vector1<f32>, std::f32::consts::PI);
+impl_Interpolate!(f32, Vector1<f32>, f32::consts::PI);
-impl_Interpolate!(f32, Vector2<f32>, std::f32::consts::PI);
+impl_Interpolate!(f32, Vector2<f32>, f32::consts::PI);
-impl_Interpolate!(f32, Vector3<f32>, std::f32::consts::PI);
+impl_Interpolate!(f32, Vector3<f32>, f32::consts::PI);
-impl_Interpolate!(f32, Vector4<f32>, std::f32::consts::PI);
+impl_Interpolate!(f32, Vector4<f32>, f32::consts::PI);
-impl_Interpolate!(f32, Vector5<f32>, std::f32::consts::PI);
+impl_Interpolate!(f32, Vector5<f32>, f32::consts::PI);
-impl_Interpolate!(f32, Vector6<f32>, std::f32::consts::PI);
+impl_Interpolate!(f32, Vector6<f32>, f32::consts::PI);
-impl_Interpolate!(f32, Quaternion<f32>, std::f32::consts::PI);
+impl_Interpolate!(f32, Quaternion<f32>, f32::consts::PI);
 
-impl_Interpolate!(f64, Vector1<f64>, std::f64::consts::PI);
+impl_Interpolate!(f64, Vector1<f64>, f64::consts::PI);
-impl_Interpolate!(f64, Vector2<f64>, std::f64::consts::PI);
+impl_Interpolate!(f64, Vector2<f64>, f64::consts::PI);
-impl_Interpolate!(f64, Vector3<f64>, std::f64::consts::PI);
+impl_Interpolate!(f64, Vector3<f64>, f64::consts::PI);
-impl_Interpolate!(f64, Vector4<f64>, std::f64::consts::PI);
+impl_Interpolate!(f64, Vector4<f64>, f64::consts::PI);
-impl_Interpolate!(f64, Vector5<f64>, std::f64::consts::PI);
+impl_Interpolate!(f64, Vector5<f64>, f64::consts::PI);
-impl_Interpolate!(f64, Vector6<f64>, std::f64::consts::PI);
+impl_Interpolate!(f64, Vector6<f64>, f64::consts::PI);
-impl_Interpolate!(f64, Quaternion<f64>, std::f64::consts::PI);
+impl_Interpolate!(f64, Quaternion<f64>, f64::consts::PI);

src/spline.rs

@@ -1,6 +1,6 @@
 //! Spline curves and operations.
 
-#[cfg(feature = "std")]
+// #[cfg(feature = "std")]
 use crate::interpolate::{Interpolate, Interpolator};
 use crate::interpolation::Interpolation;
 use crate::key::Key;
@@ -27,7 +27,7 @@ use std::cmp::Ordering;
 ///     for the required interpolation mode, you get `None`.
 ///   - [`Spline::clamped_sample`]: behaves like [`Spline::sample`] but will return either the first
 ///     or last key if out of bound; it will return `None` if not enough key.
-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, Default)]
 #[cfg_attr(
   any(feature = "serialization", feature = "serde"),
   derive(Deserialize, Serialize)
@@ -56,6 +56,13 @@ impl<T, V> Spline<T, V> {
     spline
   }
 
+  /// Clear the spline by removing all keys. Keeps the underlying allocated storage, so adding
+  /// new keys should be faster than creating a new [`Spline`]
+  #[inline]
+  pub fn clear(&mut self) {
+    self.0.clear()
+  }
+
   /// Create a new spline by consuming an `Iterater<Item = Key<T>>`. They keys don’t have to be
   /// sorted.
   ///
@@ -318,37 +325,20 @@ pub struct KeyMut<'a, T, V> {
 }
 
 // Find the lower control point corresponding to a given time.
+// It has the property to have a timestamp smaller or equal to t
 fn search_lower_cp<T, V>(cps: &[Key<T, V>], t: T) -> Option<usize>
 where
   T: PartialOrd,
 {
-  let mut i = 0;
   let len = cps.len();
-
   if len < 2 {
     return None;
   }
-
+  match cps.binary_search_by(|key| key.t.partial_cmp(&t).unwrap()) {
-  loop {
+    Err(i) if i >= len => None,
-    let cp = &cps[i];
+    Err(i) if i == 0 => None,
-    let cp1 = &cps[i + 1];
+    Err(i) => Some(i - 1),
-
+    Ok(i) if i == len - 1 => None,
-    if t >= cp1.t {
+    Ok(i) => Some(i),
-      if i >= len - 2 {
-        return None;
-      }
-
-      i += 1;
-    } else if t < cp.t {
-      if i == 0 {
-        return None;
-      }
-
-      i -= 1;
-    } else {
-      break; // found
-    }
   }
-
-  Some(i)
 }