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Rotation::matrix_mut_unchecked may not cause UB 

...because it isn't unsafe, so clarify the documentation to match.
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Christopher Durham 2021-07-05 18:53:11 -05:00 committed by GitHub
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6
src/geometry/rotation.rs
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@ -199,9 +199,9 @@ impl<T: Scalar, const D: usize> Rotation<T, D> {
/// A mutable reference to the underlying matrix representation of this rotation.
///
/// This is suffixed by "_unchecked" because this allows the user to replace the matrix by another one that is
/// non-square, non-inversible, or non-orthonormal. If one of those properties is broken,
/// subsequent method calls may be UB.
/// This is suffixed by "_unchecked" because this allows the user to replace the
/// matrix by another one that is non-inversible or non-orthonormal. If one of
/// those properties is broken, subsequent method calls may return bogus results.
#[inline]
pub fn matrix_mut_unchecked(&mut self) -> &mut SMatrix<T, D, D> {
&mut self.matrix