Concise Debug impls

Replace the verbose derived (or nearly equivalent) Debug impls for
several newtypes with explicit impls that forward to the inner type,
making readable diagnostics logging much easier.

src/base/matrix.rs

@@ -195,10 +195,7 @@ pub struct Matrix<T, R, C, S> {
 
 impl<T, R: Dim, C: Dim, S: fmt::Debug> fmt::Debug for Matrix<T, R, C, S> {
     fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
-        formatter
-            .debug_struct("Matrix")
-            .field("data", &self.data)
-            .finish()
+        self.data.fmt(formatter)
     }
 }
 

src/base/unit.rs

@@ -1,3 +1,4 @@
+use std::fmt;
 #[cfg(feature = "abomonation-serialize")]
 use std::io::{Result as IOResult, Write};
 use std::ops::Deref;
@@ -24,11 +25,17 @@ use crate::{Dim, Matrix, OMatrix, RealField, Scalar, SimdComplexField, SimdRealF
 /// and [`UnitQuaternion`](crate::UnitQuaternion); both built on top of `Unit`.  If you are interested
 /// in their documentation, read their dedicated pages directly.
 #[repr(transparent)]
-#[derive(Clone, Hash, Debug, Copy)]
+#[derive(Clone, Hash, Copy)]
 pub struct Unit<T> {
     pub(crate) value: T,
 }
 
+impl<T: fmt::Debug> fmt::Debug for Unit<T> {
+    fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        self.value.fmt(formatter)
+    }
+}
+
 #[cfg(feature = "bytemuck")]
 unsafe impl<T> bytemuck::Zeroable for Unit<T> where T: bytemuck::Zeroable {}
 

src/geometry/point.rs

@@ -40,7 +40,7 @@ use std::mem::MaybeUninit;
 /// may have some other methods, e.g., `isometry.inverse_transform_point(&point)`. See the documentation
 /// of said transformations for details.
 #[repr(C)]
-#[derive(Debug, Clone)]
+#[derive(Clone)]
 pub struct OPoint<T: Scalar, D: DimName>
 where
     DefaultAllocator: Allocator<T, D>,
@@ -49,6 +49,15 @@ where
     pub coords: OVector<T, D>,
 }
 
+impl<T: Scalar + fmt::Debug, D: DimName> fmt::Debug for OPoint<T, D>
+where
+    DefaultAllocator: Allocator<T, D>,
+{
+    fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        self.coords.as_slice().fmt(formatter)
+    }
+}
+
 impl<T: Scalar + hash::Hash, D: DimName> hash::Hash for OPoint<T, D>
 where
     DefaultAllocator: Allocator<T, D>,

src/geometry/quaternion.rs

@@ -27,12 +27,18 @@ use crate::geometry::{Point3, Rotation};
 /// A quaternion. See the type alias `UnitQuaternion = Unit<Quaternion>` for a quaternion
 /// that may be used as a rotation.
 #[repr(C)]
-#[derive(Debug, Copy, Clone)]
+#[derive(Copy, Clone)]
 pub struct Quaternion<T> {
     /// This quaternion as a 4D vector of coordinates in the `[ x, y, z, w ]` storage order.
     pub coords: Vector4<T>,
 }
 
+impl<T: fmt::Debug> fmt::Debug for Quaternion<T> {
+    fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        self.coords.as_slice().fmt(formatter)
+    }
+}
+
 impl<T: Scalar + Hash> Hash for Quaternion<T> {
     fn hash<H: Hasher>(&self, state: &mut H) {
         self.coords.hash(state)

src/geometry/rotation.rs

@@ -54,11 +54,16 @@ use crate::geometry::Point;
 /// * [Conversion to a matrix <span style="float:right;">`matrix`, `to_homogeneous`…</span>](#conversion-to-a-matrix)
 ///
 #[repr(C)]
-#[derive(Debug)]
 pub struct Rotation<T, const D: usize> {
     matrix: SMatrix<T, D, D>,
 }
 
+impl<T: fmt::Debug, const D: usize> fmt::Debug for Rotation<T, D> {
+    fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        self.matrix.fmt(formatter)
+    }
+}
+
 impl<T: Scalar + hash::Hash, const D: usize> hash::Hash for Rotation<T, D>
 where
     <DefaultAllocator as Allocator<T, Const<D>, Const<D>>>::Buffer: hash::Hash,

src/geometry/transform.rs

@@ -1,6 +1,6 @@
 use approx::{AbsDiffEq, RelativeEq, UlpsEq};
 use std::any::Any;
-use std::fmt::Debug;
+use std::fmt::{self, Debug};
 use std::hash;
 use std::marker::PhantomData;
 
@@ -157,7 +157,6 @@ super_tcategory_impl!(
 /// It is stored as a matrix with dimensions `(D + 1, D + 1)`, e.g., it stores a 4x4 matrix for a
 /// 3D transformation.
 #[repr(C)]
-#[derive(Debug)]
 pub struct Transform<T: RealField, C: TCategory, const D: usize>
 where
     Const<D>: DimNameAdd<U1>,
@@ -167,6 +166,16 @@ where
     _phantom: PhantomData<C>,
 }
 
+impl<T: RealField + Debug, C: TCategory, const D: usize> Debug for Transform<T, C, D>
+where
+    Const<D>: DimNameAdd<U1>,
+    DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
+{
+    fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        self.matrix.fmt(formatter)
+    }
+}
+
 impl<T: RealField + hash::Hash, C: TCategory, const D: usize> hash::Hash for Transform<T, C, D>
 where
     Const<D>: DimNameAdd<U1>,

src/geometry/translation.rs

@@ -22,13 +22,18 @@ use crate::geometry::Point;
 
 /// A translation.
 #[repr(C)]
-#[derive(Debug)]
 pub struct Translation<T, const D: usize> {
     /// The translation coordinates, i.e., how much is added to a point's coordinates when it is
     /// translated.
     pub vector: SVector<T, D>,
 }
 
+impl<T: fmt::Debug, const D: usize> fmt::Debug for Translation<T, D> {
+    fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        self.vector.as_slice().fmt(formatter)
+    }
+}
+
 impl<T: Scalar + hash::Hash, const D: usize> hash::Hash for Translation<T, D>
 where
     Owned<T, Const<D>>: hash::Hash,

tests/core/matrix.rs

@@ -80,8 +80,8 @@ fn iter() {
 #[test]
 fn debug_output_corresponds_to_data_container() {
     let m = Matrix2::new(1.0, 2.0, 3.0, 4.0);
-    let output_stable = "Matrix { data: [[1, 3], [2, 4]] }"; // Current output on the stable channel.
-    let output_nightly = "Matrix { data: [[1.0, 3.0], [2.0, 4.0]] }"; // Current output on the nightly channel.
+    let output_stable = "[[1, 3], [2, 4]]"; // Current output on the stable channel.
+    let output_nightly = "[[1.0, 3.0], [2.0, 4.0]]"; // Current output on the nightly channel.
     let current_output = format!("{:?}", m);
     dbg!(output_stable);
     dbg!(output_nightly);