From b1775ee747df4f2243b59c13b17a9af1fa46c197 Mon Sep 17 00:00:00 2001
From: CAD97 <cad97@cad97.com>
Date: Wed, 14 Jul 2021 23:52:38 -0500
Subject: [PATCH] =?UTF-8?q?Add=20Transform=20=C3=97=20UnitComplex=20&=20fr?=
 =?UTF-8?q?iends?=
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---
 src/geometry/transform_ops.rs | 62 ++++++++++++++++++++++++++++++++---
 1 file changed, 57 insertions(+), 5 deletions(-)

diff --git a/src/geometry/transform_ops.rs b/src/geometry/transform_ops.rs
index c4ec5cfc..94ef4ab3 100644
--- a/src/geometry/transform_ops.rs
+++ b/src/geometry/transform_ops.rs
@@ -12,7 +12,7 @@ use crate::base::{Const, DefaultAllocator, OMatrix, SVector, Scalar};
 
 use crate::geometry::{
     Isometry, Point, Rotation, Similarity, SubTCategoryOf, SuperTCategoryOf, TAffine, TCategory,
-    TCategoryMul, TGeneral, TProjective, Transform, Translation, UnitQuaternion,
+    TCategoryMul, TGeneral, TProjective, Transform, Translation, UnitComplex, UnitQuaternion,
 };
 
 /*
@@ -30,7 +30,7 @@ use crate::geometry::{
  * Transform × Similarity
  * Transform × Transform
  * Transform × UnitQuaternion
- * TODO: Transform × UnitComplex
+ * Transform × UnitComplex
  * Transform × Translation
  * Transform × Vector
  * Transform × Point
@@ -40,7 +40,7 @@ use crate::geometry::{
  * Similarity     × Transform
  * Translation    × Transform
  * UnitQuaternion × Transform
- * TODO: UnitComplex × Transform
+ * UnitComplex    × Transform
  *
  * TODO: Transform ÷ Isometry
  * Transform ÷ Rotation
@@ -65,7 +65,7 @@ use crate::geometry::{
  * Transform ×= Isometry
  * Transform ×= Rotation
  * Transform ×= UnitQuaternion
- * TODO: Transform ×= UnitComplex
+ * Transform ×= UnitComplex
  * Transform ×= Translation
  *
  * Transform ÷= Transform
@@ -73,7 +73,7 @@ use crate::geometry::{
  * TODO: Transform ÷= Isometry
  * Transform ÷= Rotation
  * Transform ÷= UnitQuaternion
- * TODO: Transform ÷= UnitComplex
+ * Transform ÷= UnitComplex
  *
  */
 
@@ -225,6 +225,20 @@ md_impl_all!(
     [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
 );
 
+// Transform × UnitComplex
+md_impl_all!(
+    Mul, mul where T: RealField;
+    (U3, U3), (U2, U1)
+    const;
+    for C;
+    where C: TCategoryMul<TAffine>;
+    self: Transform<T, C, 2>, rhs: UnitComplex<T>, Output = Transform<T, C::Representative, 2>;
+    [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
+    [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
+    [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
+    [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
+);
+
 // UnitQuaternion × Transform
 md_impl_all!(
     Mul, mul where T: RealField;
@@ -239,6 +253,20 @@ md_impl_all!(
     [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
 );
 
+// UnitComplex × Transform
+md_impl_all!(
+    Mul, mul where T: RealField;
+    (U2, U1), (U3, U3)
+    const;
+    for C;
+    where C: TCategoryMul<TAffine>;
+    self: UnitComplex<T>, rhs: Transform<T, C, 2>, Output = Transform<T, C::Representative, 2>;
+    [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
+    [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
+    [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
+    [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
+);
+
 // Transform × Isometry
 md_impl_all!(
     Mul, mul where T: RealField;
@@ -579,6 +607,18 @@ md_assign_impl_all!(
     [ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
 );
 
+// Transform ×= UnitComplex
+md_assign_impl_all!(
+    MulAssign, mul_assign where T: RealField;
+    (U3, U3), (U2, U1)
+    const;
+    for C;
+    where C: TCategory;
+    self: Transform<T, C, 2>, rhs: UnitComplex<T>;
+    [val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
+    [ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
+);
+
 // Transform ÷= Transform
 md_assign_impl_all!(
     DivAssign, div_assign where T: RealField;
@@ -650,3 +690,15 @@ md_assign_impl_all!(
     [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
 );
+
+// Transform ÷= UnitComplex
+md_assign_impl_all!(
+    DivAssign, div_assign where T: RealField;
+    (U3, U3), (U2, U1)
+    const;
+    for C;
+    where C: TCategory;
+    self: Transform<T, C, 2>, rhs: UnitComplex<T>;
+    [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
+    [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
+);