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Add Isometry × Unit<Vector>. 

Fix #285.
This commit is contained in:
Sébastien Crozet 2018-02-02 12:26:29 +01:00
parent 144dfbd555
commit 3dc76caf7e
1 changed files with 14 additions and 1 deletions
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15
src/geometry/isometry_ops.rs
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@ -3,7 +3,7 @@ use std::ops::{Mul, MulAssign, Div, DivAssign};
use alga::general::Real; use alga::general::Real;
use alga::linear::Rotation as AlgaRotation; use alga::linear::Rotation as AlgaRotation;
use core::{DefaultAllocator, VectorN}; use core::{DefaultAllocator, VectorN, Unit};
use core::dimension::{DimName, U1, U3, U4}; use core::dimension::{DimName, U1, U3, U4};
use core::allocator::Allocator; use core::allocator::Allocator;
@ -30,6 +30,7 @@ use geometry::{Point, Rotation, Isometry, Translation, UnitQuaternion};
* *
* Isometry × Point * Isometry × Point
* Isometry × Vector * Isometry × Vector
* Isometry × Unit<Vector>
* *
* *
* Isometry × Translation * Isometry × Translation
@ -252,6 +253,18 @@ isometry_binop_impl_all!(
[ref ref] => self.rotation.transform_vector(right); [ref ref] => self.rotation.transform_vector(right);
); );
// Isometry × Unit<Vector>
isometry_binop_impl_all!(
Mul, mul;
// FIXME: because of `transform_vector`, we cant use a generic storage type for the rhs vector,
// i.e., right: Vector<N, D, S> where S: Storage<N, D>.
self: Isometry<N, D, R>, right: Unit<VectorN<N, D>>, Output = Unit<VectorN<N, D>>;
[val val] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
[ref val] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
[val ref] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
[ref ref] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
);
// Isometry × Translation // Isometry × Translation
isometry_binop_impl_all!( isometry_binop_impl_all!(