Merge pull request #819 from dimforge/dev

Release v0.24.0

CHANGELOG.md

@@ -4,10 +4,25 @@ documented here.
 
 This project adheres to [Semantic Versioning](https://semver.org/).
 
+## [0.24.0]
+
+### Added
+* The `DualQuaternion` type. It is still work-in-progress but the basics are here:
+  creation from its real and dual part, multiplication of two dual quaternions,
+  and normalization.
+  
+### Removed
+* There is no blanket `impl<T> PartialEq for Unit<T>` any more. Instead, it is
+  implemented specifically for `UnitComplex`, `UnitQuaternion` and `Unit<Vector>`.
+
 ## [0.23.2]
 In this release, we improved the documentation of some of the geometric types
 by applying changes similar to what we did in the version 0.23.1 for matrices.
 
+### Added
+* The `Isometry::inv_mul` method which is a more efficient way of doing
+  `isometry1.inverse() * isometry2`.
+
 ## [0.23.1]
 In this release we improved the documentation of the matrix and vector types by:
 - Grouping `impl` bocks logically, adding a title comment to these impl blocks.

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra"
-version = "0.23.2"
+version = "0.24.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 
 description = "Linear algebra library with transformations and statically-sized or dynamically-sized matrices."

nalgebra-glm/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "nalgebra-glm"
-version = "0.9.0"
+version = "0.10.0"
 authors = ["sebcrozet <developer@crozet.re>"]
 
 description = "A computer-graphics oriented API for nalgebra, inspired by the C++ GLM library."
@@ -25,4 +25,4 @@ abomonation-serialize = [ "nalgebra/abomonation-serialize" ]
 num-traits = { version = "0.2", default-features = false }
 approx = { version = "0.4", default-features = false }
 simba = { version = "0.3", default-features = false }
-nalgebra = { path =  "..", version = "0.23", default-features = false }
+nalgebra = { path =  "..", version = "0.24", default-features = false }

nalgebra-lapack/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra-lapack"
-version = "0.14.0"
+version = "0.15.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>", "Andrew Straw <strawman@astraw.com>" ]
 
 description   = "Linear algebra library with transformations and satically-sized or dynamically-sized matrices."
@@ -23,7 +23,7 @@ accelerate = ["lapack-src/accelerate"]
 intel-mkl  = ["lapack-src/intel-mkl"]
 
 [dependencies]
-nalgebra      = { version = "0.22" } # , path = ".." }
+nalgebra      = { version = "0.24", path = ".." }
 num-traits    = "0.2"
 num-complex   = { version = "0.2", default-features = false }
 simba         = "0.2"
@@ -34,7 +34,7 @@ lapack-src    = { version = "0.5", default-features = false }
 # clippy = "*"
 
 [dev-dependencies]
-nalgebra   = { version = "0.22", features = [ "arbitrary" ] } # path = ".." }
+nalgebra   = { version = "0.24", features = [ "arbitrary" ], path = ".." }
 quickcheck = "0.9"
 approx     = "0.3"
 rand       = "0.7"

src/base/unit.rs

@@ -11,7 +11,8 @@ use abomonation::Abomonation;
 
 use crate::allocator::Allocator;
 use crate::base::DefaultAllocator;
-use crate::{Dim, MatrixMN, RealField, Scalar, SimdComplexField, SimdRealField};
+use crate::storage::Storage;
+use crate::{Dim, Matrix, MatrixMN, RealField, Scalar, SimdComplexField, SimdRealField};
 
 /// A wrapper that ensures the underlying algebraic entity has a unit norm.
 ///
@@ -24,7 +25,7 @@ use crate::{Dim, MatrixMN, RealField, Scalar, SimdComplexField, SimdRealField};
 /// 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(Eq, PartialEq, Clone, Hash, Debug, Copy)]
+#[derive(Clone, Hash, Debug, Copy)]
 pub struct Unit<T> {
     pub(crate) value: T,
 }
@@ -64,6 +65,28 @@ impl<T: Abomonation> Abomonation for Unit<T> {
     }
 }
 
+impl<N, R, C, S> PartialEq for Unit<Matrix<N, R, C, S>>
+where
+    N: Scalar + PartialEq,
+    R: Dim,
+    C: Dim,
+    S: Storage<N, R, C>,
+{
+    #[inline]
+    fn eq(&self, rhs: &Self) -> bool {
+        self.value.eq(&rhs.value)
+    }
+}
+
+impl<N, R, C, S> Eq for Unit<Matrix<N, R, C, S>>
+where
+    N: Scalar + Eq,
+    R: Dim,
+    C: Dim,
+    S: Storage<N, R, C>,
+{
+}
+
 /// Trait implemented by entities scan be be normalized and put in an `Unit` struct.
 pub trait Normed {
     /// The type of the norm.

src/geometry/dual_quaternion.rs

@@ -0,0 +1,116 @@
+use crate::{Quaternion, SimdRealField};
+#[cfg(feature = "serde-serialize")]
+use serde::{Deserialize, Deserializer, Serialize, Serializer};
+
+/// A dual quaternion.
+///
+/// # Indexing
+///
+/// DualQuaternions are stored as \[..real, ..dual\].
+/// Both of the quaternion components are laid out in `i, j, k, w` order.
+///
+/// ```
+/// # use nalgebra::{DualQuaternion, Quaternion};
+///
+/// let real = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+/// let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);
+///
+/// let dq = DualQuaternion::from_real_and_dual(real, dual);
+/// assert_eq!(dq[0], 2.0);
+/// assert_eq!(dq[1], 3.0);
+///
+/// assert_eq!(dq[4], 6.0);
+/// assert_eq!(dq[7], 5.0);
+/// ```
+///
+/// NOTE:
+///  As of December 2020, dual quaternion support is a work in progress.
+///  If a feature that you need is missing, feel free to open an issue or a PR.
+///  See https://github.com/dimforge/nalgebra/issues/487
+#[repr(C)]
+#[derive(Debug, Default, Eq, PartialEq, Copy, Clone)]
+pub struct DualQuaternion<N: SimdRealField> {
+    /// The real component of the quaternion
+    pub real: Quaternion<N>,
+    /// The dual component of the quaternion
+    pub dual: Quaternion<N>,
+}
+
+impl<N: SimdRealField> DualQuaternion<N>
+where
+    N::Element: SimdRealField,
+{
+    /// Normalizes this quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{DualQuaternion, Quaternion};
+    /// let real = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);
+    /// let dq = DualQuaternion::from_real_and_dual(real, dual);
+    ///
+    /// let dq_normalized = dq.normalize();
+    ///
+    /// relative_eq!(dq_normalized.real.norm(), 1.0);
+    /// ```
+    #[inline]
+    #[must_use = "Did you mean to use normalize_mut()?"]
+    pub fn normalize(&self) -> Self {
+        let real_norm = self.real.norm();
+
+        Self::from_real_and_dual(self.real / real_norm, self.dual / real_norm)
+    }
+
+    /// Normalizes this quaternion.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{DualQuaternion, Quaternion};
+    /// let real = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);
+    /// let mut dq = DualQuaternion::from_real_and_dual(real, dual);
+    ///
+    /// dq.normalize_mut();
+    ///
+    /// relative_eq!(dq.real.norm(), 1.0);
+    /// ```
+    #[inline]
+    pub fn normalize_mut(&mut self) {
+        *self = self.normalize();
+    }
+}
+
+#[cfg(feature = "serde-serialize")]
+impl<N: SimdRealField> Serialize for DualQuaternion<N>
+where
+    N: Serialize,
+{
+    fn serialize<S>(&self, serializer: S) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error>
+    where
+        S: Serializer,
+    {
+        self.as_ref().serialize(serializer)
+    }
+}
+
+#[cfg(feature = "serde-serialize")]
+impl<'a, N: SimdRealField> Deserialize<'a> for DualQuaternion<N>
+where
+    N: Deserialize<'a>,
+{
+    fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
+    where
+        Des: Deserializer<'a>,
+    {
+        type Dq<N> = [N; 8];
+
+        let dq: Dq<N> = Dq::<N>::deserialize(deserializer)?;
+
+        Ok(Self {
+            real: Quaternion::new(dq[3], dq[0], dq[1], dq[2]),
+            dual: Quaternion::new(dq[7], dq[4], dq[5], dq[6]),
+        })
+    }
+}

src/geometry/dual_quaternion_construction.rs

@@ -0,0 +1,42 @@
+use crate::{DualQuaternion, Quaternion, SimdRealField};
+
+impl<N: SimdRealField> DualQuaternion<N> {
+    /// Creates a dual quaternion from its rotation and translation components.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{DualQuaternion, Quaternion};
+    /// let rot = Quaternion::new(1.0, 2.0, 3.0, 4.0);
+    /// let trans = Quaternion::new(5.0, 6.0, 7.0, 8.0);
+    ///
+    /// let dq = DualQuaternion::from_real_and_dual(rot, trans);
+    /// assert_eq!(dq.real.w, 1.0);
+    /// ```
+    #[inline]
+    pub fn from_real_and_dual(real: Quaternion<N>, dual: Quaternion<N>) -> Self {
+        Self { real, dual }
+    }
+    /// The dual quaternion multiplicative identity
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use nalgebra::{DualQuaternion, Quaternion};
+    ///
+    /// let dq1 = DualQuaternion::identity();
+    /// let dq2 = DualQuaternion::from_real_and_dual(
+    ///     Quaternion::new(1.,2.,3.,4.),
+    ///     Quaternion::new(5.,6.,7.,8.)
+    /// );
+    ///
+    /// assert_eq!(dq1 * dq2, dq2);
+    /// assert_eq!(dq2 * dq1, dq2);
+    /// ```
+    #[inline]
+    pub fn identity() -> Self {
+        Self::from_real_and_dual(
+            Quaternion::from_real(N::one()),
+            Quaternion::from_real(N::zero()),
+        )
+    }
+}

src/geometry/dual_quaternion_ops.rs

@@ -0,0 +1,104 @@
+/*
+ * This file provides:
+ *
+ * NOTE: Work in progress https://github.com/dimforge/nalgebra/issues/487
+ *
+ * (Dual Quaternion)
+ *
+ * Index<usize>
+ * IndexMut<usize>
+ *
+ * (Assignment Operators)
+ *
+ * DualQuaternion × Scalar
+ * DualQuaternion × DualQuaternion
+ * DualQuaternion + DualQuaternion
+ * DualQuaternion - DualQuaternion
+ *
+ * ---
+ *
+ * References:
+ *   Multiplication:
+ *   - https://cs.gmu.edu/~jmlien/teaching/cs451/uploads/Main/dual-quaternion.pdf
+ */
+
+use crate::{DualQuaternion, SimdRealField};
+use std::mem;
+use std::ops::{Add, Index, IndexMut, Mul, Sub};
+
+impl<N: SimdRealField> AsRef<[N; 8]> for DualQuaternion<N> {
+    #[inline]
+    fn as_ref(&self) -> &[N; 8] {
+        unsafe { mem::transmute(self) }
+    }
+}
+
+impl<N: SimdRealField> AsMut<[N; 8]> for DualQuaternion<N> {
+    #[inline]
+    fn as_mut(&mut self) -> &mut [N; 8] {
+        unsafe { mem::transmute(self) }
+    }
+}
+
+impl<N: SimdRealField> Index<usize> for DualQuaternion<N> {
+    type Output = N;
+
+    #[inline]
+    fn index(&self, i: usize) -> &Self::Output {
+        &self.as_ref()[i]
+    }
+}
+
+impl<N: SimdRealField> IndexMut<usize> for DualQuaternion<N> {
+    #[inline]
+    fn index_mut(&mut self, i: usize) -> &mut N {
+        &mut self.as_mut()[i]
+    }
+}
+
+impl<N: SimdRealField> Mul<DualQuaternion<N>> for DualQuaternion<N>
+where
+    N::Element: SimdRealField,
+{
+    type Output = DualQuaternion<N>;
+
+    fn mul(self, rhs: Self) -> Self::Output {
+        Self::from_real_and_dual(
+            self.real * rhs.real,
+            self.real * rhs.dual + self.dual * rhs.real,
+        )
+    }
+}
+
+impl<N: SimdRealField> Mul<N> for DualQuaternion<N>
+where
+    N::Element: SimdRealField,
+{
+    type Output = DualQuaternion<N>;
+
+    fn mul(self, rhs: N) -> Self::Output {
+        Self::from_real_and_dual(self.real * rhs, self.dual * rhs)
+    }
+}
+
+impl<N: SimdRealField> Add<DualQuaternion<N>> for DualQuaternion<N>
+where
+    N::Element: SimdRealField,
+{
+    type Output = DualQuaternion<N>;
+
+    fn add(self, rhs: DualQuaternion<N>) -> Self::Output {
+        Self::from_real_and_dual(self.real + rhs.real, self.dual + rhs.dual)
+    }
+}
+
+impl<N: SimdRealField> Sub<DualQuaternion<N>> for DualQuaternion<N>
+where
+    N::Element: SimdRealField,
+{
+    type Output = DualQuaternion<N>;
+
+    fn sub(self, rhs: DualQuaternion<N>) -> Self::Output {
+        Self::from_real_and_dual(self.real - rhs.real, self.dual - rhs.dual)
+    }
+}

src/geometry/mod.rs

@@ -35,6 +35,10 @@ mod quaternion_coordinates;
 mod quaternion_ops;
 mod quaternion_simba;
 
+mod dual_quaternion;
+mod dual_quaternion_construction;
+mod dual_quaternion_ops;
+
 mod unit_complex;
 #[cfg(feature = "alga")]
 mod unit_complex_alga;
@@ -98,6 +102,8 @@ pub use self::rotation_alias::*;
 
 pub use self::quaternion::*;
 
+pub use self::dual_quaternion::*;
+
 pub use self::unit_complex::*;
 
 pub use self::translation::*;

src/geometry/quaternion.rs

@@ -1,7 +1,6 @@
 use approx::{AbsDiffEq, RelativeEq, UlpsEq};
 use num::Zero;
 use std::fmt;
-use std::hash;
 #[cfg(feature = "abomonation-serialize")]
 use std::io::{Result as IOResult, Write};
 
@@ -13,8 +12,8 @@ use serde::{Deserialize, Deserializer, Serialize, Serializer};
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
 
-use simba::scalar::RealField;
-use simba::simd::{SimdBool, SimdOption, SimdRealField, SimdValue};
+use simba::scalar::{ClosedNeg, RealField};
+use simba::simd::{SimdBool, SimdOption, SimdRealField};
 
 use crate::base::dimension::{U1, U3, U4};
 use crate::base::storage::{CStride, RStride};
@@ -27,13 +26,13 @@ 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)]
-pub struct Quaternion<N: Scalar + SimdValue> {
+#[derive(Debug, Copy, Clone, Hash, PartialEq, Eq)]
+pub struct Quaternion<N: Scalar> {
     /// This quaternion as a 4D vector of coordinates in the `[ x, y, z, w ]` storage order.
     pub coords: Vector4<N>,
 }
 
-impl<N: RealField> Default for Quaternion<N> {
+impl<N: Scalar + Zero> Default for Quaternion<N> {
     fn default() -> Self {
         Quaternion {
             coords: Vector4::zeros(),
@@ -42,7 +41,7 @@ impl<N: RealField> Default for Quaternion<N> {
 }
 
 #[cfg(feature = "abomonation-serialize")]
-impl<N: SimdRealField> Abomonation for Quaternion<N>
+impl<N: Scalar> Abomonation for Quaternion<N>
 where
     Vector4<N>: Abomonation,
 {
@@ -59,36 +58,8 @@ where
     }
 }
 
-impl<N: SimdRealField + Eq> Eq for Quaternion<N> where N::Element: SimdRealField {}
-
-impl<N: SimdRealField> PartialEq for Quaternion<N>
-where
-    N::Element: SimdRealField,
-{
-    fn eq(&self, rhs: &Self) -> bool {
-        self.coords == rhs.coords ||
-        // Account for the double-covering of S², i.e. q = -q
-        self.as_vector().iter().zip(rhs.as_vector().iter()).all(|(a, b)| *a == -*b)
-    }
-}
-
-impl<N: SimdRealField + hash::Hash> hash::Hash for Quaternion<N> {
-    fn hash<H: hash::Hasher>(&self, state: &mut H) {
-        self.coords.hash(state)
-    }
-}
-
-impl<N: Scalar + Copy + SimdValue> Copy for Quaternion<N> {}
-
-impl<N: Scalar + SimdValue> Clone for Quaternion<N> {
-    #[inline]
-    fn clone(&self) -> Self {
-        Self::from(self.coords.clone())
-    }
-}
-
 #[cfg(feature = "serde-serialize")]
-impl<N: SimdRealField> Serialize for Quaternion<N>
+impl<N: Scalar> Serialize for Quaternion<N>
 where
     Owned<N, U4>: Serialize,
 {
@@ -101,7 +72,7 @@ where
 }
 
 #[cfg(feature = "serde-serialize")]
-impl<'a, N: SimdRealField> Deserialize<'a> for Quaternion<N>
+impl<'a, N: Scalar> Deserialize<'a> for Quaternion<N>
 where
     Owned<N, U4>: Deserialize<'a>,
 {
@@ -980,6 +951,17 @@ impl<N: RealField + fmt::Display> fmt::Display for Quaternion<N> {
 /// A unit quaternions. May be used to represent a rotation.
 pub type UnitQuaternion<N> = Unit<Quaternion<N>>;
 
+impl<N: Scalar + ClosedNeg + PartialEq> PartialEq for UnitQuaternion<N> {
+    #[inline]
+    fn eq(&self, rhs: &Self) -> bool {
+        self.coords == rhs.coords ||
+        // Account for the double-covering of S², i.e. q = -q
+        self.coords.iter().zip(rhs.coords.iter()).all(|(a, b)| *a == -b.inlined_clone())
+    }
+}
+
+impl<N: Scalar + ClosedNeg + Eq> Eq for UnitQuaternion<N> {}
+
 impl<N: SimdRealField> Normed for Quaternion<N> {
     type Norm = N::SimdRealField;
 

src/geometry/quaternion_construction.rs

@@ -10,7 +10,7 @@ use rand::distributions::{Distribution, OpenClosed01, Standard};
 use rand::Rng;
 
 use simba::scalar::RealField;
-use simba::simd::{SimdBool, SimdValue};
+use simba::simd::SimdBool;
 
 use crate::base::dimension::U3;
 use crate::base::storage::Storage;
@@ -19,7 +19,7 @@ use crate::{Scalar, SimdRealField};
 
 use crate::geometry::{Quaternion, Rotation3, UnitQuaternion};
 
-impl<N: Scalar + SimdValue> Quaternion<N> {
+impl<N: Scalar> Quaternion<N> {
     /// Creates a quaternion from a 4D vector. The quaternion scalar part corresponds to the `w`
     /// vector component.
     #[inline]

src/geometry/quaternion_conversion.rs

@@ -184,36 +184,36 @@ impl<N1: RealField, N2: RealField + SupersetOf<N1>> SubsetOf<Matrix4<N2>> for Un
 }
 
 #[cfg(feature = "mint")]
-impl<N: SimdRealField> From<mint::Quaternion<N>> for Quaternion<N> {
+impl<N: Scalar> From<mint::Quaternion<N>> for Quaternion<N> {
     fn from(q: mint::Quaternion<N>) -> Self {
         Self::new(q.s, q.v.x, q.v.y, q.v.z)
     }
 }
 
 #[cfg(feature = "mint")]
-impl<N: SimdRealField> Into<mint::Quaternion<N>> for Quaternion<N> {
+impl<N: Scalar> Into<mint::Quaternion<N>> for Quaternion<N> {
     fn into(self) -> mint::Quaternion<N> {
         mint::Quaternion {
             v: mint::Vector3 {
-                x: self[0],
-                y: self[1],
-                z: self[2],
+                x: self[0].inlined_clone(),
+                y: self[1].inlined_clone(),
+                z: self[2].inlined_clone(),
             },
-            s: self[3],
+            s: self[3].inlined_clone(),
         }
     }
 }
 
 #[cfg(feature = "mint")]
-impl<N: SimdRealField> Into<mint::Quaternion<N>> for UnitQuaternion<N> {
+impl<N: Scalar + SimdValue> Into<mint::Quaternion<N>> for UnitQuaternion<N> {
     fn into(self) -> mint::Quaternion<N> {
         mint::Quaternion {
             v: mint::Vector3 {
-                x: self[0],
-                y: self[1],
-                z: self[2],
+                x: self[0].inlined_clone(),
+                y: self[1].inlined_clone(),
+                z: self[2].inlined_clone(),
             },
-            s: self[3],
+            s: self[3].inlined_clone(),
         }
     }
 }
@@ -258,14 +258,14 @@ where
     }
 }
 
-impl<N: Scalar + SimdValue> From<Vector4<N>> for Quaternion<N> {
+impl<N: Scalar> From<Vector4<N>> for Quaternion<N> {
     #[inline]
     fn from(coords: Vector4<N>) -> Self {
         Self { coords }
     }
 }
 
-impl<N: Scalar + SimdValue> From<[N; 4]> for Quaternion<N> {
+impl<N: Scalar> From<[N; 4]> for Quaternion<N> {
     #[inline]
     fn from(coords: [N; 4]) -> Self {
         Self {

src/geometry/quaternion_ops.rs

@@ -57,12 +57,12 @@ use std::ops::{
 use crate::base::allocator::Allocator;
 use crate::base::dimension::{U1, U3, U4};
 use crate::base::storage::Storage;
-use crate::base::{DefaultAllocator, Unit, Vector, Vector3};
+use crate::base::{DefaultAllocator, Scalar, Unit, Vector, Vector3};
 use crate::SimdRealField;
 
 use crate::geometry::{Point3, Quaternion, Rotation, UnitQuaternion};
 
-impl<N: SimdRealField> Index<usize> for Quaternion<N> {
+impl<N: Scalar> Index<usize> for Quaternion<N> {
     type Output = N;
 
     #[inline]
@@ -71,7 +71,7 @@ impl<N: SimdRealField> Index<usize> for Quaternion<N> {
     }
 }
 
-impl<N: SimdRealField> IndexMut<usize> for Quaternion<N> {
+impl<N: Scalar> IndexMut<usize> for Quaternion<N> {
     #[inline]
     fn index_mut(&mut self, i: usize) -> &mut N {
         &mut self.coords[i]

src/geometry/unit_complex.rs

@@ -4,8 +4,10 @@ use std::fmt;
 
 use crate::base::{Matrix2, Matrix3, Normed, Unit, Vector1, Vector2};
 use crate::geometry::{Point2, Rotation2};
+use crate::Scalar;
 use simba::scalar::RealField;
 use simba::simd::SimdRealField;
+use std::cmp::{Eq, PartialEq};
 
 /// A 2D rotation represented as a complex number with magnitude 1.
 ///
@@ -29,6 +31,15 @@ use simba::simd::SimdRealField;
 /// * [Conversion to a matrix <span style="float:right;">`to_rotation_matrix`, `to_homogeneous`…</span>](#conversion-to-a-matrix)
 pub type UnitComplex<N> = Unit<Complex<N>>;
 
+impl<N: Scalar + PartialEq> PartialEq for UnitComplex<N> {
+    #[inline]
+    fn eq(&self, rhs: &Self) -> bool {
+        (**self).eq(&**rhs)
+    }
+}
+
+impl<N: Scalar + Eq> Eq for UnitComplex<N> {}
+
 impl<N: SimdRealField> Normed for Complex<N> {
     type Norm = N::SimdRealField;
 

tests/core/matrixcompare.rs

@@ -4,9 +4,15 @@
 //! The tests here only check that the necessary trait implementations are correctly implemented,
 //! in addition to some sanity checks with example input.
 
-use nalgebra::{DMatrix, MatrixMN, U4, U5};
+use nalgebra::{MatrixMN, U4, U5};
 
-use matrixcompare::{assert_matrix_eq, DenseAccess};
+#[cfg(feature = "arbitrary")]
+use nalgebra::DMatrix;
+
+use matrixcompare::assert_matrix_eq;
+
+#[cfg(feature = "arbitrary")]
+use matrixcompare::DenseAccess;
 
 #[cfg(feature = "arbitrary")]
 quickcheck! {

tests/geometry/quaternion.rs

@@ -114,7 +114,6 @@ quickcheck!(
      */
     fn unit_quaternion_double_covering(q: UnitQuaternion<f64>) -> bool {
         let mq = UnitQuaternion::new_unchecked(-q.into_inner());
-
         mq == q && mq.angle() == q.angle() && mq.axis() == q.axis()
     }