Run rust fmt.

benches/core/matrix.rs

@@ -1,11 +1,9 @@
 use rand::{IsaacRng, Rng};
 use test::{self, Bencher};
-use na::{Vector2, Vector3, Vector4, Matrix2, Matrix3, Matrix4,
+use na::{DMatrix, DVector, Matrix2, Matrix3, Matrix4, MatrixN, U10, Vector2, Vector3, Vector4};
-         MatrixN, U10,
+use std::ops::{Add, Div, Mul, Sub};
-         DMatrix, DVector};
-use std::ops::{Add, Sub, Mul, Div};
 
-#[path="../common/macros.rs"]
+#[path = "../common/macros.rs"]
 mod macros;
 
 bench_binop!(mat2_mul_m, Matrix2<f32>, Matrix2<f32>, mul);
@@ -50,7 +48,7 @@ bench_unop!(mat4_transpose, Matrix4<f32>, transpose);
 
 #[bench]
 fn mat_div_scalar(b: &mut Bencher) {
-    let a = DMatrix::from_row_slice(1000, 1000, &vec![2.0;1000000]);
+    let a = DMatrix::from_row_slice(1000, 1000, &vec![2.0; 1000000]);
     let n = 42.0;
 
     b.iter(|| {
@@ -65,7 +63,7 @@ fn mat100_add_mat100(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(100, 100);
     let b = DMatrix::<f64>::new_random(100, 100);
 
-    bench.iter(|| { &a + &b })
+    bench.iter(|| &a + &b)
 }
 
 #[bench]
@@ -73,7 +71,7 @@ fn mat4_mul_mat4(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(4, 4);
     let b = DMatrix::<f64>::new_random(4, 4);
 
-    bench.iter(|| { &a * &b })
+    bench.iter(|| &a * &b)
 }
 
 #[bench]
@@ -81,7 +79,7 @@ fn mat5_mul_mat5(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(5, 5);
     let b = DMatrix::<f64>::new_random(5, 5);
 
-    bench.iter(|| { &a * &b })
+    bench.iter(|| &a * &b)
 }
 
 #[bench]
@@ -89,7 +87,7 @@ fn mat6_mul_mat6(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(6, 6);
     let b = DMatrix::<f64>::new_random(6, 6);
 
-    bench.iter(|| { &a * &b })
+    bench.iter(|| &a * &b)
 }
 
 #[bench]
@@ -97,7 +95,7 @@ fn mat7_mul_mat7(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(7, 7);
     let b = DMatrix::<f64>::new_random(7, 7);
 
-    bench.iter(|| { &a * &b })
+    bench.iter(|| &a * &b)
 }
 
 #[bench]
@@ -105,7 +103,7 @@ fn mat8_mul_mat8(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(8, 8);
     let b = DMatrix::<f64>::new_random(8, 8);
 
-    bench.iter(|| { &a * &b })
+    bench.iter(|| &a * &b)
 }
 
 #[bench]
@@ -113,7 +111,7 @@ fn mat9_mul_mat9(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(9, 9);
     let b = DMatrix::<f64>::new_random(9, 9);
 
-    bench.iter(|| { &a * &b })
+    bench.iter(|| &a * &b)
 }
 
 #[bench]
@@ -121,7 +119,7 @@ fn mat10_mul_mat10(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(10, 10);
     let b = DMatrix::<f64>::new_random(10, 10);
 
-    bench.iter(|| { &a * &b })
+    bench.iter(|| &a * &b)
 }
 
 #[bench]
@@ -129,7 +127,7 @@ fn mat10_mul_mat10_static(bench: &mut Bencher) {
     let a = MatrixN::<f64, U10>::new_random();
     let b = MatrixN::<f64, U10>::new_random();
 
-    bench.iter(|| { &a * &b })
+    bench.iter(|| &a * &b)
 }
 
 #[bench]
@@ -137,7 +135,7 @@ fn mat100_mul_mat100(bench: &mut Bencher) {
     let a = DMatrix::<f64>::new_random(100, 100);
     let b = DMatrix::<f64>::new_random(100, 100);
 
-    bench.iter(|| { &a * &b })
+    bench.iter(|| &a * &b)
 }
 
 #[bench]
@@ -145,7 +143,7 @@ fn mat500_mul_mat500(bench: &mut Bencher) {
     let a = DMatrix::<f64>::from_element(500, 500, 5f64);
     let b = DMatrix::<f64>::from_element(500, 500, 6f64);
 
-    bench.iter(|| { &a * &b })
+    bench.iter(|| &a * &b)
 }
 
 #[bench]
@@ -175,9 +173,7 @@ fn tr_mul_to(bench: &mut Bencher) {
     let b = DVector::<f64>::new_random(1000);
     let mut c = DVector::from_element(1000, 0.0);
 
-    bench.iter(|| {
+    bench.iter(|| a.tr_mul_to(&b, &mut c))
-        a.tr_mul_to(&b, &mut c)
-    })
 }
 
 #[bench]

benches/core/vector.rs

@@ -1,10 +1,10 @@
 use rand::{IsaacRng, Rng};
 use test::{self, Bencher};
 use typenum::U10000;
-use na::{Vector2, Vector3, Vector4, VectorN, DVector};
+use na::{DVector, Vector2, Vector3, Vector4, VectorN};
-use std::ops::{Add, Sub, Mul, Div};
+use std::ops::{Add, Div, Mul, Sub};
 
-#[path="../common/macros.rs"]
+#[path = "../common/macros.rs"]
 mod macros;
 
 bench_binop!(vec2_add_v_f32, Vector2<f32>, Vector2<f32>, add);
@@ -55,9 +55,7 @@ fn vec10000_axpy_f64(bh: &mut Bencher) {
     let b = DVector::new_random(10000);
     let n = rng.gen::<f64>();
 
-    bh.iter(|| {
+    bh.iter(|| a.axpy(n, &b, 1.0))
-        a.axpy(n, &b, 1.0)
-    })
 }
 
 #[bench]
@@ -68,9 +66,7 @@ fn vec10000_axpy_beta_f64(bh: &mut Bencher) {
     let n = rng.gen::<f64>();
     let beta = rng.gen::<f64>();
 
-    bh.iter(|| {
+    bh.iter(|| a.axpy(n, &b, beta))
-        a.axpy(n, &b, beta)
-    })
 }
 
 #[bench]
@@ -96,12 +92,9 @@ fn vec10000_axpy_f64_static(bh: &mut Bencher) {
     let n = rng.gen::<f64>();
 
     // NOTE: for some reasons, it is much faster if the arument are boxed (Box::new(VectorN...)).
-    bh.iter(|| {
+    bh.iter(|| a.axpy(n, &b, 1.0))
-        a.axpy(n, &b, 1.0)
-    })
 }
 
-
 #[bench]
 fn vec10000_axpy_f32(bh: &mut Bencher) {
     let mut rng = IsaacRng::new_unseeded();
@@ -109,9 +102,7 @@ fn vec10000_axpy_f32(bh: &mut Bencher) {
     let b = DVector::new_random(10000);
     let n = rng.gen::<f32>();
 
-    bh.iter(|| {
+    bh.iter(|| a.axpy(n, &b, 1.0))
-        a.axpy(n, &b, 1.0)
-    })
 }
 
 #[bench]
@@ -122,7 +113,5 @@ fn vec10000_axpy_beta_f32(bh: &mut Bencher) {
     let n = rng.gen::<f32>();
     let beta = rng.gen::<f32>();
 
-    bh.iter(|| {
+    bh.iter(|| a.axpy(n, &b, beta))
-        a.axpy(n, &b, beta)
-    })
 }

benches/geometry/quaternion.rs

@@ -1,16 +1,21 @@
 use rand::{IsaacRng, Rng};
 use test::{self, Bencher};
 use na::{Quaternion, UnitQuaternion, Vector3};
-use std::ops::{Add, Sub, Mul, Div};
+use std::ops::{Add, Div, Mul, Sub};
 
-#[path="../common/macros.rs"]
+#[path = "../common/macros.rs"]
 mod macros;
 
 bench_binop!(quaternion_add_q, Quaternion<f32>, Quaternion<f32>, add);
 bench_binop!(quaternion_sub_q, Quaternion<f32>, Quaternion<f32>, sub);
 bench_binop!(quaternion_mul_q, Quaternion<f32>, Quaternion<f32>, mul);
 
-bench_binop!(unit_quaternion_mul_v, UnitQuaternion<f32>, Vector3<f32>, mul);
+bench_binop!(
+    unit_quaternion_mul_v,
+    UnitQuaternion<f32>,
+    Vector3<f32>,
+    mul
+);
 
 bench_binop!(quaternion_mul_s, Quaternion<f32>, f32, mul);
 bench_binop!(quaternion_div_s, Quaternion<f32>, f32, div);

benches/lib.rs

@@ -1,16 +1,14 @@
 #![feature(test)]
 #![allow(unused_macros)]
 
-extern crate test;
-extern crate rand;
-extern crate typenum;
 extern crate nalgebra as na;
+extern crate rand;
+extern crate test;
+extern crate typenum;
 
-
+use rand::{IsaacRng, Rng};
-use rand::{Rng, IsaacRng};
 use na::DMatrix;
 
-
 mod core;
 mod linalg;
 mod geometry;

benches/linalg/bidiagonal.rs

@@ -1,7 +1,7 @@
 use test::{self, Bencher};
-use na::{Matrix4, DMatrix, Bidiagonal};
+use na::{Bidiagonal, DMatrix, Matrix4};
 
-#[path="../common/macros.rs"]
+#[path = "../common/macros.rs"]
 mod macros;
 
 // Without unpack.
@@ -35,7 +35,6 @@ fn bidiagonalize_500x500(bh: &mut Bencher) {
     bh.iter(|| test::black_box(Bidiagonal::new(m.clone())))
 }
 
-
 // With unpack.
 #[bench]
 fn bidiagonalize_unpack_100x100(bh: &mut Bencher) {
@@ -72,4 +71,3 @@ fn bidiagonalize_unpack_500x500(bh: &mut Bencher) {
         let _ = bidiag.unpack();
     })
 }
-

benches/linalg/cholesky.rs

@@ -1,5 +1,5 @@
 use test::{self, Bencher};
-use na::{DMatrix, DVector, Cholesky};
+use na::{Cholesky, DMatrix, DVector};
 
 #[bench]
 fn cholesky_100x100(bh: &mut Bencher) {

benches/linalg/full_piv_lu.rs

@@ -22,7 +22,7 @@ fn full_piv_lu_decompose_500x500(bh: &mut Bencher) {
 
 #[bench]
 fn full_piv_lu_solve_10x10(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(10, 10);
+    let m = DMatrix::<f64>::new_random(10, 10);
     let lu = FullPivLU::new(m.clone());
 
     bh.iter(|| {
@@ -33,7 +33,7 @@ fn full_piv_lu_solve_10x10(bh: &mut Bencher) {
 
 #[bench]
 fn full_piv_lu_solve_100x100(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(100, 100);
+    let m = DMatrix::<f64>::new_random(100, 100);
     let lu = FullPivLU::new(m.clone());
 
     bh.iter(|| {
@@ -44,7 +44,7 @@ fn full_piv_lu_solve_100x100(bh: &mut Bencher) {
 
 #[bench]
 fn full_piv_lu_solve_500x500(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(500, 500);
+    let m = DMatrix::<f64>::new_random(500, 500);
     let lu = FullPivLU::new(m.clone());
 
     bh.iter(|| {
@@ -55,60 +55,48 @@ fn full_piv_lu_solve_500x500(bh: &mut Bencher) {
 
 #[bench]
 fn full_piv_lu_inverse_10x10(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(10, 10);
+    let m = DMatrix::<f64>::new_random(10, 10);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.try_inverse()))
-        test::black_box(lu.try_inverse())
-    })
 }
 
 #[bench]
 fn full_piv_lu_inverse_100x100(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(100, 100);
+    let m = DMatrix::<f64>::new_random(100, 100);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.try_inverse()))
-        test::black_box(lu.try_inverse())
-    })
 }
 
 #[bench]
 fn full_piv_lu_inverse_500x500(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(500, 500);
+    let m = DMatrix::<f64>::new_random(500, 500);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.try_inverse()))
-        test::black_box(lu.try_inverse())
-    })
 }
 
 #[bench]
 fn full_piv_lu_determinant_10x10(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(10, 10);
+    let m = DMatrix::<f64>::new_random(10, 10);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.determinant()))
-        test::black_box(lu.determinant())
-    })
 }
 
 #[bench]
 fn full_piv_lu_determinant_100x100(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(100, 100);
+    let m = DMatrix::<f64>::new_random(100, 100);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.determinant()))
-        test::black_box(lu.determinant())
-    })
 }
 
 #[bench]
 fn full_piv_lu_determinant_500x500(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(500, 500);
+    let m = DMatrix::<f64>::new_random(500, 500);
     let lu = FullPivLU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.determinant()))
-        test::black_box(lu.determinant())
-    })
 }

benches/linalg/hessenberg.rs

@@ -1,7 +1,7 @@
 use test::{self, Bencher};
-use na::{Matrix4, DMatrix, Hessenberg};
+use na::{DMatrix, Hessenberg, Matrix4};
 
-#[path="../common/macros.rs"]
+#[path = "../common/macros.rs"]
 mod macros;
 
 // Without unpack.
@@ -23,14 +23,12 @@ fn hessenberg_decompose_200x200(bh: &mut Bencher) {
     bh.iter(|| test::black_box(Hessenberg::new(m.clone())))
 }
 
-
 #[bench]
 fn hessenberg_decompose_500x500(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(500, 500);
     bh.iter(|| test::black_box(Hessenberg::new(m.clone())))
 }
 
-
 // With unpack.
 #[bench]
 fn hessenberg_decompose_unpack_100x100(bh: &mut Bencher) {

benches/linalg/lu.rs

@@ -22,7 +22,7 @@ fn lu_decompose_500x500(bh: &mut Bencher) {
 
 #[bench]
 fn lu_solve_10x10(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(10, 10);
+    let m = DMatrix::<f64>::new_random(10, 10);
     let lu = LU::new(m.clone());
 
     bh.iter(|| {
@@ -33,7 +33,7 @@ fn lu_solve_10x10(bh: &mut Bencher) {
 
 #[bench]
 fn lu_solve_100x100(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(100, 100);
+    let m = DMatrix::<f64>::new_random(100, 100);
     let lu = LU::new(m.clone());
 
     bh.iter(|| {
@@ -44,7 +44,7 @@ fn lu_solve_100x100(bh: &mut Bencher) {
 
 #[bench]
 fn lu_solve_500x500(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(500, 500);
+    let m = DMatrix::<f64>::new_random(500, 500);
     let lu = LU::new(m.clone());
 
     bh.iter(|| {
@@ -55,60 +55,48 @@ fn lu_solve_500x500(bh: &mut Bencher) {
 
 #[bench]
 fn lu_inverse_10x10(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(10, 10);
+    let m = DMatrix::<f64>::new_random(10, 10);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.try_inverse()))
-        test::black_box(lu.try_inverse())
-    })
 }
 
 #[bench]
 fn lu_inverse_100x100(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(100, 100);
+    let m = DMatrix::<f64>::new_random(100, 100);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.try_inverse()))
-        test::black_box(lu.try_inverse())
-    })
 }
 
 #[bench]
 fn lu_inverse_500x500(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(500, 500);
+    let m = DMatrix::<f64>::new_random(500, 500);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.try_inverse()))
-        test::black_box(lu.try_inverse())
-    })
 }
 
 #[bench]
 fn lu_determinant_10x10(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(10, 10);
+    let m = DMatrix::<f64>::new_random(10, 10);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.determinant()))
-        test::black_box(lu.determinant())
-    })
 }
 
 #[bench]
 fn lu_determinant_100x100(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(100, 100);
+    let m = DMatrix::<f64>::new_random(100, 100);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.determinant()))
-        test::black_box(lu.determinant())
-    })
 }
 
 #[bench]
 fn lu_determinant_500x500(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(500, 500);
+    let m = DMatrix::<f64>::new_random(500, 500);
     let lu = LU::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(lu.determinant()))
-        test::black_box(lu.determinant())
-    })
 }

benches/linalg/qr.rs

@@ -1,7 +1,7 @@
 use test::{self, Bencher};
-use na::{Matrix4, DMatrix, DVector, QR};
+use na::{DMatrix, DVector, Matrix4, QR};
 
-#[path="../common/macros.rs"]
+#[path = "../common/macros.rs"]
 mod macros;
 
 // Without unpack.
@@ -35,7 +35,6 @@ fn qr_decompose_500x500(bh: &mut Bencher) {
     bh.iter(|| test::black_box(QR::new(m.clone())))
 }
 
-
 // With unpack.
 #[bench]
 fn qr_decompose_unpack_100x100(bh: &mut Bencher) {
@@ -75,7 +74,7 @@ fn qr_decompose_unpack_500x500(bh: &mut Bencher) {
 
 #[bench]
 fn qr_solve_10x10(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(10, 10);
+    let m = DMatrix::<f64>::new_random(10, 10);
     let qr = QR::new(m.clone());
 
     bh.iter(|| {
@@ -86,7 +85,7 @@ fn qr_solve_10x10(bh: &mut Bencher) {
 
 #[bench]
 fn qr_solve_100x100(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(100, 100);
+    let m = DMatrix::<f64>::new_random(100, 100);
     let qr = QR::new(m.clone());
 
     bh.iter(|| {
@@ -97,7 +96,7 @@ fn qr_solve_100x100(bh: &mut Bencher) {
 
 #[bench]
 fn qr_solve_500x500(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(500, 500);
+    let m = DMatrix::<f64>::new_random(500, 500);
     let qr = QR::new(m.clone());
 
     bh.iter(|| {
@@ -108,30 +107,24 @@ fn qr_solve_500x500(bh: &mut Bencher) {
 
 #[bench]
 fn qr_inverse_10x10(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(10, 10);
+    let m = DMatrix::<f64>::new_random(10, 10);
     let qr = QR::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(qr.try_inverse()))
-        test::black_box(qr.try_inverse())
-    })
 }
 
 #[bench]
 fn qr_inverse_100x100(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(100, 100);
+    let m = DMatrix::<f64>::new_random(100, 100);
     let qr = QR::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(qr.try_inverse()))
-        test::black_box(qr.try_inverse())
-    })
 }
 
 #[bench]
 fn qr_inverse_500x500(bh: &mut Bencher) {
-    let m  = DMatrix::<f64>::new_random(500, 500);
+    let m = DMatrix::<f64>::new_random(500, 500);
     let qr = QR::new(m.clone());
 
-    bh.iter(|| {
+    bh.iter(|| test::black_box(qr.try_inverse()))
-        test::black_box(qr.try_inverse())
-    })
 }

benches/linalg/schur.rs

@@ -13,7 +13,6 @@ fn schur_decompose_10x10(bh: &mut Bencher) {
     bh.iter(|| test::black_box(RealSchur::new(m.clone())))
 }
 
-
 #[bench]
 fn schur_decompose_100x100(bh: &mut Bencher) {
     let m = ::reproductible_dmatrix(100, 100);

benches/linalg/svd.rs

@@ -73,7 +73,6 @@ fn singular_values_200x200(bh: &mut Bencher) {
     bh.iter(|| test::black_box(m.singular_values()))
 }
 
-
 #[bench]
 fn pseudo_inverse_4x4(bh: &mut Bencher) {
     let m = Matrix4::<f64>::new_random();

benches/linalg/symmetric_eigen.rs

@@ -13,7 +13,6 @@ fn symmetric_eigen_decompose_10x10(bh: &mut Bencher) {
     bh.iter(|| test::black_box(SymmetricEigen::new(m.clone())))
 }
 
-
 #[bench]
 fn symmetric_eigen_decompose_100x100(bh: &mut Bencher) {
     let m = ::reproductible_dmatrix(100, 100);

examples/dimensional_genericity.rs

@@ -2,62 +2,77 @@ extern crate alga;
 extern crate nalgebra as na;
 
 use alga::linear::FiniteDimInnerSpace;
-use na::{Real, DefaultAllocator, Unit, VectorN, Vector2, Vector3};
+use na::{DefaultAllocator, Real, Unit, Vector2, Vector3, VectorN};
 use na::allocator::Allocator;
 use na::dimension::Dim;
 
 /// Reflects a vector wrt. the hyperplane with normal `plane_normal`.
 fn reflect_wrt_hyperplane_with_algebraic_genericity<V>(plane_normal: &Unit<V>, vector: &V) -> V
-    where V: FiniteDimInnerSpace + Copy {
+where
+    V: FiniteDimInnerSpace + Copy,
+{
     let n = plane_normal.as_ref(); // Get the underlying vector of type `V`.
     *vector - *n * (n.dot(vector) * na::convert(2.0))
 }
 
-
 /// Reflects a vector wrt. the hyperplane with normal `plane_normal`.
-fn reflect_wrt_hyperplane_with_dimensional_genericity<N: Real, D: Dim>(plane_normal: &Unit<VectorN<N, D>>,
+fn reflect_wrt_hyperplane_with_dimensional_genericity<N: Real, D: Dim>(
-                                                                       vector:       &VectorN<N, D>)
+    plane_normal: &Unit<VectorN<N, D>>,
-                                                                       -> VectorN<N, D>
+    vector: &VectorN<N, D>,
-    where N: Real,
+) -> VectorN<N, D>
-          D: Dim,
+where
-          DefaultAllocator: Allocator<N, D> {
+    N: Real,
+    D: Dim,
+    DefaultAllocator: Allocator<N, D>,
+{
     let n = plane_normal.as_ref(); // Get the underlying V.
     vector - n * (n.dot(vector) * na::convert(2.0))
 }
 
 /// Reflects a 2D vector wrt. the 2D line with normal `plane_normal`.
-fn reflect_wrt_hyperplane2<N>(plane_normal: &Unit<Vector2<N>>,
+fn reflect_wrt_hyperplane2<N>(plane_normal: &Unit<Vector2<N>>, vector: &Vector2<N>) -> Vector2<N>
-                              vector:       &Vector2<N>)
+where
-                              -> Vector2<N>
+    N: Real,
-    where N: Real {
+{
     let n = plane_normal.as_ref(); // Get the underlying Vector2
     vector - n * (n.dot(vector) * na::convert(2.0))
 }
 
 /// Reflects a 3D vector wrt. the 3D plane with normal `plane_normal`.
 /// /!\ This is an exact replicate of `reflect_wrt_hyperplane2, but for 3D.
-fn reflect_wrt_hyperplane3<N>(plane_normal: &Unit<Vector3<N>>,
+fn reflect_wrt_hyperplane3<N>(plane_normal: &Unit<Vector3<N>>, vector: &Vector3<N>) -> Vector3<N>
-                              vector:       &Vector3<N>)
+where
-                              -> Vector3<N>
+    N: Real,
-    where N: Real {
+{
     let n = plane_normal.as_ref(); // Get the underlying Vector3
     vector - n * (n.dot(vector) * na::convert(2.0))
 }
 
-
 fn main() {
     let plane2 = Vector2::y_axis(); // 2D plane normal.
     let plane3 = Vector3::y_axis(); // 3D plane normal.
 
-    let v2 = Vector2::new(1.0, 2.0);      // 2D vector to be reflected.
+    let v2 = Vector2::new(1.0, 2.0); // 2D vector to be reflected.
     let v3 = Vector3::new(1.0, 2.0, 3.0); // 3D vector to be reflected.
 
     // We can call the same function for 2D and 3D.
-    assert_eq!(reflect_wrt_hyperplane_with_algebraic_genericity(&plane2, &v2).y, -2.0);
+    assert_eq!(
-    assert_eq!(reflect_wrt_hyperplane_with_algebraic_genericity(&plane3, &v3).y, -2.0);
+        reflect_wrt_hyperplane_with_algebraic_genericity(&plane2, &v2).y,
+        -2.0
+    );
+    assert_eq!(
+        reflect_wrt_hyperplane_with_algebraic_genericity(&plane3, &v3).y,
+        -2.0
+    );
 
-    assert_eq!(reflect_wrt_hyperplane_with_dimensional_genericity(&plane2, &v2).y, -2.0);
+    assert_eq!(
-    assert_eq!(reflect_wrt_hyperplane_with_dimensional_genericity(&plane3, &v3).y, -2.0);
+        reflect_wrt_hyperplane_with_dimensional_genericity(&plane2, &v2).y,
+        -2.0
+    );
+    assert_eq!(
+        reflect_wrt_hyperplane_with_dimensional_genericity(&plane3, &v3).y,
+        -2.0
+    );
 
     // Call each specific implementation depending on the dimension.
     assert_eq!(reflect_wrt_hyperplane2(&plane2, &v2).y, -2.0);

examples/homogeneous_coordinates.rs

@@ -3,15 +3,14 @@ extern crate approx;
 extern crate nalgebra as na;
 
 use std::f32;
-use na::{Vector2, Point2, Isometry2};
+use na::{Isometry2, Point2, Vector2};
-
 
 fn use_dedicated_types() {
     let iso = Isometry2::new(Vector2::new(1.0, 1.0), f32::consts::PI);
-    let pt  = Point2::new(1.0, 0.0);
+    let pt = Point2::new(1.0, 0.0);
     let vec = Vector2::x();
 
-    let transformed_pt  = iso * pt;
+    let transformed_pt = iso * pt;
     let transformed_vec = iso * vec;
 
     assert_relative_eq!(transformed_pt, Point2::new(0.0, 1.0));
@@ -20,19 +19,19 @@ fn use_dedicated_types() {
 
 fn use_homogeneous_coordinates() {
     let iso = Isometry2::new(Vector2::new(1.0, 1.0), f32::consts::PI);
-    let pt  = Point2::new(1.0, 0.0);
+    let pt = Point2::new(1.0, 0.0);
     let vec = Vector2::x();
 
     // Compute using homogeneous coordinates.
     let hom_iso = iso.to_homogeneous();
-    let hom_pt  = pt.to_homogeneous();
+    let hom_pt = pt.to_homogeneous();
     let hom_vec = vec.to_homogeneous();
 
-    let hom_transformed_pt  = hom_iso * hom_pt;
+    let hom_transformed_pt = hom_iso * hom_pt;
     let hom_transformed_vec = hom_iso * hom_vec;
 
     // Convert back to the cartesian coordinates.
-    let transformed_pt  = Point2::from_homogeneous(hom_transformed_pt).unwrap();
+    let transformed_pt = Point2::from_homogeneous(hom_transformed_pt).unwrap();
     let transformed_vec = Vector2::from_homogeneous(hom_transformed_vec).unwrap();
 
     assert_relative_eq!(transformed_pt, Point2::new(0.0, 1.0));

examples/identity.rs

@@ -1,42 +1,41 @@
 extern crate alga;
 extern crate nalgebra as na;
 
-
 use alga::linear::Transformation;
-use na::{Id, Vector3, Point3, Isometry3};
+use na::{Id, Isometry3, Point3, Vector3};
 
 /*
  * Applies `n` times the transformation `t` to the vector `v` and sum each
  * intermediate value.
  */
 fn complicated_algorithm<T>(v: &Vector3<f32>, t: &T, n: usize) -> Vector3<f32>
-  where T: Transformation<Point3<f32>> {
+where
+    T: Transformation<Point3<f32>>,
+{
+    let mut result = *v;
 
-  let mut result = *v;
+    // Do lots of operations involving t.
+    for _ in 0..n {
+        result = v + t.transform_vector(&result);
+    }
 
-  // Do lots of operations involving t.
+    result
-  for _ in 0 .. n {
-    result = v + t.transform_vector(&result);
-  }
-
-  result
 }
 
-
 /*
  * The two following calls are equivalent in term of result.
  */
 fn main() {
-  let v = Vector3::new(1.0, 2.0, 3.0);
+    let v = Vector3::new(1.0, 2.0, 3.0);
 
-  // The specialization generated by the compiler will do vector additions only.
+    // The specialization generated by the compiler will do vector additions only.
-  let result1 = complicated_algorithm(&v, &Id::new(), 100000);
+    let result1 = complicated_algorithm(&v, &Id::new(), 100000);
 
-  // The specialization generated by the compiler will also include matrix multiplications.
+    // The specialization generated by the compiler will also include matrix multiplications.
-  let iso     = Isometry3::identity();
+    let iso = Isometry3::identity();
-  let result2 = complicated_algorithm(&v, &iso, 100000);
+    let result2 = complicated_algorithm(&v, &iso, 100000);
 
-  // They both return the same result.
+    // They both return the same result.
-  assert!(result1 == Vector3::new(100001.0, 200002.0, 300003.0));
+    assert!(result1 == Vector3::new(100001.0, 200002.0, 300003.0));
-  assert!(result2 == Vector3::new(100001.0, 200002.0, 300003.0));
+    assert!(result2 == Vector3::new(100001.0, 200002.0, 300003.0));
 }

examples/matrix_construction.rs

@@ -1,62 +1,63 @@
 extern crate nalgebra as na;
 
-use na::{Vector2, RowVector3, Matrix2x3, DMatrix};
+use na::{DMatrix, Matrix2x3, RowVector3, Vector2};
-
 
 fn main() {
     // All the following matrices are equal but constructed in different ways.
-    let m = Matrix2x3::new(1.1, 1.2, 1.3,
+    let m = Matrix2x3::new(1.1, 1.2, 1.3, 2.1, 2.2, 2.3);
-                           2.1, 2.2, 2.3);
 
     let m1 = Matrix2x3::from_rows(&[
         RowVector3::new(1.1, 1.2, 1.3),
-        RowVector3::new(2.1, 2.2, 2.3)
+        RowVector3::new(2.1, 2.2, 2.3),
     ]);
 
     let m2 = Matrix2x3::from_columns(&[
         Vector2::new(1.1, 2.1),
         Vector2::new(1.2, 2.2),
-        Vector2::new(1.3, 2.3)
+        Vector2::new(1.3, 2.3),
     ]);
 
-    let m3 = Matrix2x3::from_row_slice(&[
+    let m3 = Matrix2x3::from_row_slice(&[1.1, 1.2, 1.3, 2.1, 2.2, 2.3]);
-        1.1, 1.2, 1.3,
-        2.1, 2.2, 2.3
-    ]);
 
-    let m4 = Matrix2x3::from_column_slice(&[
+    let m4 = Matrix2x3::from_column_slice(&[1.1, 2.1, 1.2, 2.2, 1.3, 2.3]);
-        1.1, 2.1,
-        1.2, 2.2,
-        1.3, 2.3
-    ]);
 
     let m5 = Matrix2x3::from_fn(|r, c| (r + 1) as f32 + (c + 1) as f32 / 10.0);
 
-    let m6 = Matrix2x3::from_iterator([ 1.1f32, 2.1, 1.2, 2.2, 1.3, 2.3 ].iter().cloned());
+    let m6 = Matrix2x3::from_iterator([1.1f32, 2.1, 1.2, 2.2, 1.3, 2.3].iter().cloned());
 
-    assert_eq!(m, m1); assert_eq!(m, m2); assert_eq!(m, m3);
+    assert_eq!(m, m1);
-    assert_eq!(m, m4); assert_eq!(m, m5); assert_eq!(m, m6);
+    assert_eq!(m, m2);
+    assert_eq!(m, m3);
+    assert_eq!(m, m4);
+    assert_eq!(m, m5);
+    assert_eq!(m, m6);
 
     // All the following matrices are equal but constructed in different ways.
     // This time, we used a dynamically-sized matrix to show the extra arguments
     // for the matrix shape.
-    let dm = DMatrix::from_row_slice(4, 3, &[
+    let dm = DMatrix::from_row_slice(
-        1.0, 0.0, 0.0,
+        4,
-        0.0, 1.0, 0.0,
+        3,
-        0.0, 0.0, 1.0,
+        &[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
-        0.0, 0.0, 0.0
+    );
-    ]);
 
     let dm1 = DMatrix::from_diagonal_element(4, 3, 1.0);
     let dm2 = DMatrix::identity(4, 3);
     let dm3 = DMatrix::from_fn(4, 3, |r, c| if r == c { 1.0 } else { 0.0 });
-    let dm4 = DMatrix::from_iterator(4, 3, [
+    let dm4 = DMatrix::from_iterator(
+        4,
+        3,
+        [
         // Components listed column-by-column.
         1.0, 0.0, 0.0, 0.0,
         0.0, 1.0, 0.0, 0.0,
         0.0, 0.0, 1.0, 0.0
-    ].iter().cloned());
+    ].iter()
+            .cloned(),
+    );
 
-    assert_eq!(dm, dm1); assert_eq!(dm, dm2);
+    assert_eq!(dm, dm1);
-    assert_eq!(dm, dm3); assert_eq!(dm, dm4);
+    assert_eq!(dm, dm2);
+    assert_eq!(dm, dm3);
+    assert_eq!(dm, dm4);
 }

examples/mvp.rs

@@ -2,7 +2,7 @@
 
 extern crate nalgebra as na;
 
-use na::{Vector3, Point3, Isometry3, Perspective3};
+use na::{Isometry3, Perspective3, Point3, Vector3};
 
 fn main() {
     // Our object is translated along the x axis.
@@ -10,9 +10,9 @@ fn main() {
 
     // Our camera looks toward the point (1.0, 0.0, 0.0).
     // It is located at (0.0, 0.0, 1.0).
-    let eye    = Point3::new(0.0, 0.0, 1.0);
+    let eye = Point3::new(0.0, 0.0, 1.0);
     let target = Point3::new(1.0, 0.0, 0.0);
-    let view   = Isometry3::look_at_rh(&eye, &target, &Vector3::y());
+    let view = Isometry3::look_at_rh(&eye, &target, &Vector3::y());
 
     // A perspective projection.
     let projection = Perspective3::new(16.0 / 9.0, 3.14 / 2.0, 1.0, 1000.0);

examples/point_construction.rs

@@ -1,25 +1,24 @@
 extern crate nalgebra as na;
 
-use na::{Vector3, Vector4, Point3};
+use na::{Point3, Vector3, Vector4};
-
 
 fn main() {
     // Build using components directly.
     let p0 = Point3::new(2.0, 3.0, 4.0);
-    
+
     // Build from a coordinates vector.
     let coords = Vector3::new(2.0, 3.0, 4.0);
     let p1 = Point3::from_coordinates(coords);
-    
+
     // Build by translating the origin.
     let translation = Vector3::new(2.0, 3.0, 4.0);
     let p2 = Point3::origin() + translation;
-    
+
     // Build from homogeneous coordinates. The last component of the
     // vector will be removed and all other components divided by 10.0.
     let homogeneous_coords = Vector4::new(20.0, 30.0, 40.0, 10.0);
     let p3 = Point3::from_homogeneous(homogeneous_coords);
-    
+
     assert_eq!(p0, p1);
     assert_eq!(p0, p2);
     assert_eq!(p0, p3.unwrap());

examples/raw_pointer.rs

@@ -1,6 +1,6 @@
 extern crate nalgebra as na;
 
-use na::{Vector3, Point3, Matrix3};
+use na::{Matrix3, Point3, Vector3};
 
 fn main() {
     let v = Vector3::new(1.0f32, 0.0, 1.0);

examples/scalar_genericity.rs

@@ -1,33 +1,33 @@
 extern crate alga;
 extern crate nalgebra as na;
 
-use alga::general::{RingCommutative, Real};
+use alga::general::{Real, RingCommutative};
-use na::{Vector3, Scalar};
+use na::{Scalar, Vector3};
 
 fn print_vector<N: Scalar>(m: &Vector3<N>) {
-  println!("{:?}", m)
+    println!("{:?}", m)
 }
 
 fn print_squared_norm<N: Scalar + RingCommutative>(v: &Vector3<N>) {
-  // NOTE: alternatively, nalgebra already defines `v.squared_norm()`.
+    // NOTE: alternatively, nalgebra already defines `v.squared_norm()`.
-  let sqnorm = v.dot(v);
+    let sqnorm = v.dot(v);
-  println!("{:?}", sqnorm);
+    println!("{:?}", sqnorm);
 }
 
 fn print_norm<N: Real>(v: &Vector3<N>) {
-  // NOTE: alternatively, nalgebra already defines `v.norm()`.
+    // NOTE: alternatively, nalgebra already defines `v.norm()`.
-  let norm = v.dot(v).sqrt();
+    let norm = v.dot(v).sqrt();
 
-  // The Real bound implies that N is Display so we can
+    // The Real bound implies that N is Display so we can
-  // use "{}" instead of "{:?}" for the format string.
+    // use "{}" instead of "{:?}" for the format string.
-  println!("{}", norm)
+    println!("{}", norm)
 }
 
 fn main() {
-  let v1 = Vector3::new(1, 2, 3);
+    let v1 = Vector3::new(1, 2, 3);
-  let v2 = Vector3::new(1.0, 2.0, 3.0);
+    let v2 = Vector3::new(1.0, 2.0, 3.0);
 
-  print_vector(&v1);
+    print_vector(&v1);
-  print_squared_norm(&v1);
+    print_squared_norm(&v1);
-  print_norm(&v2);
+    print_norm(&v2);
 }

examples/screen_to_view_coords.rs

@@ -2,23 +2,22 @@
 
 extern crate nalgebra as na;
 
-use na::{Point2, Point3, Perspective3, Unit};
+use na::{Perspective3, Point2, Point3, Unit};
-
 
 fn main() {
-    let projection   = Perspective3::new(800.0 / 600.0, 3.14 / 2.0, 1.0, 1000.0);
+    let projection = Perspective3::new(800.0 / 600.0, 3.14 / 2.0, 1.0, 1000.0);
     let screen_point = Point2::new(10.0f32, 20.0);
 
     // Compute two points in clip-space.
     // "ndc" = normalized device coordinates.
     let near_ndc_point = Point3::new(screen_point.x / 800.0, screen_point.y / 600.0, -1.0);
-    let far_ndc_point  = Point3::new(screen_point.x / 800.0, screen_point.y / 600.0,  1.0);
+    let far_ndc_point = Point3::new(screen_point.x / 800.0, screen_point.y / 600.0, 1.0);
 
     // Unproject them to view-space.
     let near_view_point = projection.unproject_point(&near_ndc_point);
-    let far_view_point  = projection.unproject_point(&far_ndc_point);
+    let far_view_point = projection.unproject_point(&far_ndc_point);
 
     // Compute the view-space line parameters.
-    let line_location  = near_view_point;
+    let line_location = near_view_point;
     let line_direction = Unit::new_normalize(far_view_point - near_view_point);
 }

examples/transform_conversion.rs

@@ -1,6 +1,6 @@
 extern crate nalgebra as na;
 
-use na::{Vector2, Isometry2, Similarity2};
+use na::{Isometry2, Similarity2, Vector2};
 
 fn main() {
     // Isometry -> Similarity conversion always succeeds.
@@ -9,10 +9,10 @@ fn main() {
 
     // Similarity -> Isometry conversion fails if the scaling factor is not 1.0.
     let sim_without_scaling = Similarity2::new(Vector2::new(1.0f32, 2.0), 3.14, 1.0);
-    let sim_with_scaling    = Similarity2::new(Vector2::new(1.0f32, 2.0), 3.14, 2.0);
+    let sim_with_scaling = Similarity2::new(Vector2::new(1.0f32, 2.0), 3.14, 2.0);
 
     let iso_success: Option<Isometry2<f32>> = na::try_convert(sim_without_scaling);
-    let iso_fail:    Option<Isometry2<f32>> = na::try_convert(sim_with_scaling);
+    let iso_fail: Option<Isometry2<f32>> = na::try_convert(sim_with_scaling);
 
     assert!(iso_success.is_some());
     assert!(iso_fail.is_none());

examples/transform_matrix4.rs

@@ -1,15 +1,14 @@
+extern crate alga;
 #[macro_use]
 extern crate approx;
-extern crate alga;
 extern crate nalgebra as na;
 
 use alga::linear::Transformation;
-use na::{Vector3, Point3, Matrix4};
+use na::{Matrix4, Point3, Vector3};
-
 
 fn main() {
     // Create a uniform scaling matrix with scaling factor 2.
-    let mut m =  Matrix4::new_scaling(2.0);
+    let mut m = Matrix4::new_scaling(2.0);
 
     assert_eq!(m.transform_vector(&Vector3::x()), Vector3::x() * 2.0);
     assert_eq!(m.transform_vector(&Vector3::y()), Vector3::y() * 2.0);
@@ -25,15 +24,24 @@ fn main() {
     // Append a translation out-of-place.
     let m2 = m.append_translation(&Vector3::new(42.0, 0.0, 0.0));
 
-    assert_eq!(m2.transform_point(&Point3::new(1.0, 1.0, 1.0)), Point3::new(42.0 + 2.0, 4.0, 6.0));
+    assert_eq!(
+        m2.transform_point(&Point3::new(1.0, 1.0, 1.0)),
+        Point3::new(42.0 + 2.0, 4.0, 6.0)
+    );
 
     // Create rotation.
-    let rot        = Matrix4::from_scaled_axis(&Vector3::x() * 3.14);
+    let rot = Matrix4::from_scaled_axis(&Vector3::x() * 3.14);
     let rot_then_m = m * rot; // Right-multiplication is equivalent to prepending `rot` to `m`.
     let m_then_rot = rot * m; // Left-multiplication is equivalent to appending `rot` to `m`.
 
     let pt = Point3::new(1.0, 2.0, 3.0);
 
-    assert_relative_eq!(m.transform_point(&rot.transform_point(&pt)), rot_then_m.transform_point(&pt));
+    assert_relative_eq!(
-    assert_relative_eq!(rot.transform_point(&m.transform_point(&pt)), m_then_rot.transform_point(&pt));
+        m.transform_point(&rot.transform_point(&pt)),
+        rot_then_m.transform_point(&pt)
+    );
+    assert_relative_eq!(
+        rot.transform_point(&m.transform_point(&pt)),
+        m_then_rot.transform_point(&pt)
+    );
 }

examples/transform_vector_point.rs

@@ -3,12 +3,12 @@ extern crate approx;
 extern crate nalgebra as na;
 
 use std::f32;
-use na::{Vector2, Point2, Isometry2};
+use na::{Isometry2, Point2, Vector2};
 
 fn main() {
     let t = Isometry2::new(Vector2::new(1.0, 1.0), f32::consts::PI);
     let p = Point2::new(1.0, 0.0); // Will be affected by te rotation and the translation.
-    let v = Vector2::x();          // Will *not* be affected by the translation.
+    let v = Vector2::x(); // Will *not* be affected by the translation.
 
     assert_relative_eq!(t * p, Point2::new(-1.0 + 1.0, 1.0));
     //                                     ^^^^ │ ^^^^^^^^

examples/transform_vector_point3.rs

@@ -2,14 +2,13 @@ extern crate alga;
 extern crate nalgebra as na;
 
 use alga::linear::Transformation;
-use na::{Vector3, Vector4, Point3, Matrix4};
+use na::{Matrix4, Point3, Vector3, Vector4};
-
 
 fn main() {
     let mut m = Matrix4::new_rotation_wrt_point(Vector3::x() * 1.57, Point3::new(1.0, 2.0, 1.0));
     m.append_scaling_mut(2.0);
 
-    let point1             = Point3::new(2.0, 3.0, 4.0);
+    let point1 = Point3::new(2.0, 3.0, 4.0);
     let homogeneous_point2 = Vector4::new(2.0, 3.0, 4.0, 1.0);
 
     // First option: use the dedicated `.transform_point(...)` method.

examples/transformation_pointer.rs

@@ -1,20 +1,20 @@
 extern crate nalgebra as na;
 
-use na::{Vector3, Isometry3};
+use na::{Isometry3, Vector3};
 
 fn main() {
     let iso = Isometry3::new(Vector3::new(1.0f32, 0.0, 1.0), na::zero());
 
     // Compute the homogeneous coordinates first.
-    let iso_matrix  = iso.to_homogeneous();
+    let iso_matrix = iso.to_homogeneous();
-    let iso_array   = iso_matrix.as_slice();
+    let iso_array = iso_matrix.as_slice();
     let iso_pointer = iso_array.as_ptr();
 
     /* Then pass the raw pointer to some graphics API. */
 
     unsafe {
-        assert_eq!(*iso_pointer,            1.0);
+        assert_eq!(*iso_pointer, 1.0);
-        assert_eq!(*iso_pointer.offset(5),  1.0);
+        assert_eq!(*iso_pointer.offset(5), 1.0);
         assert_eq!(*iso_pointer.offset(10), 1.0);
         assert_eq!(*iso_pointer.offset(15), 1.0);
 

examples/unit_wrapper.rs

@@ -3,21 +3,18 @@ extern crate nalgebra as na;
 use na::{Unit, Vector3};
 
 fn length_on_direction_with_unit(v: &Vector3<f32>, dir: &Unit<Vector3<f32>>) -> f32 {
-  // No need to normalize `dir`: we know that it is non-zero and normalized.
+    // No need to normalize `dir`: we know that it is non-zero and normalized.
-  v.dot(dir.as_ref())
+    v.dot(dir.as_ref())
 }
 
-
-
 fn length_on_direction_without_unit(v: &Vector3<f32>, dir: &Vector3<f32>) -> f32 {
-  // Obligatory normalization of the direction vector (and test, for robustness).
+    // Obligatory normalization of the direction vector (and test, for robustness).
-  if let Some(unit_dir) = dir.try_normalize(1.0e-6) {
+    if let Some(unit_dir) = dir.try_normalize(1.0e-6) {
-    v.dot(&unit_dir)
+        v.dot(&unit_dir)
-  }
+    } else {
-  else {
+        // Normalization failed because the norm was too small.
-    // Normalization failed because the norm was too small.
+        panic!("Invalid input direction.")
-    panic!("Invalid input direction.")
+    }
-  }
 }
 
 fn main() {

nalgebra-lapack/benches/lib.rs

@@ -1,8 +1,8 @@
 #![feature(test)]
 
-extern crate test;
-extern crate rand;
 extern crate nalgebra as na;
 extern crate nalgebra_lapack as nl;
+extern crate rand;
+extern crate test;
 
 mod linalg;

nalgebra-lapack/benches/linalg/lu.rs

@@ -2,7 +2,6 @@ use test::{self, Bencher};
 use na::{DMatrix, Matrix4};
 use nl::LU;
 
-
 #[bench]
 fn lu_decompose_100x100(bh: &mut Bencher) {
     let m = DMatrix::<f64>::new_random(100, 100);

nalgebra-lapack/src/cholesky.rs

@@ -4,7 +4,7 @@ use serde;
 use num::Zero;
 use num_complex::Complex;
 
-use na::{Scalar, DefaultAllocator, Matrix, MatrixN, MatrixMN};
+use na::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar};
 use na::dimension::Dim;
 use na::storage::Storage;
 use na::allocator::Allocator;
@@ -14,26 +14,30 @@ use lapack::fortran as interface;
 /// The cholesky decomposion of a symmetric-definite-positive matrix.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(serialize =
+           serde(bound(serialize = "DefaultAllocator: Allocator<N, D>,
-        "DefaultAllocator: Allocator<N, D>,
          MatrixN<N, D>: serde::Serialize")))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(deserialize =
+           serde(bound(deserialize = "DefaultAllocator: Allocator<N, D>,
-        "DefaultAllocator: Allocator<N, D>,
          MatrixN<N, D>: serde::Deserialize<'de>")))]
 #[derive(Clone, Debug)]
 pub struct Cholesky<N: Scalar, D: Dim>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
-    l: MatrixN<N, D>
+    DefaultAllocator: Allocator<N, D, D>,
+{
+    l: MatrixN<N, D>,
 }
 
 impl<N: Scalar, D: Dim> Copy for Cholesky<N, D>
-    where DefaultAllocator: Allocator<N, D, D>,
+where
-          MatrixN<N, D>: Copy { }
+    DefaultAllocator: Allocator<N, D, D>,
+    MatrixN<N, D>: Copy,
+{
+}
 
 impl<N: CholeskyScalar + Zero, D: Dim> Cholesky<N, D>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
-
+    DefaultAllocator: Allocator<N, D, D>,
+{
     /// Complutes the cholesky decomposition of the given symmetric-definite-positive square
     /// matrix.
     ///
@@ -41,10 +45,13 @@ impl<N: CholeskyScalar + Zero, D: Dim> Cholesky<N, D>
     #[inline]
     pub fn new(mut m: MatrixN<N, D>) -> Option<Self> {
         // FIXME: check symmetry as well?
-        assert!(m.is_square(), "Unable to compute the cholesky decomposition of a non-square matrix.");
+        assert!(
+            m.is_square(),
+            "Unable to compute the cholesky decomposition of a non-square matrix."
+        );
 
-        let uplo     = b'L';
+        let uplo = b'L';
-        let dim      = m.nrows() as i32;
+        let dim = m.nrows() as i32;
         let mut info = 0;
 
         N::xpotrf(uplo, dim, m.as_mut_slice(), dim, &mut info);
@@ -86,15 +93,18 @@ impl<N: CholeskyScalar + Zero, D: Dim> Cholesky<N, D>
 
     /// Solves the symmetric-definite-positive linear system `self * x = b`, where `x` is the
     /// unknown to be determined.
-    pub fn solve<R2: Dim, C2: Dim, S2>(&self, b: &Matrix<N, R2, C2, S2>) -> Option<MatrixMN<N, R2, C2>>
+    pub fn solve<R2: Dim, C2: Dim, S2>(
-        where S2: Storage<N, R2, C2>,
+        &self,
-              DefaultAllocator: Allocator<N, R2, C2> {
+        b: &Matrix<N, R2, C2, S2>,
-
+    ) -> Option<MatrixMN<N, R2, C2>>
+    where
+        S2: Storage<N, R2, C2>,
+        DefaultAllocator: Allocator<N, R2, C2>,
+    {
         let mut res = b.clone_owned();
         if self.solve_mut(&mut res) {
             Some(res)
-        }
+        } else {
-        else {
             None
         }
     }
@@ -102,18 +112,31 @@ impl<N: CholeskyScalar + Zero, D: Dim> Cholesky<N, D>
     /// Solves in-place the symmetric-definite-positive linear system `self * x = b`, where `x` is
     /// the unknown to be determined.
     pub fn solve_mut<R2: Dim, C2: Dim>(&self, b: &mut MatrixMN<N, R2, C2>) -> bool
-        where DefaultAllocator: Allocator<N, R2, C2> {
+    where
-
+        DefaultAllocator: Allocator<N, R2, C2>,
+    {
         let dim = self.l.nrows();
 
-        assert!(b.nrows() == dim, "The number of rows of `b` must be equal to the dimension of the matrix `a`.");
+        assert!(
+            b.nrows() == dim,
+            "The number of rows of `b` must be equal to the dimension of the matrix `a`."
+        );
 
         let nrhs = b.ncols() as i32;
-        let lda  = dim as i32;
+        let lda = dim as i32;
-        let ldb  = dim as i32;
+        let ldb = dim as i32;
         let mut info = 0;
 
-        N::xpotrs(b'L', dim as i32, nrhs, self.l.as_slice(), lda, b.as_mut_slice(), ldb, &mut info);
+        N::xpotrs(
+            b'L',
+            dim as i32,
+            nrhs,
+            self.l.as_slice(),
+            lda,
+            b.as_mut_slice(),
+            ldb,
+            &mut info,
+        );
         lapack_test!(info)
     }
 
@@ -122,12 +145,18 @@ impl<N: CholeskyScalar + Zero, D: Dim> Cholesky<N, D>
         let dim = self.l.nrows();
         let mut info = 0;
 
-        N::xpotri(b'L', dim as i32, self.l.as_mut_slice(), dim as i32, &mut info);
+        N::xpotri(
+            b'L',
+            dim as i32,
+            self.l.as_mut_slice(),
+            dim as i32,
+            &mut info,
+        );
         lapack_check!(info);
 
         // Copy lower triangle to upper triangle.
-        for i in 0 .. dim {
+        for i in 0..dim {
-            for j in i + 1 .. dim {
+            for j in i + 1..dim {
                 unsafe { *self.l.get_unchecked_mut(i, j) = *self.l.get_unchecked(j, i) };
             }
         }
@@ -136,9 +165,6 @@ impl<N: CholeskyScalar + Zero, D: Dim> Cholesky<N, D>
     }
 }
 
-
-
-
 /*
  *
  * Lapack functions dispatch.
@@ -150,7 +176,16 @@ pub trait CholeskyScalar: Scalar {
     #[allow(missing_docs)]
     fn xpotrf(uplo: u8, n: i32, a: &mut [Self], lda: i32, info: &mut i32);
     #[allow(missing_docs)]
-    fn xpotrs(uplo: u8, n: i32, nrhs: i32, a: &[Self], lda: i32, b: &mut [Self], ldb: i32, info: &mut i32);
+    fn xpotrs(
+        uplo: u8,
+        n: i32,
+        nrhs: i32,
+        a: &[Self],
+        lda: i32,
+        b: &mut [Self],
+        ldb: i32,
+        info: &mut i32,
+    );
     #[allow(missing_docs)]
     fn xpotri(uplo: u8, n: i32, a: &mut [Self], lda: i32, info: &mut i32);
 }
@@ -179,5 +214,15 @@ macro_rules! cholesky_scalar_impl(
 
 cholesky_scalar_impl!(f32, interface::spotrf, interface::spotrs, interface::spotri);
 cholesky_scalar_impl!(f64, interface::dpotrf, interface::dpotrs, interface::dpotri);
-cholesky_scalar_impl!(Complex<f32>, interface::cpotrf, interface::cpotrs, interface::cpotri);
+cholesky_scalar_impl!(
-cholesky_scalar_impl!(Complex<f64>, interface::zpotrf, interface::zpotrs, interface::zpotri);
+    Complex<f32>,
+    interface::cpotrf,
+    interface::cpotrs,
+    interface::cpotri
+);
+cholesky_scalar_impl!(
+    Complex<f64>,
+    interface::zpotrf,
+    interface::zpotrs,
+    interface::zpotri
+);

nalgebra-lapack/src/eigen.rs

@@ -6,8 +6,8 @@ use num_complex::Complex;
 
 use alga::general::Real;
 
-use ::ComplexHelper;
+use ComplexHelper;
-use na::{Scalar, DefaultAllocator, Matrix, VectorN, MatrixN};
+use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
 use na::dimension::{Dim, U1};
 use na::storage::Storage;
 use na::allocator::Allocator;
@@ -17,46 +17,52 @@ use lapack::fortran as interface;
 /// Eigendecomposition of a real square matrix with real eigenvalues.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(serialize =
+           serde(bound(serialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
-        "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
          VectorN<N, D>: serde::Serialize,
          MatrixN<N, D>: serde::Serialize")))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(deserialize =
+           serde(bound(deserialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
-        "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
          VectorN<N, D>: serde::Serialize,
          MatrixN<N, D>: serde::Deserialize<'de>")))]
 #[derive(Clone, Debug)]
 pub struct Eigen<N: Scalar, D: Dim>
-    where DefaultAllocator: Allocator<N, D> +
+where
-                            Allocator<N, D, D> {
+    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,
+{
     /// The eigenvalues of the decomposed matrix.
-    pub eigenvalues:       VectorN<N, D>,
+    pub eigenvalues: VectorN<N, D>,
     /// The (right) eigenvectors of the decomposed matrix.
-    pub eigenvectors:      Option<MatrixN<N, D>>,
+    pub eigenvectors: Option<MatrixN<N, D>>,
     /// The left eigenvectors of the decomposed matrix.
-    pub left_eigenvectors: Option<MatrixN<N, D>>
+    pub left_eigenvectors: Option<MatrixN<N, D>>,
 }
 
 impl<N: Scalar, D: Dim> Copy for Eigen<N, D>
-    where DefaultAllocator: Allocator<N, D> +
+where
-                            Allocator<N, D, D>,
+    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,
-          VectorN<N, D>: Copy,
+    VectorN<N, D>: Copy,
-          MatrixN<N, D>: Copy { }
+    MatrixN<N, D>: Copy,
-
+{
+}
 
 impl<N: EigenScalar + Real, D: Dim> Eigen<N, D>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, D> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+{
     /// Computes the eigenvalues and eigenvectors of the square matrix `m`.
     ///
     /// If `eigenvectors` is `false` then, the eigenvectors are not computed explicitly.
-    pub fn new(mut m: MatrixN<N, D>, left_eigenvectors: bool, eigenvectors: bool)
+    pub fn new(
-           -> Option<Eigen<N, D>> {
+        mut m: MatrixN<N, D>,
+        left_eigenvectors: bool,
+        eigenvectors: bool,
+    ) -> Option<Eigen<N, D>> {
+        assert!(
+            m.is_square(),
+            "Unable to compute the eigenvalue decomposition of a non-square matrix."
+        );
 
-        assert!(m.is_square(), "Unable to compute the eigenvalue decomposition of a non-square matrix.");
+        let ljob = if left_eigenvectors { b'V' } else { b'N' };
-
-        let ljob = if left_eigenvectors  { b'V' } else { b'N' };
         let rjob = if eigenvectors { b'V' } else { b'N' };
 
         let (nrows, ncols) = m.data.shape();
@@ -68,14 +74,24 @@ impl<N: EigenScalar + Real, D: Dim> Eigen<N, D>
         // FIXME: Tap into the workspace.
         let mut wi = unsafe { Matrix::new_uninitialized_generic(nrows, U1) };
 
-
         let mut info = 0;
-        let mut placeholder1 = [ N::zero() ];
+        let mut placeholder1 = [N::zero()];
-        let mut placeholder2 = [ N::zero() ];
+        let mut placeholder2 = [N::zero()];
 
-        let lwork = N::xgeev_work_size(ljob, rjob, n as i32, m.as_mut_slice(), lda,
+        let lwork = N::xgeev_work_size(
-                                       wr.as_mut_slice(), wi.as_mut_slice(), &mut placeholder1,
+            ljob,
-                                       n as i32, &mut placeholder2, n as i32, &mut info);
+            rjob,
+            n as i32,
+            m.as_mut_slice(),
+            lda,
+            wr.as_mut_slice(),
+            wi.as_mut_slice(),
+            &mut placeholder1,
+            n as i32,
+            &mut placeholder2,
+            n as i32,
+            &mut info,
+        );
 
         lapack_check!(info);
 
@@ -86,54 +102,114 @@ impl<N: EigenScalar + Real, D: Dim> Eigen<N, D>
                 let mut vl = unsafe { Matrix::new_uninitialized_generic(nrows, ncols) };
                 let mut vr = unsafe { Matrix::new_uninitialized_generic(nrows, ncols) };
 
-                N::xgeev(ljob, rjob, n as i32, m.as_mut_slice(), lda, wr.as_mut_slice(),
+                N::xgeev(
-                    wi.as_mut_slice(), &mut vl.as_mut_slice(), n as i32, &mut vr.as_mut_slice(),
+                    ljob,
-                    n as i32, &mut work, lwork, &mut info);
+                    rjob,
+                    n as i32,
+                    m.as_mut_slice(),
+                    lda,
+                    wr.as_mut_slice(),
+                    wi.as_mut_slice(),
+                    &mut vl.as_mut_slice(),
+                    n as i32,
+                    &mut vr.as_mut_slice(),
+                    n as i32,
+                    &mut work,
+                    lwork,
+                    &mut info,
+                );
                 lapack_check!(info);
 
                 if wi.iter().all(|e| e.is_zero()) {
                     return Some(Eigen {
-                        eigenvalues: wr, left_eigenvectors: Some(vl), eigenvectors: Some(vr)
+                        eigenvalues: wr,
-                    })
+                        left_eigenvectors: Some(vl),
+                        eigenvectors: Some(vr),
+                    });
                 }
-            },
+            }
             (true, false) => {
                 let mut vl = unsafe { Matrix::new_uninitialized_generic(nrows, ncols) };
 
-                N::xgeev(ljob, rjob, n as i32, m.as_mut_slice(), lda, wr.as_mut_slice(),
+                N::xgeev(
-                    wi.as_mut_slice(), &mut vl.as_mut_slice(), n as i32, &mut placeholder2,
+                    ljob,
-                    1 as i32, &mut work, lwork, &mut info);
+                    rjob,
+                    n as i32,
+                    m.as_mut_slice(),
+                    lda,
+                    wr.as_mut_slice(),
+                    wi.as_mut_slice(),
+                    &mut vl.as_mut_slice(),
+                    n as i32,
+                    &mut placeholder2,
+                    1 as i32,
+                    &mut work,
+                    lwork,
+                    &mut info,
+                );
                 lapack_check!(info);
 
                 if wi.iter().all(|e| e.is_zero()) {
                     return Some(Eigen {
-                        eigenvalues: wr, left_eigenvectors: Some(vl), eigenvectors: None
+                        eigenvalues: wr,
+                        left_eigenvectors: Some(vl),
+                        eigenvectors: None,
                     });
                 }
-            },
+            }
             (false, true) => {
                 let mut vr = unsafe { Matrix::new_uninitialized_generic(nrows, ncols) };
 
-                N::xgeev(ljob, rjob, n as i32, m.as_mut_slice(), lda, wr.as_mut_slice(),
+                N::xgeev(
-                    wi.as_mut_slice(), &mut placeholder1, 1 as i32, &mut vr.as_mut_slice(),
+                    ljob,
-                    n as i32, &mut work, lwork, &mut info);
+                    rjob,
+                    n as i32,
+                    m.as_mut_slice(),
+                    lda,
+                    wr.as_mut_slice(),
+                    wi.as_mut_slice(),
+                    &mut placeholder1,
+                    1 as i32,
+                    &mut vr.as_mut_slice(),
+                    n as i32,
+                    &mut work,
+                    lwork,
+                    &mut info,
+                );
                 lapack_check!(info);
 
                 if wi.iter().all(|e| e.is_zero()) {
                     return Some(Eigen {
-                        eigenvalues: wr, left_eigenvectors: None, eigenvectors: Some(vr)
+                        eigenvalues: wr,
+                        left_eigenvectors: None,
+                        eigenvectors: Some(vr),
                     });
                 }
-            },
+            }
             (false, false) => {
-                N::xgeev(ljob, rjob, n as i32, m.as_mut_slice(), lda, wr.as_mut_slice(),
+                N::xgeev(
-                    wi.as_mut_slice(), &mut placeholder1, 1 as i32, &mut placeholder2,
+                    ljob,
-                    1 as i32, &mut work, lwork, &mut info);
+                    rjob,
+                    n as i32,
+                    m.as_mut_slice(),
+                    lda,
+                    wr.as_mut_slice(),
+                    wi.as_mut_slice(),
+                    &mut placeholder1,
+                    1 as i32,
+                    &mut placeholder2,
+                    1 as i32,
+                    &mut work,
+                    lwork,
+                    &mut info,
+                );
                 lapack_check!(info);
 
                 if wi.iter().all(|e| e.is_zero()) {
                     return Some(Eigen {
-                        eigenvalues: wr, left_eigenvectors: None, eigenvectors: None
+                        eigenvalues: wr,
+                        left_eigenvectors: None,
+                        eigenvectors: None,
                     });
                 }
             }
@@ -146,8 +222,13 @@ impl<N: EigenScalar + Real, D: Dim> Eigen<N, D>
     ///
     /// Panics if the eigenvalue computation does not converge.
     pub fn complex_eigenvalues(mut m: MatrixN<N, D>) -> VectorN<Complex<N>, D>
-        where DefaultAllocator: Allocator<Complex<N>, D> {
+    where
-        assert!(m.is_square(), "Unable to compute the eigenvalue decomposition of a non-square matrix.");
+        DefaultAllocator: Allocator<Complex<N>, D>,
+    {
+        assert!(
+            m.is_square(),
+            "Unable to compute the eigenvalue decomposition of a non-square matrix."
+        );
 
         let nrows = m.data.shape().0;
         let n = nrows.value();
@@ -157,27 +238,50 @@ impl<N: EigenScalar + Real, D: Dim> Eigen<N, D>
         let mut wr = unsafe { Matrix::new_uninitialized_generic(nrows, U1) };
         let mut wi = unsafe { Matrix::new_uninitialized_generic(nrows, U1) };
 
-
         let mut info = 0;
-        let mut placeholder1 = [ N::zero() ];
+        let mut placeholder1 = [N::zero()];
-        let mut placeholder2 = [ N::zero() ];
+        let mut placeholder2 = [N::zero()];
 
-        let lwork = N::xgeev_work_size(b'N', b'N', n as i32, m.as_mut_slice(), lda,
+        let lwork = N::xgeev_work_size(
-                                       wr.as_mut_slice(), wi.as_mut_slice(), &mut placeholder1,
+            b'N',
-                                       n as i32, &mut placeholder2, n as i32, &mut info);
+            b'N',
+            n as i32,
+            m.as_mut_slice(),
+            lda,
+            wr.as_mut_slice(),
+            wi.as_mut_slice(),
+            &mut placeholder1,
+            n as i32,
+            &mut placeholder2,
+            n as i32,
+            &mut info,
+        );
 
         lapack_panic!(info);
 
         let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
 
-        N::xgeev(b'N', b'N', n as i32, m.as_mut_slice(), lda, wr.as_mut_slice(),
+        N::xgeev(
-            wi.as_mut_slice(), &mut placeholder1, 1 as i32, &mut placeholder2,
+            b'N',
-            1 as i32, &mut work, lwork, &mut info);
+            b'N',
+            n as i32,
+            m.as_mut_slice(),
+            lda,
+            wr.as_mut_slice(),
+            wi.as_mut_slice(),
+            &mut placeholder1,
+            1 as i32,
+            &mut placeholder2,
+            1 as i32,
+            &mut work,
+            lwork,
+            &mut info,
+        );
         lapack_panic!(info);
 
         let mut res = unsafe { Matrix::new_uninitialized_generic(nrows, U1) };
 
-        for i in 0 .. res.len() {
+        for i in 0..res.len() {
             res[i] = Complex::new(wr[i], wi[i]);
         }
 
@@ -196,10 +300,6 @@ impl<N: EigenScalar + Real, D: Dim> Eigen<N, D>
     }
 }
 
-
-
-
-
 /*
  *
  * Lapack functions dispatch.
@@ -209,14 +309,37 @@ impl<N: EigenScalar + Real, D: Dim> Eigen<N, D>
 /// eigendecomposition.
 pub trait EigenScalar: Scalar {
     #[allow(missing_docs)]
-    fn xgeev(jobvl: u8, jobvr: u8, n: i32, a: &mut [Self], lda: i32,
+    fn xgeev(
-             wr: &mut [Self], wi: &mut [Self],
+        jobvl: u8,
-             vl: &mut [Self], ldvl: i32, vr: &mut [Self], ldvr: i32,
+        jobvr: u8,
-             work: &mut [Self], lwork: i32, info: &mut i32);
+        n: i32,
+        a: &mut [Self],
+        lda: i32,
+        wr: &mut [Self],
+        wi: &mut [Self],
+        vl: &mut [Self],
+        ldvl: i32,
+        vr: &mut [Self],
+        ldvr: i32,
+        work: &mut [Self],
+        lwork: i32,
+        info: &mut i32,
+    );
     #[allow(missing_docs)]
-    fn xgeev_work_size(jobvl: u8, jobvr: u8, n: i32, a: &mut [Self], lda: i32,
+    fn xgeev_work_size(
-                       wr: &mut [Self], wi: &mut [Self], vl: &mut [Self], ldvl: i32,
+        jobvl: u8,
-                       vr: &mut [Self], ldvr: i32, info: &mut i32) -> i32;
+        jobvr: u8,
+        n: i32,
+        a: &mut [Self],
+        lda: i32,
+        wr: &mut [Self],
+        wi: &mut [Self],
+        vl: &mut [Self],
+        ldvl: i32,
+        vr: &mut [Self],
+        ldvr: i32,
+        info: &mut i32,
+    ) -> i32;
 }
 
 macro_rules! real_eigensystem_scalar_impl (

nalgebra-lapack/src/hessenberg.rs

@@ -1,64 +1,81 @@
 use num::Zero;
 use num_complex::Complex;
 
-use ::ComplexHelper;
+use ComplexHelper;
-use na::{Scalar, Matrix, DefaultAllocator, VectorN, MatrixN};
+use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
-use na::dimension::{DimSub, DimDiff, U1};
+use na::dimension::{DimDiff, DimSub, U1};
 use na::storage::Storage;
 use na::allocator::Allocator;
 
 use lapack::fortran as interface;
 
-
 /// The Hessenberg decomposition of a general matrix.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(serialize =
+           serde(bound(serialize = "DefaultAllocator: Allocator<N, D, D> +
-        "DefaultAllocator: Allocator<N, D, D> +
                            Allocator<N, DimDiff<D, U1>>,
          MatrixN<N, D>: serde::Serialize,
          VectorN<N, DimDiff<D, U1>>: serde::Serialize")))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(deserialize =
+           serde(bound(deserialize = "DefaultAllocator: Allocator<N, D, D> +
-        "DefaultAllocator: Allocator<N, D, D> +
                            Allocator<N, DimDiff<D, U1>>,
          MatrixN<N, D>: serde::Deserialize<'de>,
          VectorN<N, DimDiff<D, U1>>: serde::Deserialize<'de>")))]
 #[derive(Clone, Debug)]
 pub struct Hessenberg<N: Scalar, D: DimSub<U1>>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, DimDiff<D, U1>> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>,
-    h:   MatrixN<N, D>,
+{
-    tau: VectorN<N, DimDiff<D, U1>>
+    h: MatrixN<N, D>,
+    tau: VectorN<N, DimDiff<D, U1>>,
 }
 
-
 impl<N: Scalar, D: DimSub<U1>> Copy for Hessenberg<N, D>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, DimDiff<D, U1>>,
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>,
-          MatrixN<N, D>: Copy,
+    MatrixN<N, D>: Copy,
-          VectorN<N, DimDiff<D, U1>>: Copy { }
+    VectorN<N, DimDiff<D, U1>>: Copy,
+{
+}
 
 impl<N: HessenbergScalar + Zero, D: DimSub<U1>> Hessenberg<N, D>
-        where DefaultAllocator: Allocator<N, D, D> +
+where
-                                Allocator<N, DimDiff<D, U1>> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>,
+{
     /// Computes the hessenberg decomposition of the matrix `m`.
     pub fn new(mut m: MatrixN<N, D>) -> Hessenberg<N, D> {
         let nrows = m.data.shape().0;
-        let n     = nrows.value() as i32;
+        let n = nrows.value() as i32;
 
-        assert!(m.is_square(), "Unable to compute the hessenberg decomposition of a non-square matrix.");
+        assert!(
-        assert!(!m.is_empty(), "Unable to compute the hessenberg decomposition of an empty matrix.");
+            m.is_square(),
+            "Unable to compute the hessenberg decomposition of a non-square matrix."
+        );
+        assert!(
+            !m.is_empty(),
+            "Unable to compute the hessenberg decomposition of an empty matrix."
+        );
 
         let mut tau = unsafe { Matrix::new_uninitialized_generic(nrows.sub(U1), U1) };
 
-        let mut info  = 0;
+        let mut info = 0;
-        let lwork = N::xgehrd_work_size(n, 1, n, m.as_mut_slice(), n, tau.as_mut_slice(), &mut info);
+        let lwork =
+            N::xgehrd_work_size(n, 1, n, m.as_mut_slice(), n, tau.as_mut_slice(), &mut info);
         let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
 
         lapack_panic!(info);
 
-        N::xgehrd(n, 1, n, m.as_mut_slice(), n, tau.as_mut_slice(), &mut work, lwork, &mut info);
+        N::xgehrd(
+            n,
+            1,
+            n,
+            m.as_mut_slice(),
+            n,
+            tau.as_mut_slice(),
+            &mut work,
+            lwork,
+            &mut info,
+        );
         lapack_panic!(info);
 
         Hessenberg { h: m, tau: tau }
@@ -75,8 +92,9 @@ impl<N: HessenbergScalar + Zero, D: DimSub<U1>> Hessenberg<N, D>
 }
 
 impl<N: HessenbergReal + Zero, D: DimSub<U1>> Hessenberg<N, D>
-        where DefaultAllocator: Allocator<N, D, D> +
+where
-                                Allocator<N, DimDiff<D, U1>> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimDiff<D, U1>>,
+{
     /// Computes the matrices `(Q, H)` of this decomposition.
     #[inline]
     pub fn unpack(self) -> (MatrixN<N, D>, MatrixN<N, D>) {
@@ -88,53 +106,93 @@ impl<N: HessenbergReal + Zero, D: DimSub<U1>> Hessenberg<N, D>
     pub fn q(&self) -> MatrixN<N, D> {
         let n = self.h.nrows() as i32;
         let mut q = self.h.clone_owned();
-        let mut info  = 0;
+        let mut info = 0;
 
-        let lwork = N::xorghr_work_size(n, 1, n, q.as_mut_slice(), n, self.tau.as_slice(), &mut info);
+        let lwork =
-        let mut work = vec![ N::zero(); lwork as usize ];
+            N::xorghr_work_size(n, 1, n, q.as_mut_slice(), n, self.tau.as_slice(), &mut info);
+        let mut work = vec![N::zero(); lwork as usize];
 
-        N::xorghr(n, 1, n, q.as_mut_slice(), n, self.tau.as_slice(), &mut work, lwork, &mut info);
+        N::xorghr(
+            n,
+            1,
+            n,
+            q.as_mut_slice(),
+            n,
+            self.tau.as_slice(),
+            &mut work,
+            lwork,
+            &mut info,
+        );
 
         q
     }
 }
 
-
-
-
 /*
  *
  * Lapack functions dispatch.
  *
  */
 pub trait HessenbergScalar: Scalar {
-    fn xgehrd(n: i32, ilo: i32, ihi: i32, a: &mut [Self], lda: i32, 
+    fn xgehrd(
-              tau: &mut [Self], work: &mut [Self], lwork: i32, info: &mut i32);
+        n: i32,
-    fn xgehrd_work_size(n: i32, ilo: i32, ihi: i32, a: &mut [Self], lda: i32, 
+        ilo: i32,
-                        tau: &mut [Self], info: &mut i32) -> i32;
+        ihi: i32,
+        a: &mut [Self],
+        lda: i32,
+        tau: &mut [Self],
+        work: &mut [Self],
+        lwork: i32,
+        info: &mut i32,
+    );
+    fn xgehrd_work_size(
+        n: i32,
+        ilo: i32,
+        ihi: i32,
+        a: &mut [Self],
+        lda: i32,
+        tau: &mut [Self],
+        info: &mut i32,
+    ) -> i32;
 }
 
 /// Trait implemented by scalars for which Lapack implements the hessenberg decomposition.
 pub trait HessenbergReal: HessenbergScalar {
     #[allow(missing_docs)]
-    fn xorghr(n: i32, ilo: i32, ihi: i32, a: &mut [Self], lda: i32, tau: &[Self],
+    fn xorghr(
-              work: &mut [Self], lwork: i32, info: &mut i32);
+        n: i32,
+        ilo: i32,
+        ihi: i32,
+        a: &mut [Self],
+        lda: i32,
+        tau: &[Self],
+        work: &mut [Self],
+        lwork: i32,
+        info: &mut i32,
+    );
     #[allow(missing_docs)]
-    fn xorghr_work_size(n: i32, ilo: i32, ihi: i32, a: &mut [Self], lda: i32,
+    fn xorghr_work_size(
-                        tau: &[Self], info: &mut i32) -> i32;
+        n: i32,
+        ilo: i32,
+        ihi: i32,
+        a: &mut [Self],
+        lda: i32,
+        tau: &[Self],
+        info: &mut i32,
+    ) -> i32;
 }
 
 macro_rules! hessenberg_scalar_impl(
     ($N: ty, $xgehrd: path) => (
         impl HessenbergScalar for $N {
             #[inline]
-            fn xgehrd(n: i32, ilo: i32, ihi: i32, a: &mut [Self], lda: i32, 
+            fn xgehrd(n: i32, ilo: i32, ihi: i32, a: &mut [Self], lda: i32,
                       tau: &mut [Self], work: &mut [Self], lwork: i32, info: &mut i32) {
                 $xgehrd(n, ilo, ihi, a, lda, tau, work, lwork, info)
             }
 
             #[inline]
-            fn xgehrd_work_size(n: i32, ilo: i32, ihi: i32, a: &mut [Self], lda: i32, 
+            fn xgehrd_work_size(n: i32, ilo: i32, ihi: i32, a: &mut [Self], lda: i32,
                                 tau: &mut [Self], info: &mut i32) -> i32 {
                 let mut work = [ Zero::zero() ];
                 let lwork = -1 as i32;
@@ -175,4 +233,3 @@ hessenberg_scalar_impl!(Complex<f64>, interface::zgehrd);
 
 hessenberg_real_impl!(f32, interface::sorghr);
 hessenberg_real_impl!(f64, interface::dorghr);
-

nalgebra-lapack/src/lib.rs

@@ -1,17 +1,17 @@
 //! # nalgebra-lapack
-//! 
+//!
 //! Rust library for linear algebra using nalgebra and LAPACK.
-//! 
+//!
 //! ## Documentation
-//! 
+//!
 //! Documentation is available [here](https://docs.rs/nalgebra-lapack/).
-//! 
+//!
 //! ## License
-//! 
+//!
 //! MIT
-//! 
+//!
 //! ## Cargo features to select lapack provider
-//! 
+//!
 //! Like the [lapack crate](https://crates.io/crates/lapack) from which this
 //! behavior is inherited, nalgebra-lapack uses [cargo
 //! features](http://doc.crates.io/manifest.html#the-[features]-section) to select
@@ -19,43 +19,43 @@
 //! cargo are the easiest way to do this, and the best provider depends on your
 //! particular system. In some cases, the providers can be further tuned with
 //! environment variables.
-//! 
+//!
 //! Below are given examples of how to invoke `cargo build` on two different systems
 //! using two different providers. The `--no-default-features --features "provider"`
 //! arguments will be consistent for other `cargo` commands.
-//! 
+//!
 //! ### Ubuntu
-//! 
+//!
 //! As tested on Ubuntu 12.04, do this to build the lapack package against
 //! the system installation of netlib without LAPACKE (note the E) or
 //! CBLAS:
-//! 
+//!
 //! ```.ignore
 //! sudo apt-get install gfortran libblas3gf liblapack3gf
 //! export CARGO_FEATURE_SYSTEM_NETLIB=1
 //! export CARGO_FEATURE_EXCLUDE_LAPACKE=1
 //! export CARGO_FEATURE_EXCLUDE_CBLAS=1
-//! 
+//!
 //! export CARGO_FEATURES='--no-default-features --features netlib'
 //! cargo build ${CARGO_FEATURES}
 //! ```
-//! 
+//!
 //! ### Mac OS X
-//! 
+//!
 //! On Mac OS X, do this to use Apple's Accelerate framework:
-//! 
+//!
 //! ```.ignore
 //! export CARGO_FEATURES='--no-default-features --features accelerate'
 //! cargo build ${CARGO_FEATURES}
 //! ```
-//! 
+//!
 //! [version-img]: https://img.shields.io/crates/v/nalgebra-lapack.svg
 //! [version-url]: https://crates.io/crates/nalgebra-lapack
 //! [status-img]: https://travis-ci.org/strawlab/nalgebra-lapack.svg?branch=master
 //! [status-url]: https://travis-ci.org/strawlab/nalgebra-lapack
 //! [doc-img]: https://docs.rs/nalgebra-lapack/badge.svg
 //! [doc-url]: https://docs.rs/nalgebra-lapack/
-//! 
+//!
 //! ## Contributors
 //! This integration of LAPACK on nalgebra was
 //! [initiated](https://github.com/strawlab/nalgebra-lapack) by Andrew Straw. It
@@ -70,11 +70,11 @@
 #![deny(missing_docs)]
 #![doc(html_root_url = "http://nalgebra.org/rustdoc")]
 
-extern crate num_traits as num;
-extern crate num_complex;
-extern crate lapack;
 extern crate alga;
+extern crate lapack;
 extern crate nalgebra as na;
+extern crate num_complex;
+extern crate num_traits as num;
 
 mod lapack_check;
 mod svd;
@@ -90,14 +90,13 @@ use num_complex::Complex;
 
 pub use self::svd::SVD;
 pub use self::cholesky::{Cholesky, CholeskyScalar};
-pub use self::lu::{LU, LUScalar};
+pub use self::lu::{LUScalar, LU};
 pub use self::eigen::Eigen;
 pub use self::symmetric_eigen::SymmetricEigen;
 pub use self::qr::QR;
 pub use self::hessenberg::Hessenberg;
 pub use self::schur::RealSchur;
 
-
 trait ComplexHelper {
     type RealPart;
 

nalgebra-lapack/src/lu.rs

@@ -1,8 +1,8 @@
-use num::{Zero, One};
+use num::{One, Zero};
 use num_complex::Complex;
 
-use ::ComplexHelper;
+use ComplexHelper;
-use na::{Scalar, DefaultAllocator, Matrix, MatrixMN, MatrixN, VectorN};
+use na::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar, VectorN};
 use na::dimension::{Dim, DimMin, DimMinimum, U1};
 use na::storage::Storage;
 use na::allocator::Allocator;
@@ -19,52 +19,61 @@ use lapack::fortran as interface;
 /// Those are such that `M == P * L * U`.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(serialize =
+           serde(bound(serialize = "DefaultAllocator: Allocator<N, R, C> +
-        "DefaultAllocator: Allocator<N, R, C> +
                            Allocator<i32, DimMinimum<R, C>>,
          MatrixMN<N, R, C>: serde::Serialize,
          PermutationSequence<DimMinimum<R, C>>: serde::Serialize")))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(deserialize =
+           serde(bound(deserialize = "DefaultAllocator: Allocator<N, R, C> +
-        "DefaultAllocator: Allocator<N, R, C> +
                            Allocator<i32, DimMinimum<R, C>>,
          MatrixMN<N, R, C>: serde::Deserialize<'de>,
          PermutationSequence<DimMinimum<R, C>>: serde::Deserialize<'de>")))]
 #[derive(Clone, Debug)]
 pub struct LU<N: Scalar, R: DimMin<C>, C: Dim>
-    where DefaultAllocator: Allocator<i32, DimMinimum<R, C>> +
+where
-                            Allocator<N, R, C> {
+    DefaultAllocator: Allocator<i32, DimMinimum<R, C>> + Allocator<N, R, C>,
+{
     lu: MatrixMN<N, R, C>,
-    p:  VectorN<i32, DimMinimum<R, C>>
+    p: VectorN<i32, DimMinimum<R, C>>,
 }
 
 impl<N: Scalar, R: DimMin<C>, C: Dim> Copy for LU<N, R, C>
-    where DefaultAllocator: Allocator<N, R, C> +
+where
-                            Allocator<i32, DimMinimum<R, C>>,
+    DefaultAllocator: Allocator<N, R, C> + Allocator<i32, DimMinimum<R, C>>,
-          MatrixMN<N, R, C>: Copy,
+    MatrixMN<N, R, C>: Copy,
-          VectorN<i32, DimMinimum<R, C>>: Copy { }
+    VectorN<i32, DimMinimum<R, C>>: Copy,
+{
+}
 
 impl<N: LUScalar, R: Dim, C: Dim> LU<N, R, C>
-    where N: Zero + One,
+where
-          R: DimMin<C>,
+    N: Zero + One,
-          DefaultAllocator: Allocator<N, R, C> +
+    R: DimMin<C>,
-                            Allocator<N, R, R> +
+    DefaultAllocator: Allocator<N, R, C>
-                            Allocator<N, R, DimMinimum<R, C>> +
+        + Allocator<N, R, R>
-                            Allocator<N, DimMinimum<R, C>, C> +
+        + Allocator<N, R, DimMinimum<R, C>>
-                            Allocator<i32, DimMinimum<R, C>> {
+        + Allocator<N, DimMinimum<R, C>, C>
-
+        + Allocator<i32, DimMinimum<R, C>>,
+{
     /// Computes the LU decomposition with partial (row) pivoting of `matrix`.
     pub fn new(mut m: MatrixMN<N, R, C>) -> Self {
-        let (nrows, ncols)  = m.data.shape();
+        let (nrows, ncols) = m.data.shape();
         let min_nrows_ncols = nrows.min(ncols);
-        let nrows           = nrows.value() as i32;
+        let nrows = nrows.value() as i32;
-        let ncols           = ncols.value() as i32;
+        let ncols = ncols.value() as i32;
 
         let mut ipiv: VectorN<i32, _> = Matrix::zeros_generic(min_nrows_ncols, U1);
 
         let mut info = 0;
 
-        N::xgetrf(nrows, ncols, m.as_mut_slice(), nrows, ipiv.as_mut_slice(), &mut info);
+        N::xgetrf(
+            nrows,
+            ncols,
+            m.as_mut_slice(),
+            nrows,
+            ipiv.as_mut_slice(),
+            &mut info,
+        );
         lapack_panic!(info);
 
         LU { lu: m, p: ipiv }
@@ -118,78 +127,105 @@ impl<N: LUScalar, R: Dim, C: Dim> LU<N, R, C>
     /// Applies the permutation matrix to a given matrix or vector in-place.
     #[inline]
     pub fn permute<C2: Dim>(&self, rhs: &mut MatrixMN<N, R, C2>)
-        where DefaultAllocator: Allocator<N, R, C2> {
+    where
-
+        DefaultAllocator: Allocator<N, R, C2>,
+    {
         let (nrows, ncols) = rhs.shape();
 
-        N::xlaswp(ncols as i32, rhs.as_mut_slice(), nrows as i32,
+        N::xlaswp(
-                  1, self.p.len() as i32, self.p.as_slice(), -1);
+            ncols as i32,
+            rhs.as_mut_slice(),
+            nrows as i32,
+            1,
+            self.p.len() as i32,
+            self.p.as_slice(),
+            -1,
+        );
     }
 
     fn generic_solve_mut<R2: Dim, C2: Dim>(&self, trans: u8, b: &mut MatrixMN<N, R2, C2>) -> bool
-        where DefaultAllocator: Allocator<N, R2, C2> +
+    where
-                                Allocator<i32, R2> {
+        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
-
+    {
         let dim = self.lu.nrows();
 
-        assert!(self.lu.is_square(), "Unable to solve a set of under/over-determined equations.");
+        assert!(
-        assert!(b.nrows() == dim, "The number of rows of `b` must be equal to the dimension of the matrix `a`.");
+            self.lu.is_square(),
+            "Unable to solve a set of under/over-determined equations."
+        );
+        assert!(
+            b.nrows() == dim,
+            "The number of rows of `b` must be equal to the dimension of the matrix `a`."
+        );
 
         let nrhs = b.ncols() as i32;
-        let lda  = dim as i32;
+        let lda = dim as i32;
-        let ldb  = dim as i32;
+        let ldb = dim as i32;
         let mut info = 0;
 
-        N::xgetrs(trans, dim as i32, nrhs, self.lu.as_slice(), lda, self.p.as_slice(),
+        N::xgetrs(
-                  b.as_mut_slice(), ldb, &mut info);
+            trans,
+            dim as i32,
+            nrhs,
+            self.lu.as_slice(),
+            lda,
+            self.p.as_slice(),
+            b.as_mut_slice(),
+            ldb,
+            &mut info,
+        );
         lapack_test!(info)
     }
 
     /// Solves the linear system `self * x = b`, where `x` is the unknown to be determined.
-    pub fn solve<R2: Dim, C2: Dim, S2>(&self, b: &Matrix<N, R2, C2, S2>) -> Option<MatrixMN<N, R2, C2>>
+    pub fn solve<R2: Dim, C2: Dim, S2>(
-        where S2: Storage<N, R2, C2>,
+        &self,
-              DefaultAllocator: Allocator<N, R2, C2> +
+        b: &Matrix<N, R2, C2, S2>,
-                                Allocator<i32, R2> {
+    ) -> Option<MatrixMN<N, R2, C2>>
-
+    where
+        S2: Storage<N, R2, C2>,
+        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
+    {
         let mut res = b.clone_owned();
         if self.generic_solve_mut(b'N', &mut res) {
             Some(res)
-        }
+        } else {
-        else {
             None
         }
     }
 
     /// Solves the linear system `self.transpose() * x = b`, where `x` is the unknown to be
     /// determined.
-    pub fn solve_transpose<R2: Dim, C2: Dim, S2>(&self, b: &Matrix<N, R2, C2, S2>)
+    pub fn solve_transpose<R2: Dim, C2: Dim, S2>(
-        -> Option<MatrixMN<N, R2, C2>>
+        &self,
-        where S2: Storage<N, R2, C2>,
+        b: &Matrix<N, R2, C2, S2>,
-              DefaultAllocator: Allocator<N, R2, C2> +
+    ) -> Option<MatrixMN<N, R2, C2>>
-                                Allocator<i32, R2> {
+    where
-
+        S2: Storage<N, R2, C2>,
+        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
+    {
         let mut res = b.clone_owned();
         if self.generic_solve_mut(b'T', &mut res) {
             Some(res)
-        }
+        } else {
-        else {
             None
         }
     }
 
     /// Solves the linear system `self.conjugate_transpose() * x = b`, where `x` is the unknown to
     /// be determined.
-    pub fn solve_conjugate_transpose<R2: Dim, C2: Dim, S2>(&self, b: &Matrix<N, R2, C2, S2>)
+    pub fn solve_conjugate_transpose<R2: Dim, C2: Dim, S2>(
-        -> Option<MatrixMN<N, R2, C2>>
+        &self,
-        where S2: Storage<N, R2, C2>,
+        b: &Matrix<N, R2, C2, S2>,
-              DefaultAllocator: Allocator<N, R2, C2> +
+    ) -> Option<MatrixMN<N, R2, C2>>
-                                Allocator<i32, R2> {
+    where
-
+        S2: Storage<N, R2, C2>,
+        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
+    {
         let mut res = b.clone_owned();
         if self.generic_solve_mut(b'T', &mut res) {
             Some(res)
-        }
+        } else {
-        else {
             None
         }
     }
@@ -198,9 +234,9 @@ impl<N: LUScalar, R: Dim, C: Dim> LU<N, R, C>
     ///
     /// Retuns `false` if no solution was found (the decomposed matrix is singular).
     pub fn solve_mut<R2: Dim, C2: Dim>(&self, b: &mut MatrixMN<N, R2, C2>) -> bool
-        where DefaultAllocator: Allocator<N, R2, C2> +
+    where
-                                Allocator<i32, R2> {
+        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
-
+    {
         self.generic_solve_mut(b'N', b)
     }
 
@@ -209,9 +245,9 @@ impl<N: LUScalar, R: Dim, C: Dim> LU<N, R, C>
     ///
     /// Retuns `false` if no solution was found (the decomposed matrix is singular).
     pub fn solve_transpose_mut<R2: Dim, C2: Dim>(&self, b: &mut MatrixMN<N, R2, C2>) -> bool
-        where DefaultAllocator: Allocator<N, R2, C2> +
+    where
-                                Allocator<i32, R2> {
+        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
-
+    {
         self.generic_solve_mut(b'T', b)
     }
 
@@ -219,41 +255,53 @@ impl<N: LUScalar, R: Dim, C: Dim> LU<N, R, C>
     /// be determined.
     ///
     /// Retuns `false` if no solution was found (the decomposed matrix is singular).
-    pub fn solve_conjugate_transpose_mut<R2: Dim, C2: Dim>(&self, b: &mut MatrixMN<N, R2, C2>) -> bool
+    pub fn solve_conjugate_transpose_mut<R2: Dim, C2: Dim>(
-        where DefaultAllocator: Allocator<N, R2, C2> +
+        &self,
-                                Allocator<i32, R2> {
+        b: &mut MatrixMN<N, R2, C2>,
-
+    ) -> bool
+    where
+        DefaultAllocator: Allocator<N, R2, C2> + Allocator<i32, R2>,
+    {
         self.generic_solve_mut(b'T', b)
     }
 }
 
 impl<N: LUScalar, D: Dim> LU<N, D, D>
-    where N: Zero + One,
+where
-          D: DimMin<D, Output = D>,
+    N: Zero + One,
-          DefaultAllocator: Allocator<N, D, D> +
+    D: DimMin<D, Output = D>,
-                            Allocator<i32, D> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<i32, D>,
+{
     /// Computes the inverse of the decomposed matrix.
     pub fn inverse(mut self) -> Option<MatrixN<N, D>> {
         let dim = self.lu.nrows() as i32;
         let mut info = 0;
-        let lwork = N::xgetri_work_size(dim, self.lu.as_mut_slice(),
+        let lwork = N::xgetri_work_size(
-                                        dim, self.p.as_mut_slice(),
+            dim,
-                                        &mut info);
+            self.lu.as_mut_slice(),
+            dim,
+            self.p.as_mut_slice(),
+            &mut info,
+        );
         lapack_check!(info);
 
         let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
 
-        N::xgetri(dim, self.lu.as_mut_slice(), dim, self.p.as_mut_slice(),
+        N::xgetri(
-                  &mut work, lwork, &mut info);
+            dim,
+            self.lu.as_mut_slice(),
+            dim,
+            self.p.as_mut_slice(),
+            &mut work,
+            lwork,
+            &mut info,
+        );
         lapack_check!(info);
 
         Some(self.lu)
     }
 }
 
-
-
-
 /*
  *
  * Lapack functions dispatch.
@@ -266,16 +314,31 @@ pub trait LUScalar: Scalar {
     #[allow(missing_docs)]
     fn xlaswp(n: i32, a: &mut [Self], lda: i32, k1: i32, k2: i32, ipiv: &[i32], incx: i32);
     #[allow(missing_docs)]
-    fn xgetrs(trans: u8, n: i32, nrhs: i32, a: &[Self], lda: i32, ipiv: &[i32],
+    fn xgetrs(
-              b: &mut [Self], ldb: i32, info: &mut i32);
+        trans: u8,
+        n: i32,
+        nrhs: i32,
+        a: &[Self],
+        lda: i32,
+        ipiv: &[i32],
+        b: &mut [Self],
+        ldb: i32,
+        info: &mut i32,
+    );
     #[allow(missing_docs)]
-    fn xgetri(n: i32, a: &mut [Self], lda: i32, ipiv: &[i32],
+    fn xgetri(
-              work: &mut [Self], lwork: i32, info: &mut i32);
+        n: i32,
+        a: &mut [Self],
+        lda: i32,
+        ipiv: &[i32],
+        work: &mut [Self],
+        lwork: i32,
+        info: &mut i32,
+    );
     #[allow(missing_docs)]
     fn xgetri_work_size(n: i32, a: &mut [Self], lda: i32, ipiv: &[i32], info: &mut i32) -> i32;
 }
 
-
 macro_rules! lup_scalar_impl(
     ($N: ty, $xgetrf: path, $xlaswp: path, $xgetrs: path, $xgetri: path) => (
         impl LUScalar for $N {
@@ -313,8 +376,31 @@ macro_rules! lup_scalar_impl(
     )
 );
 
-
+lup_scalar_impl!(
-lup_scalar_impl!(f32, interface::sgetrf, interface::slaswp, interface::sgetrs, interface::sgetri);
+    f32,
-lup_scalar_impl!(f64, interface::dgetrf, interface::dlaswp, interface::dgetrs, interface::dgetri);
+    interface::sgetrf,
-lup_scalar_impl!(Complex<f32>, interface::cgetrf, interface::claswp, interface::cgetrs, interface::cgetri);
+    interface::slaswp,
-lup_scalar_impl!(Complex<f64>, interface::zgetrf, interface::zlaswp, interface::zgetrs, interface::zgetri);
+    interface::sgetrs,
+    interface::sgetri
+);
+lup_scalar_impl!(
+    f64,
+    interface::dgetrf,
+    interface::dlaswp,
+    interface::dgetrs,
+    interface::dgetri
+);
+lup_scalar_impl!(
+    Complex<f32>,
+    interface::cgetrf,
+    interface::claswp,
+    interface::cgetrs,
+    interface::cgetri
+);
+lup_scalar_impl!(
+    Complex<f64>,
+    interface::zgetrf,
+    interface::zlaswp,
+    interface::zgetrs,
+    interface::zgetri
+);

nalgebra-lapack/src/qr.rs

@@ -4,67 +4,82 @@ use serde;
 use num_complex::Complex;
 use num::Zero;
 
-use ::ComplexHelper;
+use ComplexHelper;
-use na::{Scalar, DefaultAllocator, Matrix, VectorN, MatrixMN};
+use na::{DefaultAllocator, Matrix, MatrixMN, Scalar, VectorN};
 use na::dimension::{Dim, DimMin, DimMinimum, U1};
 use na::storage::Storage;
 use na::allocator::Allocator;
 
 use lapack::fortran as interface;
 
-
 /// The QR decomposition of a general matrix.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(serialize =
+           serde(bound(serialize = "DefaultAllocator: Allocator<N, R, C> +
-        "DefaultAllocator: Allocator<N, R, C> +
                            Allocator<N, DimMinimum<R, C>>,
          MatrixMN<N, R, C>: serde::Serialize,
          VectorN<N, DimMinimum<R, C>>: serde::Serialize")))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(deserialize =
+           serde(bound(deserialize = "DefaultAllocator: Allocator<N, R, C> +
-        "DefaultAllocator: Allocator<N, R, C> +
                            Allocator<N, DimMinimum<R, C>>,
          MatrixMN<N, R, C>: serde::Deserialize<'de>,
          VectorN<N, DimMinimum<R, C>>: serde::Deserialize<'de>")))]
 #[derive(Clone, Debug)]
 pub struct QR<N: Scalar, R: DimMin<C>, C: Dim>
-    where DefaultAllocator: Allocator<N, R, C> +
+where
-                            Allocator<N, DimMinimum<R, C>> {
+    DefaultAllocator: Allocator<N, R, C> + Allocator<N, DimMinimum<R, C>>,
-    qr:  MatrixMN<N, R, C>,
+{
-    tau: VectorN<N, DimMinimum<R, C>>
+    qr: MatrixMN<N, R, C>,
+    tau: VectorN<N, DimMinimum<R, C>>,
 }
 
 impl<N: Scalar, R: DimMin<C>, C: Dim> Copy for QR<N, R, C>
-    where DefaultAllocator: Allocator<N, R, C> +
+where
-                            Allocator<N, DimMinimum<R, C>>,
+    DefaultAllocator: Allocator<N, R, C> + Allocator<N, DimMinimum<R, C>>,
-          MatrixMN<N, R, C>: Copy,
+    MatrixMN<N, R, C>: Copy,
-          VectorN<N, DimMinimum<R, C>>: Copy { }
+    VectorN<N, DimMinimum<R, C>>: Copy,
+{
+}
 
 impl<N: QRScalar + Zero, R: DimMin<C>, C: Dim> QR<N, R, C>
-    where DefaultAllocator: Allocator<N, R, C> +
+where
-                            Allocator<N, R, DimMinimum<R, C>> +
+    DefaultAllocator: Allocator<N, R, C>
-                            Allocator<N, DimMinimum<R, C>, C> +
+        + Allocator<N, R, DimMinimum<R, C>>
-                            Allocator<N, DimMinimum<R, C>> {
+        + Allocator<N, DimMinimum<R, C>, C>
+        + Allocator<N, DimMinimum<R, C>>,
+{
     /// Computes the QR decomposition of the matrix `m`.
     pub fn new(mut m: MatrixMN<N, R, C>) -> QR<N, R, C> {
         let (nrows, ncols) = m.data.shape();
 
-        let mut info  = 0;
+        let mut info = 0;
         let mut tau = unsafe { Matrix::new_uninitialized_generic(nrows.min(ncols), U1) };
 
         if nrows.value() == 0 || ncols.value() == 0 {
             return QR { qr: m, tau: tau };
         }
 
-        let lwork = N::xgeqrf_work_size(nrows.value() as i32, ncols.value() as i32,
+        let lwork = N::xgeqrf_work_size(
-                                        m.as_mut_slice(), nrows.value() as i32,
+            nrows.value() as i32,
-                                        tau.as_mut_slice(), &mut info);
+            ncols.value() as i32,
+            m.as_mut_slice(),
+            nrows.value() as i32,
+            tau.as_mut_slice(),
+            &mut info,
+        );
 
         let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
 
-        N::xgeqrf(nrows.value() as i32, ncols.value() as i32, m.as_mut_slice(),
+        N::xgeqrf(
-                  nrows.value() as i32, tau.as_mut_slice(), &mut work, lwork, &mut info);
+            nrows.value() as i32,
+            ncols.value() as i32,
+            m.as_mut_slice(),
+            nrows.value() as i32,
+            tau.as_mut_slice(),
+            &mut work,
+            lwork,
+            &mut info,
+        );
 
         QR { qr: m, tau: tau }
     }
@@ -78,48 +93,67 @@ impl<N: QRScalar + Zero, R: DimMin<C>, C: Dim> QR<N, R, C>
 }
 
 impl<N: QRReal + Zero, R: DimMin<C>, C: Dim> QR<N, R, C>
-    where DefaultAllocator: Allocator<N, R, C> +
+where
-                            Allocator<N, R, DimMinimum<R, C>> +
+    DefaultAllocator: Allocator<N, R, C>
-                            Allocator<N, DimMinimum<R, C>, C> +
+        + Allocator<N, R, DimMinimum<R, C>>
-                            Allocator<N, DimMinimum<R, C>> {
+        + Allocator<N, DimMinimum<R, C>, C>
+        + Allocator<N, DimMinimum<R, C>>,
+{
     /// Retrieves the matrices `(Q, R)` of this decompositions.
-    pub fn unpack(self) -> (MatrixMN<N, R, DimMinimum<R, C>>, MatrixMN<N, DimMinimum<R, C>, C>) {
+    pub fn unpack(
+        self,
+    ) -> (
+        MatrixMN<N, R, DimMinimum<R, C>>,
+        MatrixMN<N, DimMinimum<R, C>, C>,
+    ) {
         (self.q(), self.r())
     }
 
-
     /// Computes the orthogonal matrix `Q` of this decomposition.
     #[inline]
     pub fn q(&self) -> MatrixMN<N, R, DimMinimum<R, C>> {
-        let (nrows, ncols)  = self.qr.data.shape();
+        let (nrows, ncols) = self.qr.data.shape();
         let min_nrows_ncols = nrows.min(ncols);
 
         if min_nrows_ncols.value() == 0 {
             return MatrixMN::from_element_generic(nrows, min_nrows_ncols, N::zero());
         }
 
-        let mut q = self.qr.generic_slice((0, 0), (nrows, min_nrows_ncols)).into_owned();
+        let mut q = self.qr
+            .generic_slice((0, 0), (nrows, min_nrows_ncols))
+            .into_owned();
 
-        let mut info  = 0;
+        let mut info = 0;
         let nrows = nrows.value() as i32;
 
-        let lwork = N::xorgqr_work_size(nrows, min_nrows_ncols.value() as i32,
+        let lwork = N::xorgqr_work_size(
-                                        self.tau.len() as i32, q.as_mut_slice(), nrows,
+            nrows,
-                                        self.tau.as_slice(), &mut info);
+            min_nrows_ncols.value() as i32,
+            self.tau.len() as i32,
+            q.as_mut_slice(),
+            nrows,
+            self.tau.as_slice(),
+            &mut info,
+        );
 
-        let mut work = vec![ N::zero(); lwork as usize ];
+        let mut work = vec![N::zero(); lwork as usize];
 
-        N::xorgqr(nrows, min_nrows_ncols.value() as i32, self.tau.len() as i32, q.as_mut_slice(),
+        N::xorgqr(
-                  nrows, self.tau.as_slice(), &mut work, lwork, &mut info);
+            nrows,
+            min_nrows_ncols.value() as i32,
+            self.tau.len() as i32,
+            q.as_mut_slice(),
+            nrows,
+            self.tau.as_slice(),
+            &mut work,
+            lwork,
+            &mut info,
+        );
 
         q
     }
 }
 
-
-
-
-
 /*
  *
  * Lapack functions dispatch.
@@ -128,23 +162,53 @@ impl<N: QRReal + Zero, R: DimMin<C>, C: Dim> QR<N, R, C>
 /// Trait implemented by scalar types for which Lapack funtion exist to compute the
 /// QR decomposition.
 pub trait QRScalar: Scalar {
-    fn xgeqrf(m: i32, n: i32, a: &mut [Self], lda: i32, tau: &mut [Self],
+    fn xgeqrf(
-              work: &mut [Self], lwork: i32, info: &mut i32);
+        m: i32,
+        n: i32,
+        a: &mut [Self],
+        lda: i32,
+        tau: &mut [Self],
+        work: &mut [Self],
+        lwork: i32,
+        info: &mut i32,
+    );
 
-    fn xgeqrf_work_size(m: i32, n: i32, a: &mut [Self], lda: i32,
+    fn xgeqrf_work_size(
-                        tau: &mut [Self], info: &mut i32) -> i32;
+        m: i32,
+        n: i32,
+        a: &mut [Self],
+        lda: i32,
+        tau: &mut [Self],
+        info: &mut i32,
+    ) -> i32;
 }
 
 /// Trait implemented by reals for which Lapack funtion exist to compute the
 /// QR decomposition.
 pub trait QRReal: QRScalar {
     #[allow(missing_docs)]
-    fn xorgqr(m: i32, n: i32, k: i32, a: &mut [Self], lda: i32, tau: &[Self], work: &mut [Self],
+    fn xorgqr(
-              lwork: i32, info: &mut i32);
+        m: i32,
+        n: i32,
+        k: i32,
+        a: &mut [Self],
+        lda: i32,
+        tau: &[Self],
+        work: &mut [Self],
+        lwork: i32,
+        info: &mut i32,
+    );
 
     #[allow(missing_docs)]
-    fn xorgqr_work_size(m: i32, n: i32, k: i32, a: &mut [Self], lda: i32,
+    fn xorgqr_work_size(
-                        tau: &[Self], info: &mut i32) -> i32;
+        m: i32,
+        n: i32,
+        k: i32,
+        a: &mut [Self],
+        lda: i32,
+        tau: &[Self],
+        info: &mut i32,
+    ) -> i32;
 }
 
 macro_rules! qr_scalar_impl(

nalgebra-lapack/src/schur.rs

@@ -6,8 +6,8 @@ use num_complex::Complex;
 
 use alga::general::Real;
 
-use ::ComplexHelper;
+use ComplexHelper;
-use na::{Scalar, DefaultAllocator, Matrix, VectorN, MatrixN};
+use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
 use na::dimension::{Dim, U1};
 use na::storage::Storage;
 use na::allocator::Allocator;
@@ -17,35 +17,36 @@ use lapack::fortran as interface;
 /// Eigendecomposition of a real square matrix with real eigenvalues.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(serialize =
+           serde(bound(serialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
-        "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
          VectorN<N, D>: serde::Serialize,
          MatrixN<N, D>: serde::Serialize")))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(deserialize =
+           serde(bound(deserialize = "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
-        "DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
          VectorN<N, D>: serde::Serialize,
          MatrixN<N, D>: serde::Deserialize<'de>")))]
 #[derive(Clone, Debug)]
 pub struct RealSchur<N: Scalar, D: Dim>
-    where DefaultAllocator: Allocator<N, D> +
+where
-                            Allocator<N, D, D> {
+    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,
-
+{
     re: VectorN<N, D>,
     im: VectorN<N, D>,
-    t:  MatrixN<N, D>,
+    t: MatrixN<N, D>,
-    q:  MatrixN<N, D>
+    q: MatrixN<N, D>,
 }
 
 impl<N: Scalar, D: Dim> Copy for RealSchur<N, D>
-    where DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+where
-                            MatrixN<N, D>: Copy,
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
-                            VectorN<N, D>: Copy { }
+    MatrixN<N, D>: Copy,
-
+    VectorN<N, D>: Copy,
+{
+}
 
 impl<N: RealSchurScalar + Real, D: Dim> RealSchur<N, D>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, D> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+{
     /// Computes the eigenvalues and real Schur foorm of the matrix `m`.
     ///
     /// Panics if the method did not converge.
@@ -57,7 +58,10 @@ impl<N: RealSchurScalar + Real, D: Dim> RealSchur<N, D>
     ///
     /// Returns `None` if the method did not converge.
     pub fn try_new(mut m: MatrixN<N, D>) -> Option<Self> {
-        assert!(m.is_square(), "Unable to compute the eigenvalue decomposition of a non-square matrix.");
+        assert!(
+            m.is_square(),
+            "Unable to compute the eigenvalue decomposition of a non-square matrix."
+        );
 
         let (nrows, ncols) = m.data.shape();
         let n = nrows.value();
@@ -68,24 +72,53 @@ impl<N: RealSchurScalar + Real, D: Dim> RealSchur<N, D>
 
         let mut wr = unsafe { Matrix::new_uninitialized_generic(nrows, U1) };
         let mut wi = unsafe { Matrix::new_uninitialized_generic(nrows, U1) };
-        let mut q  = unsafe { Matrix::new_uninitialized_generic(nrows, ncols) };
+        let mut q = unsafe { Matrix::new_uninitialized_generic(nrows, ncols) };
         // Placeholders:
-        let mut bwork  = [ 0i32 ];
+        let mut bwork = [0i32];
         let mut unused = 0;
 
-        let lwork = N::xgees_work_size(b'V', b'N', n as i32, m.as_mut_slice(), lda, &mut unused,
+        let lwork = N::xgees_work_size(
-                        wr.as_mut_slice(), wi.as_mut_slice(), q.as_mut_slice(), n as i32,
+            b'V',
-                        &mut bwork, &mut info);
+            b'N',
+            n as i32,
+            m.as_mut_slice(),
+            lda,
+            &mut unused,
+            wr.as_mut_slice(),
+            wi.as_mut_slice(),
+            q.as_mut_slice(),
+            n as i32,
+            &mut bwork,
+            &mut info,
+        );
         lapack_check!(info);
 
         let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
 
-        N::xgees(b'V', b'N', n as i32, m.as_mut_slice(), lda, &mut unused,
+        N::xgees(
-                 wr.as_mut_slice(), wi.as_mut_slice(), q.as_mut_slice(),
+            b'V',
-                 n as i32, &mut work, lwork, &mut bwork, &mut info);
+            b'N',
+            n as i32,
+            m.as_mut_slice(),
+            lda,
+            &mut unused,
+            wr.as_mut_slice(),
+            wi.as_mut_slice(),
+            q.as_mut_slice(),
+            n as i32,
+            &mut work,
+            lwork,
+            &mut bwork,
+            &mut info,
+        );
         lapack_check!(info);
 
-        Some(RealSchur { re: wr, im: wi, t: m, q: q })
+        Some(RealSchur {
+            re: wr,
+            im: wi,
+            t: m,
+            q: q,
+        })
     }
 
     /// Retrieves the unitary matrix `Q` and the upper-quasitriangular matrix `T` such that the
@@ -100,19 +133,19 @@ impl<N: RealSchurScalar + Real, D: Dim> RealSchur<N, D>
     pub fn eigenvalues(&self) -> Option<VectorN<N, D>> {
         if self.im.iter().all(|e| e.is_zero()) {
             Some(self.re.clone())
-        }
+        } else {
-        else {
             None
         }
     }
 
     /// Computes the complex eigenvalues of the decomposed matrix.
     pub fn complex_eigenvalues(&self) -> VectorN<Complex<N>, D>
-        where DefaultAllocator: Allocator<Complex<N>, D> {
+    where
-
+        DefaultAllocator: Allocator<Complex<N>, D>,
+    {
         let mut out = unsafe { VectorN::new_uninitialized_generic(self.t.data.shape().0, U1) };
 
-        for i in 0 .. out.len() {
+        for i in 0..out.len() {
             out[i] = Complex::new(self.re[i], self.im[i])
         }
 
@@ -120,7 +153,6 @@ impl<N: RealSchurScalar + Real, D: Dim> RealSchur<N, D>
     }
 }
 
-
 /*
  *
  * Lapack functions dispatch.
@@ -129,75 +161,78 @@ impl<N: RealSchurScalar + Real, D: Dim> RealSchur<N, D>
 /// Trait implemented by scalars for which Lapack implements the Real Schur decomposition.
 pub trait RealSchurScalar: Scalar {
     #[allow(missing_docs)]
-    fn xgees(jobvs:  u8, 
+    fn xgees(
-             sort:   u8, 
+        jobvs: u8,
-             // select: ???
+        sort: u8,
-             n:      i32, 
+        // select: ???
-             a:      &mut [Self], 
+        n: i32,
-             lda:    i32, 
+        a: &mut [Self],
-             sdim:   &mut i32, 
+        lda: i32,
-             wr:     &mut [Self], 
+        sdim: &mut i32,
-             wi:     &mut [Self], 
+        wr: &mut [Self],
-             vs:     &mut [Self], 
+        wi: &mut [Self],
-             ldvs:   i32, 
+        vs: &mut [Self],
-             work:   &mut [Self], 
+        ldvs: i32,
-             lwork:  i32, 
+        work: &mut [Self],
-             bwork:  &mut [i32], 
+        lwork: i32,
-             info:   &mut i32);
+        bwork: &mut [i32],
+        info: &mut i32,
+    );
 
     #[allow(missing_docs)]
-    fn xgees_work_size(jobvs:  u8, 
+    fn xgees_work_size(
-                       sort:   u8, 
+        jobvs: u8,
-                       // select: ???
+        sort: u8,
-                       n:      i32, 
+        // select: ???
-                       a:      &mut [Self], 
+        n: i32,
-                       lda:    i32, 
+        a: &mut [Self],
-                       sdim:   &mut i32, 
+        lda: i32,
-                       wr:     &mut [Self], 
+        sdim: &mut i32,
-                       wi:     &mut [Self], 
+        wr: &mut [Self],
-                       vs:     &mut [Self], 
+        wi: &mut [Self],
-                       ldvs:   i32, 
+        vs: &mut [Self],
-                       bwork:  &mut [i32], 
+        ldvs: i32,
-                       info:   &mut i32)
+        bwork: &mut [i32],
-                       -> i32;
+        info: &mut i32,
+    ) -> i32;
 }
 
 macro_rules! real_eigensystem_scalar_impl (
     ($N: ty, $xgees: path) => (
         impl RealSchurScalar for $N {
             #[inline]
-            fn xgees(jobvs:  u8, 
+            fn xgees(jobvs:  u8,
-                     sort:   u8, 
+                     sort:   u8,
                      // select: ???
-                     n:      i32, 
+                     n:      i32,
-                     a:      &mut [$N], 
+                     a:      &mut [$N],
-                     lda:    i32, 
+                     lda:    i32,
-                     sdim:   &mut i32, 
+                     sdim:   &mut i32,
-                     wr:     &mut [$N], 
+                     wr:     &mut [$N],
-                     wi:     &mut [$N], 
+                     wi:     &mut [$N],
-                     vs:     &mut [$N], 
+                     vs:     &mut [$N],
-                     ldvs:   i32, 
+                     ldvs:   i32,
-                     work:   &mut [$N], 
+                     work:   &mut [$N],
-                     lwork:  i32, 
+                     lwork:  i32,
-                     bwork:  &mut [i32], 
+                     bwork:  &mut [i32],
                      info:   &mut i32) {
                 $xgees(jobvs, sort, None, n, a, lda, sdim, wr, wi, vs, ldvs, work, lwork, bwork, info);
             }
 
 
             #[inline]
-            fn xgees_work_size(jobvs:  u8, 
+            fn xgees_work_size(jobvs:  u8,
-                               sort:   u8, 
+                               sort:   u8,
                                // select: ???
-                               n:      i32, 
+                               n:      i32,
-                               a:      &mut [$N], 
+                               a:      &mut [$N],
-                               lda:    i32, 
+                               lda:    i32,
-                               sdim:   &mut i32, 
+                               sdim:   &mut i32,
-                               wr:     &mut [$N], 
+                               wr:     &mut [$N],
-                               wi:     &mut [$N], 
+                               wi:     &mut [$N],
-                               vs:     &mut [$N], 
+                               vs:     &mut [$N],
-                               ldvs:   i32, 
+                               ldvs:   i32,
-                               bwork:  &mut [i32], 
+                               bwork:  &mut [i32],
                                info:   &mut i32)
                                -> i32 {
                 let mut work = [ Zero::zero() ];

nalgebra-lapack/src/svd.rs

@@ -4,28 +4,24 @@ use serde;
 use std::cmp;
 use num::Signed;
 
-use na::{Scalar, Matrix, VectorN, MatrixN, MatrixMN,
+use na::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar, VectorN};
-         DefaultAllocator};
 use na::dimension::{Dim, DimMin, DimMinimum, U1};
 use na::storage::Storage;
 use na::allocator::Allocator;
 
 use lapack::fortran as interface;
 
-
 /// The SVD decomposition of a general matrix.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(serialize =
+           serde(bound(serialize = "DefaultAllocator: Allocator<N, DimMinimum<R, C>> +
-        "DefaultAllocator: Allocator<N, DimMinimum<R, C>> +
                            Allocator<N, R, R> +
                            Allocator<N, C, C>,
          MatrixN<N, R>: serde::Serialize,
          MatrixN<N, C>: serde::Serialize,
          VectorN<N, DimMinimum<R, C>>: serde::Serialize")))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(serialize =
+           serde(bound(serialize = "DefaultAllocator: Allocator<N, DimMinimum<R, C>> +
-        "DefaultAllocator: Allocator<N, DimMinimum<R, C>> +
                            Allocator<N, R, R> +
                            Allocator<N, C, C>,
          MatrixN<N, R>: serde::Deserialize<'de>,
@@ -33,41 +29,46 @@ use lapack::fortran as interface;
          VectorN<N, DimMinimum<R, C>>: serde::Deserialize<'de>")))]
 #[derive(Clone, Debug)]
 pub struct SVD<N: Scalar, R: DimMin<C>, C: Dim>
-    where DefaultAllocator: Allocator<N, R, R>                 +
+where
-                            Allocator<N, DimMinimum<R, C>> +
+    DefaultAllocator: Allocator<N, R, R> + Allocator<N, DimMinimum<R, C>> + Allocator<N, C, C>,
-                            Allocator<N, C, C> {
+{
     /// The left-singular vectors `U` of this SVD.
-    pub u:  MatrixN<N, R>, // FIXME: should be MatrixMN<N, R, DimMinimum<R, C>>
+    pub u: MatrixN<N, R>, // FIXME: should be MatrixMN<N, R, DimMinimum<R, C>>
     /// The right-singular vectors `V^t` of this SVD.
     pub vt: MatrixN<N, C>, // FIXME: should be MatrixMN<N, DimMinimum<R, C>, C>
     /// The singular values of this SVD.
-    pub singular_values: VectorN<N, DimMinimum<R, C>>
+    pub singular_values: VectorN<N, DimMinimum<R, C>>,
 }
 
 impl<N: Scalar, R: DimMin<C>, C: Dim> Copy for SVD<N, R, C>
-    where DefaultAllocator: Allocator<N, C, C> +
+where
-                            Allocator<N, R, R> +
+    DefaultAllocator: Allocator<N, C, C> + Allocator<N, R, R> + Allocator<N, DimMinimum<R, C>>,
-                            Allocator<N, DimMinimum<R, C>>,
+    MatrixMN<N, R, R>: Copy,
-          MatrixMN<N, R, R>: Copy,
+    MatrixMN<N, C, C>: Copy,
-          MatrixMN<N, C, C>: Copy,
+    VectorN<N, DimMinimum<R, C>>: Copy,
-          VectorN<N, DimMinimum<R, C>>: Copy { }
+{
+}
 
 /// Trait implemented by floats (`f32`, `f64`) and complex floats (`Complex<f32>`, `Complex<f64>`)
 /// supported by the Singular Value Decompotition.
 pub trait SVDScalar<R: DimMin<C>, C: Dim>: Scalar
-    where DefaultAllocator: Allocator<Self, R, R>                 +
+where
-                            Allocator<Self, R, C>                 +
+    DefaultAllocator: Allocator<Self, R, R>
-                            Allocator<Self, DimMinimum<R, C>> +
+        + Allocator<Self, R, C>
-                            Allocator<Self, C, C> {
+        + Allocator<Self, DimMinimum<R, C>>
+        + Allocator<Self, C, C>,
+{
     /// Computes the SVD decomposition of `m`.
     fn compute(m: MatrixMN<Self, R, C>) -> Option<SVD<Self, R, C>>;
 }
 
 impl<N: SVDScalar<R, C>, R: DimMin<C>, C: Dim> SVD<N, R, C>
-    where DefaultAllocator: Allocator<N, R, R>             +
+where
-                            Allocator<N, R, C>             +
+    DefaultAllocator: Allocator<N, R, R>
-                            Allocator<N, DimMinimum<R, C>> +
+        + Allocator<N, R, C>
-                            Allocator<N, C, C> {
+        + Allocator<N, DimMinimum<R, C>>
+        + Allocator<N, C, C>,
+{
     /// Computes the Singular Value Decomposition of `matrix`.
     pub fn new(m: MatrixMN<N, R, C>) -> Option<Self> {
         N::compute(m)

nalgebra-lapack/src/symmetric_eigen.rs

@@ -6,8 +6,8 @@ use std::ops::MulAssign;
 
 use alga::general::Real;
 
-use ::ComplexHelper;
+use ComplexHelper;
-use na::{Scalar, DefaultAllocator, Matrix, VectorN, MatrixN};
+use na::{DefaultAllocator, Matrix, MatrixN, Scalar, VectorN};
 use na::dimension::{Dim, U1};
 use na::storage::Storage;
 use na::allocator::Allocator;
@@ -17,46 +17,50 @@ use lapack::fortran as interface;
 /// Eigendecomposition of a real square symmetric matrix with real eigenvalues.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(serialize =
+           serde(bound(serialize = "DefaultAllocator: Allocator<N, D, D> +
-        "DefaultAllocator: Allocator<N, D, D> +
                            Allocator<N, D>,
          VectorN<N, D>: serde::Serialize,
          MatrixN<N, D>: serde::Serialize")))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(deserialize =
+           serde(bound(deserialize = "DefaultAllocator: Allocator<N, D, D> +
-        "DefaultAllocator: Allocator<N, D, D> +
                            Allocator<N, D>,
          VectorN<N, D>: serde::Deserialize<'de>,
          MatrixN<N, D>: serde::Deserialize<'de>")))]
 #[derive(Clone, Debug)]
 pub struct SymmetricEigen<N: Scalar, D: Dim>
-    where DefaultAllocator: Allocator<N, D> +
+where
-    Allocator<N, D, D> {
+    DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,
+{
     /// The eigenvectors of the decomposed matrix.
     pub eigenvectors: MatrixN<N, D>,
 
     /// The unsorted eigenvalues of the decomposed matrix.
-    pub eigenvalues:  VectorN<N, D>,
+    pub eigenvalues: VectorN<N, D>,
 }
 
-
 impl<N: Scalar, D: Dim> Copy for SymmetricEigen<N, D>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, D>,
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
-          MatrixN<N, D>: Copy,
+    MatrixN<N, D>: Copy,
-          VectorN<N, D>: Copy { }
+    VectorN<N, D>: Copy,
+{
+}
 
 impl<N: SymmetricEigenScalar + Real, D: Dim> SymmetricEigen<N, D>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, D> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
-
+{
     /// Computes the eigenvalues and eigenvectors of the symmetric matrix `m`.
     ///
     /// Only the lower-triangular part of `m` is read. If `eigenvectors` is `false` then, the
     /// eigenvectors are not computed explicitly. Panics if the method did not converge.
     pub fn new(m: MatrixN<N, D>) -> Self {
-        let (vals, vecs) = Self::do_decompose(m, true).expect("SymmetricEigen: convergence failure.");
+        let (vals, vecs) =
-        SymmetricEigen { eigenvalues: vals, eigenvectors: vecs.unwrap() }
+            Self::do_decompose(m, true).expect("SymmetricEigen: convergence failure.");
+        SymmetricEigen {
+            eigenvalues: vals,
+            eigenvectors: vecs.unwrap(),
+        }
     }
 
     /// Computes the eigenvalues and eigenvectors of the symmetric matrix `m`.
@@ -64,13 +68,20 @@ impl<N: SymmetricEigenScalar + Real, D: Dim> SymmetricEigen<N, D>
     /// Only the lower-triangular part of `m` is read. If `eigenvectors` is `false` then, the
     /// eigenvectors are not computed explicitly. Returns `None` if the method did not converge.
     pub fn try_new(m: MatrixN<N, D>) -> Option<Self> {
-        Self::do_decompose(m, true).map(|(vals, vecs)| {
+        Self::do_decompose(m, true).map(|(vals, vecs)| SymmetricEigen {
-            SymmetricEigen { eigenvalues: vals, eigenvectors: vecs.unwrap() }
+            eigenvalues: vals,
+            eigenvectors: vecs.unwrap(),
         })
     }
 
-    fn do_decompose(mut m: MatrixN<N, D>, eigenvectors: bool) -> Option<(VectorN<N, D>, Option<MatrixN<N, D>>)> {
+    fn do_decompose(
-        assert!(m.is_square(), "Unable to compute the eigenvalue decomposition of a non-square matrix.");
+        mut m: MatrixN<N, D>,
+        eigenvectors: bool,
+    ) -> Option<(VectorN<N, D>, Option<MatrixN<N, D>>)> {
+        assert!(
+            m.is_square(),
+            "Unable to compute the eigenvalue decomposition of a non-square matrix."
+        );
 
         let jobz = if eigenvectors { b'V' } else { b'N' };
 
@@ -87,7 +98,17 @@ impl<N: SymmetricEigenScalar + Real, D: Dim> SymmetricEigen<N, D>
 
         let mut work = unsafe { ::uninitialized_vec(lwork as usize) };
 
-        N::xsyev(jobz, b'L', n as i32, m.as_mut_slice(), lda, values.as_mut_slice(), &mut work, lwork, &mut info);
+        N::xsyev(
+            jobz,
+            b'L',
+            n as i32,
+            m.as_mut_slice(),
+            lda,
+            values.as_mut_slice(),
+            &mut work,
+            lwork,
+            &mut info,
+        );
         lapack_check!(info);
 
         let vectors = if eigenvectors { Some(m) } else { None };
@@ -98,7 +119,9 @@ impl<N: SymmetricEigenScalar + Real, D: Dim> SymmetricEigen<N, D>
     ///
     /// Panics if the method does not converge.
     pub fn eigenvalues(m: MatrixN<N, D>) -> VectorN<N, D> {
-        Self::do_decompose(m, false).expect("SymmetricEigen eigenvalues: convergence failure.").0
+        Self::do_decompose(m, false)
+            .expect("SymmetricEigen eigenvalues: convergence failure.")
+            .0
     }
 
     /// Computes only the eigenvalues of the input matrix.
@@ -124,7 +147,7 @@ impl<N: SymmetricEigenScalar + Real, D: Dim> SymmetricEigen<N, D>
     /// This is useful if some of the eigenvalues have been manually modified.
     pub fn recompose(&self) -> MatrixN<N, D> {
         let mut u_t = self.eigenvectors.clone();
-        for i in 0 .. self.eigenvalues.len() {
+        for i in 0..self.eigenvalues.len() {
             let val = self.eigenvalues[i];
             u_t.column_mut(i).mul_assign(val);
         }
@@ -133,7 +156,6 @@ impl<N: SymmetricEigenScalar + Real, D: Dim> SymmetricEigen<N, D>
     }
 }
 
-
 /*
  *
  * Lapack functions dispatch.
@@ -143,10 +165,20 @@ impl<N: SymmetricEigenScalar + Real, D: Dim> SymmetricEigen<N, D>
 /// real matrices.
 pub trait SymmetricEigenScalar: Scalar {
     #[allow(missing_docs)]
-    fn xsyev(jobz: u8, uplo: u8, n: i32, a: &mut [Self], lda: i32, w: &mut [Self], work: &mut [Self],
+    fn xsyev(
-             lwork: i32, info: &mut i32);
+        jobz: u8,
+        uplo: u8,
+        n: i32,
+        a: &mut [Self],
+        lda: i32,
+        w: &mut [Self],
+        work: &mut [Self],
+        lwork: i32,
+        info: &mut i32,
+    );
     #[allow(missing_docs)]
-    fn xsyev_work_size(jobz: u8, uplo: u8, n: i32, a: &mut [Self], lda: i32, info: &mut i32) -> i32;
+    fn xsyev_work_size(jobz: u8, uplo: u8, n: i32, a: &mut [Self], lda: i32, info: &mut i32)
+        -> i32;
 }
 
 macro_rules! real_eigensystem_scalar_impl (

nalgebra-lapack/tests/lib.rs

@@ -1,9 +1,8 @@
 #[macro_use]
-extern crate quickcheck;
-#[macro_use]
 extern crate approx;
 extern crate nalgebra as na;
 extern crate nalgebra_lapack as nl;
-
+#[macro_use]
+extern crate quickcheck;
 
 mod linalg;

nalgebra-lapack/tests/linalg/cholesky.rs

@@ -1,7 +1,7 @@
 use std::cmp;
 
 use nl::Cholesky;
-use na::{DMatrix, DVector, Vector4, Matrix3, Matrix4x3, Matrix4};
+use na::{DMatrix, DVector, Matrix3, Matrix4, Matrix4x3, Vector4};
 
 quickcheck!{
     fn cholesky(m: DMatrix<f64>) -> bool {

nalgebra-lapack/tests/linalg/lu.rs

@@ -1,7 +1,7 @@
 use std::cmp;
 
 use nl::LU;
-use na::{DMatrix, DVector, Matrix4, Matrix4x3, Matrix3x4, Vector4};
+use na::{DMatrix, DVector, Matrix3x4, Matrix4, Matrix4x3, Vector4};
 
 quickcheck!{
     fn lup(m: DMatrix<f64>) -> bool {

nalgebra-lapack/tests/linalg/real_schur.rs

@@ -18,4 +18,3 @@ quickcheck! {
         relative_eq!(vecs * vals * vecs.transpose(), m, epsilon = 1.0e-7)
     }
 }
-

src/core/alias.rs

@@ -71,7 +71,6 @@ pub type Matrix4x6<N> = MatrixMN<N, U4, U6>;
 /// A stack-allocated, column-major, 5x6 square matrix.
 pub type Matrix5x6<N> = MatrixMN<N, U5, U6>;
 
-
 /// A stack-allocated, column-major, 2x1 square matrix.
 pub type Matrix2x1<N> = MatrixMN<N, U2, U1>;
 /// A stack-allocated, column-major, 3x1 square matrix.
@@ -107,7 +106,6 @@ pub type Matrix6x4<N> = MatrixMN<N, U6, U4>;
 /// A stack-allocated, column-major, 6x5 square matrix.
 pub type Matrix6x5<N> = MatrixMN<N, U6, U5>;
 
-
 /*
  *
  *
@@ -134,7 +132,6 @@ pub type Vector5<N> = VectorN<N, U5>;
 /// A stack-allocated, 6-dimensional column vector.
 pub type Vector6<N> = VectorN<N, U6>;
 
-
 /*
  *
  *

src/core/alias_slice.rs

@@ -10,143 +10,189 @@ use core::matrix_slice::{SliceStorage, SliceStorageMut};
  *
  */
 /// A column-major matrix slice with `R` rows and `C` columns.
-pub type MatrixSliceMN<'a, N, R, C, RStride = U1, CStride = R>
+pub type MatrixSliceMN<'a, N, R, C, RStride = U1, CStride = R> =
-    = Matrix<N, R, C, SliceStorage<'a, N, R, C, RStride, CStride>>;
+    Matrix<N, R, C, SliceStorage<'a, N, R, C, RStride, CStride>>;
 
 /// A column-major matrix slice with `D` rows and columns.
-pub type MatrixSliceN<'a, N, D, RStride = U1, CStride = D> = MatrixSliceMN<'a, N, D, D, RStride, CStride>;
+pub type MatrixSliceN<'a, N, D, RStride = U1, CStride = D> =
+    MatrixSliceMN<'a, N, D, D, RStride, CStride>;
 
 /// A column-major matrix slice dynamic numbers of rows and columns.
-pub type DMatrixSlice<'a, N, RStride = U1, CStride = Dynamic> = MatrixSliceN<'a, N, Dynamic, RStride, CStride>;
+pub type DMatrixSlice<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceN<'a, N, Dynamic, RStride, CStride>;
 
 /// A column-major 1x1 matrix slice.
-pub type MatrixSlice1<'a, N, RStride = U1, CStride = U1>  = MatrixSliceN<'a, N, U1, RStride, CStride>;
+pub type MatrixSlice1<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceN<'a, N, U1, RStride, CStride>;
 /// A column-major 2x2 matrix slice.
-pub type MatrixSlice2<'a, N, RStride = U1, CStride = U2>  = MatrixSliceN<'a, N, U2, RStride, CStride>;
+pub type MatrixSlice2<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceN<'a, N, U2, RStride, CStride>;
 /// A column-major 3x3 matrix slice.
-pub type MatrixSlice3<'a, N, RStride = U1, CStride = U3>  = MatrixSliceN<'a, N, U3, RStride, CStride>;
+pub type MatrixSlice3<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceN<'a, N, U3, RStride, CStride>;
 /// A column-major 4x4 matrix slice.
-pub type MatrixSlice4<'a, N, RStride = U1, CStride = U4>  = MatrixSliceN<'a, N, U4, RStride, CStride>;
+pub type MatrixSlice4<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceN<'a, N, U4, RStride, CStride>;
 /// A column-major 5x5 matrix slice.
-pub type MatrixSlice5<'a, N, RStride = U1, CStride = U5>  = MatrixSliceN<'a, N, U5, RStride, CStride>;
+pub type MatrixSlice5<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceN<'a, N, U5, RStride, CStride>;
 /// A column-major 6x6 matrix slice.
-pub type MatrixSlice6<'a, N, RStride = U1, CStride = U6>  = MatrixSliceN<'a, N, U6, RStride, CStride>;
+pub type MatrixSlice6<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceN<'a, N, U6, RStride, CStride>;
 
 /// A column-major 1x2 matrix slice.
-pub type MatrixSlice1x2<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMN<'a, N, U1, U2, RStride, CStride>;
+pub type MatrixSlice1x2<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMN<'a, N, U1, U2, RStride, CStride>;
 /// A column-major 1x3 matrix slice.
-pub type MatrixSlice1x3<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMN<'a, N, U1, U3, RStride, CStride>;
+pub type MatrixSlice1x3<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMN<'a, N, U1, U3, RStride, CStride>;
 /// A column-major 1x4 matrix slice.
-pub type MatrixSlice1x4<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMN<'a, N, U1, U4, RStride, CStride>;
+pub type MatrixSlice1x4<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMN<'a, N, U1, U4, RStride, CStride>;
 /// A column-major 1x5 matrix slice.
-pub type MatrixSlice1x5<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMN<'a, N, U1, U5, RStride, CStride>;
+pub type MatrixSlice1x5<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMN<'a, N, U1, U5, RStride, CStride>;
 /// A column-major 1x6 matrix slice.
-pub type MatrixSlice1x6<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMN<'a, N, U1, U6, RStride, CStride>;
+pub type MatrixSlice1x6<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMN<'a, N, U1, U6, RStride, CStride>;
 
 /// A column-major 2x1 matrix slice.
-pub type MatrixSlice2x1<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMN<'a, N, U2, U1, RStride, CStride>;
+pub type MatrixSlice2x1<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMN<'a, N, U2, U1, RStride, CStride>;
 /// A column-major 2x3 matrix slice.
-pub type MatrixSlice2x3<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMN<'a, N, U2, U3, RStride, CStride>;
+pub type MatrixSlice2x3<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMN<'a, N, U2, U3, RStride, CStride>;
 /// A column-major 2x4 matrix slice.
-pub type MatrixSlice2x4<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMN<'a, N, U2, U4, RStride, CStride>;
+pub type MatrixSlice2x4<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMN<'a, N, U2, U4, RStride, CStride>;
 /// A column-major 2x5 matrix slice.
-pub type MatrixSlice2x5<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMN<'a, N, U2, U5, RStride, CStride>;
+pub type MatrixSlice2x5<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMN<'a, N, U2, U5, RStride, CStride>;
 /// A column-major 2x6 matrix slice.
-pub type MatrixSlice2x6<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMN<'a, N, U2, U6, RStride, CStride>;
+pub type MatrixSlice2x6<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMN<'a, N, U2, U6, RStride, CStride>;
 
 /// A column-major 3x1 matrix slice.
-pub type MatrixSlice3x1<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMN<'a, N, U3, U1, RStride, CStride>;
+pub type MatrixSlice3x1<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMN<'a, N, U3, U1, RStride, CStride>;
 /// A column-major 3x2 matrix slice.
-pub type MatrixSlice3x2<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMN<'a, N, U3, U2, RStride, CStride>;
+pub type MatrixSlice3x2<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMN<'a, N, U3, U2, RStride, CStride>;
 /// A column-major 3x4 matrix slice.
-pub type MatrixSlice3x4<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMN<'a, N, U3, U4, RStride, CStride>;
+pub type MatrixSlice3x4<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMN<'a, N, U3, U4, RStride, CStride>;
 /// A column-major 3x5 matrix slice.
-pub type MatrixSlice3x5<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMN<'a, N, U3, U5, RStride, CStride>;
+pub type MatrixSlice3x5<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMN<'a, N, U3, U5, RStride, CStride>;
 /// A column-major 3x6 matrix slice.
-pub type MatrixSlice3x6<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMN<'a, N, U3, U6, RStride, CStride>;
+pub type MatrixSlice3x6<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMN<'a, N, U3, U6, RStride, CStride>;
 
 /// A column-major 4x1 matrix slice.
-pub type MatrixSlice4x1<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMN<'a, N, U4, U1, RStride, CStride>;
+pub type MatrixSlice4x1<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMN<'a, N, U4, U1, RStride, CStride>;
 /// A column-major 4x2 matrix slice.
-pub type MatrixSlice4x2<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMN<'a, N, U4, U2, RStride, CStride>;
+pub type MatrixSlice4x2<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMN<'a, N, U4, U2, RStride, CStride>;
 /// A column-major 4x3 matrix slice.
-pub type MatrixSlice4x3<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMN<'a, N, U4, U3, RStride, CStride>;
+pub type MatrixSlice4x3<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMN<'a, N, U4, U3, RStride, CStride>;
 /// A column-major 4x5 matrix slice.
-pub type MatrixSlice4x5<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMN<'a, N, U4, U5, RStride, CStride>;
+pub type MatrixSlice4x5<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMN<'a, N, U4, U5, RStride, CStride>;
 /// A column-major 4x6 matrix slice.
-pub type MatrixSlice4x6<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMN<'a, N, U4, U6, RStride, CStride>;
+pub type MatrixSlice4x6<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMN<'a, N, U4, U6, RStride, CStride>;
 
 /// A column-major 5x1 matrix slice.
-pub type MatrixSlice5x1<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMN<'a, N, U5, U1, RStride, CStride>;
+pub type MatrixSlice5x1<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMN<'a, N, U5, U1, RStride, CStride>;
 /// A column-major 5x2 matrix slice.
-pub type MatrixSlice5x2<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMN<'a, N, U5, U2, RStride, CStride>;
+pub type MatrixSlice5x2<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMN<'a, N, U5, U2, RStride, CStride>;
 /// A column-major 5x3 matrix slice.
-pub type MatrixSlice5x3<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMN<'a, N, U5, U3, RStride, CStride>;
+pub type MatrixSlice5x3<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMN<'a, N, U5, U3, RStride, CStride>;
 /// A column-major 5x4 matrix slice.
-pub type MatrixSlice5x4<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMN<'a, N, U5, U4, RStride, CStride>;
+pub type MatrixSlice5x4<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMN<'a, N, U5, U4, RStride, CStride>;
 /// A column-major 5x6 matrix slice.
-pub type MatrixSlice5x6<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMN<'a, N, U5, U6, RStride, CStride>;
+pub type MatrixSlice5x6<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMN<'a, N, U5, U6, RStride, CStride>;
 
 /// A column-major 6x1 matrix slice.
-pub type MatrixSlice6x1<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMN<'a, N, U6, U1, RStride, CStride>;
+pub type MatrixSlice6x1<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceMN<'a, N, U6, U1, RStride, CStride>;
 /// A column-major 6x2 matrix slice.
-pub type MatrixSlice6x2<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMN<'a, N, U6, U2, RStride, CStride>;
+pub type MatrixSlice6x2<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceMN<'a, N, U6, U2, RStride, CStride>;
 /// A column-major 6x3 matrix slice.
-pub type MatrixSlice6x3<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMN<'a, N, U6, U3, RStride, CStride>;
+pub type MatrixSlice6x3<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceMN<'a, N, U6, U3, RStride, CStride>;
 /// A column-major 6x4 matrix slice.
-pub type MatrixSlice6x4<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMN<'a, N, U6, U4, RStride, CStride>;
+pub type MatrixSlice6x4<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceMN<'a, N, U6, U4, RStride, CStride>;
 /// A column-major 6x5 matrix slice.
-pub type MatrixSlice6x5<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMN<'a, N, U6, U6, RStride, CStride>;
+pub type MatrixSlice6x5<'a, N, RStride = U1, CStride = U6> =
-
+    MatrixSliceMN<'a, N, U6, U6, RStride, CStride>;
 
 /// A column-major matrix slice with 1 row and a number of columns chosen at runtime.
-pub type MatrixSlice1xX<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMN<'a, N, U1, Dynamic, RStride, CStride>;
+pub type MatrixSlice1xX<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMN<'a, N, U1, Dynamic, RStride, CStride>;
 /// A column-major matrix slice with 2 rows and a number of columns chosen at runtime.
-pub type MatrixSlice2xX<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMN<'a, N, U2, Dynamic, RStride, CStride>;
+pub type MatrixSlice2xX<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMN<'a, N, U2, Dynamic, RStride, CStride>;
 /// A column-major matrix slice with 3 rows and a number of columns chosen at runtime.
-pub type MatrixSlice3xX<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMN<'a, N, U3, Dynamic, RStride, CStride>;
+pub type MatrixSlice3xX<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMN<'a, N, U3, Dynamic, RStride, CStride>;
 /// A column-major matrix slice with 4 rows and a number of columns chosen at runtime.
-pub type MatrixSlice4xX<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMN<'a, N, U4, Dynamic, RStride, CStride>;
+pub type MatrixSlice4xX<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMN<'a, N, U4, Dynamic, RStride, CStride>;
 /// A column-major matrix slice with 5 rows and a number of columns chosen at runtime.
-pub type MatrixSlice5xX<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMN<'a, N, U5, Dynamic, RStride, CStride>;
+pub type MatrixSlice5xX<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMN<'a, N, U5, Dynamic, RStride, CStride>;
 /// A column-major matrix slice with 6 rows and a number of columns chosen at runtime.
-pub type MatrixSlice6xX<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMN<'a, N, U6, Dynamic, RStride, CStride>;
+pub type MatrixSlice6xX<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceMN<'a, N, U6, Dynamic, RStride, CStride>;
 
 /// A column-major matrix slice with a number of rows chosen at runtime and 1 column.
-pub type MatrixSliceXx1<'a, N, RStride = U1, CStride = Dynamic>  = MatrixSliceMN<'a, N, Dynamic, U1, RStride, CStride>;
+pub type MatrixSliceXx1<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceMN<'a, N, Dynamic, U1, RStride, CStride>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 2 columns.
-pub type MatrixSliceXx2<'a, N, RStride = U1, CStride = Dynamic>  = MatrixSliceMN<'a, N, Dynamic, U2, RStride, CStride>;
+pub type MatrixSliceXx2<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceMN<'a, N, Dynamic, U2, RStride, CStride>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 3 columns.
-pub type MatrixSliceXx3<'a, N, RStride = U1, CStride = Dynamic>  = MatrixSliceMN<'a, N, Dynamic, U3, RStride, CStride>;
+pub type MatrixSliceXx3<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceMN<'a, N, Dynamic, U3, RStride, CStride>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 4 columns.
-pub type MatrixSliceXx4<'a, N, RStride = U1, CStride = Dynamic>  = MatrixSliceMN<'a, N, Dynamic, U4, RStride, CStride>;
+pub type MatrixSliceXx4<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceMN<'a, N, Dynamic, U4, RStride, CStride>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 5 columns.
-pub type MatrixSliceXx5<'a, N, RStride = U1, CStride = Dynamic>  = MatrixSliceMN<'a, N, Dynamic, U5, RStride, CStride>;
+pub type MatrixSliceXx5<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceMN<'a, N, Dynamic, U5, RStride, CStride>;
 /// A column-major matrix slice with a number of rows chosen at runtime and 6 columns.
-pub type MatrixSliceXx6<'a, N, RStride = U1, CStride = Dynamic>  = MatrixSliceMN<'a, N, Dynamic, U6, RStride, CStride>;
+pub type MatrixSliceXx6<'a, N, RStride = U1, CStride = Dynamic> =
-
+    MatrixSliceMN<'a, N, Dynamic, U6, RStride, CStride>;
-
 
 /// A column vector slice with `D` rows.
-pub type VectorSliceN<'a, N, D, Stride = U1> = Matrix<N, D, U1, SliceStorage<'a, N, D, U1, Stride, D>>;
+pub type VectorSliceN<'a, N, D, Stride = U1> =
+    Matrix<N, D, U1, SliceStorage<'a, N, D, U1, Stride, D>>;
 
 /// A column vector slice dynamic numbers of rows and columns.
 pub type DVectorSlice<'a, N, Stride = U1> = VectorSliceN<'a, N, Dynamic, Stride>;
 
 /// A 1D column vector slice.
-pub type VectorSlice1<'a, N, Stride = U1>  = VectorSliceN<'a, N, U1, Stride>;
+pub type VectorSlice1<'a, N, Stride = U1> = VectorSliceN<'a, N, U1, Stride>;
 /// A 2D column vector slice.
-pub type VectorSlice2<'a, N, Stride = U1>  = VectorSliceN<'a, N, U2, Stride>;
+pub type VectorSlice2<'a, N, Stride = U1> = VectorSliceN<'a, N, U2, Stride>;
 /// A 3D column vector slice.
-pub type VectorSlice3<'a, N, Stride = U1>  = VectorSliceN<'a, N, U3, Stride>;
+pub type VectorSlice3<'a, N, Stride = U1> = VectorSliceN<'a, N, U3, Stride>;
 /// A 4D column vector slice.
-pub type VectorSlice4<'a, N, Stride = U1>  = VectorSliceN<'a, N, U4, Stride>;
+pub type VectorSlice4<'a, N, Stride = U1> = VectorSliceN<'a, N, U4, Stride>;
 /// A 5D column vector slice.
-pub type VectorSlice5<'a, N, Stride = U1>  = VectorSliceN<'a, N, U5, Stride>;
+pub type VectorSlice5<'a, N, Stride = U1> = VectorSliceN<'a, N, U5, Stride>;
 /// A 6D column vector slice.
-pub type VectorSlice6<'a, N, Stride = U1>  = VectorSliceN<'a, N, U6, Stride>;
+pub type VectorSlice6<'a, N, Stride = U1> = VectorSliceN<'a, N, U6, Stride>;
-
-
 
 /*
  *
@@ -156,137 +202,186 @@ pub type VectorSlice6<'a, N, Stride = U1>  = VectorSliceN<'a, N, U6, Stride>;
  *
  */
 /// A column-major mutable matrix slice with `R` rows and `C` columns.
-pub type MatrixSliceMutMN<'a, N, R, C, RStride = U1, CStride = R>
+pub type MatrixSliceMutMN<'a, N, R, C, RStride = U1, CStride = R> =
-    = Matrix<N, R, C, SliceStorageMut<'a, N, R, C, RStride, CStride>>;
+    Matrix<N, R, C, SliceStorageMut<'a, N, R, C, RStride, CStride>>;
 
 /// A column-major mutable matrix slice with `D` rows and columns.
-pub type MatrixSliceMutN<'a, N, D, RStride = U1, CStride = D> = MatrixSliceMutMN<'a, N, D, D, RStride, CStride>;
+pub type MatrixSliceMutN<'a, N, D, RStride = U1, CStride = D> =
+    MatrixSliceMutMN<'a, N, D, D, RStride, CStride>;
 
 /// A column-major mutable matrix slice dynamic numbers of rows and columns.
-pub type DMatrixSliceMut<'a, N, RStride = U1, CStride = Dynamic> = MatrixSliceMutN<'a, N, Dynamic, RStride, CStride>;
+pub type DMatrixSliceMut<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceMutN<'a, N, Dynamic, RStride, CStride>;
 
 /// A column-major 1x1 mutable matrix slice.
-pub type MatrixSliceMut1<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMutN<'a, N, U1, RStride, CStride>;
+pub type MatrixSliceMut1<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMutN<'a, N, U1, RStride, CStride>;
 /// A column-major 2x2 mutable matrix slice.
-pub type MatrixSliceMut2<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMutN<'a, N, U2, RStride, CStride>;
+pub type MatrixSliceMut2<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMutN<'a, N, U2, RStride, CStride>;
 /// A column-major 3x3 mutable matrix slice.
-pub type MatrixSliceMut3<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMutN<'a, N, U3, RStride, CStride>;
+pub type MatrixSliceMut3<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMutN<'a, N, U3, RStride, CStride>;
 /// A column-major 4x4 mutable matrix slice.
-pub type MatrixSliceMut4<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMutN<'a, N, U4, RStride, CStride>;
+pub type MatrixSliceMut4<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMutN<'a, N, U4, RStride, CStride>;
 /// A column-major 5x5 mutable matrix slice.
-pub type MatrixSliceMut5<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMutN<'a, N, U5, RStride, CStride>;
+pub type MatrixSliceMut5<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMutN<'a, N, U5, RStride, CStride>;
 /// A column-major 6x6 mutable matrix slice.
-pub type MatrixSliceMut6<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMutN<'a, N, U6, RStride, CStride>;
+pub type MatrixSliceMut6<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceMutN<'a, N, U6, RStride, CStride>;
 
 /// A column-major 1x2 mutable matrix slice.
-pub type MatrixSliceMut1x2<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMutMN<'a, N, U1, U2, RStride, CStride>;
+pub type MatrixSliceMut1x2<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMutMN<'a, N, U1, U2, RStride, CStride>;
 /// A column-major 1x3 mutable matrix slice.
-pub type MatrixSliceMut1x3<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMutMN<'a, N, U1, U3, RStride, CStride>;
+pub type MatrixSliceMut1x3<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMutMN<'a, N, U1, U3, RStride, CStride>;
 /// A column-major 1x4 mutable matrix slice.
-pub type MatrixSliceMut1x4<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMutMN<'a, N, U1, U4, RStride, CStride>;
+pub type MatrixSliceMut1x4<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMutMN<'a, N, U1, U4, RStride, CStride>;
 /// A column-major 1x5 mutable matrix slice.
-pub type MatrixSliceMut1x5<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMutMN<'a, N, U1, U5, RStride, CStride>;
+pub type MatrixSliceMut1x5<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMutMN<'a, N, U1, U5, RStride, CStride>;
 /// A column-major 1x6 mutable matrix slice.
-pub type MatrixSliceMut1x6<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMutMN<'a, N, U1, U6, RStride, CStride>;
+pub type MatrixSliceMut1x6<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMutMN<'a, N, U1, U6, RStride, CStride>;
 
 /// A column-major 2x1 mutable matrix slice.
-pub type MatrixSliceMut2x1<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMutMN<'a, N, U2, U1, RStride, CStride>;
+pub type MatrixSliceMut2x1<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMutMN<'a, N, U2, U1, RStride, CStride>;
 /// A column-major 2x3 mutable matrix slice.
-pub type MatrixSliceMut2x3<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMutMN<'a, N, U2, U3, RStride, CStride>;
+pub type MatrixSliceMut2x3<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMutMN<'a, N, U2, U3, RStride, CStride>;
 /// A column-major 2x4 mutable matrix slice.
-pub type MatrixSliceMut2x4<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMutMN<'a, N, U2, U4, RStride, CStride>;
+pub type MatrixSliceMut2x4<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMutMN<'a, N, U2, U4, RStride, CStride>;
 /// A column-major 2x5 mutable matrix slice.
-pub type MatrixSliceMut2x5<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMutMN<'a, N, U2, U5, RStride, CStride>;
+pub type MatrixSliceMut2x5<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMutMN<'a, N, U2, U5, RStride, CStride>;
 /// A column-major 2x6 mutable matrix slice.
-pub type MatrixSliceMut2x6<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMutMN<'a, N, U2, U6, RStride, CStride>;
+pub type MatrixSliceMut2x6<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMutMN<'a, N, U2, U6, RStride, CStride>;
 
 /// A column-major 3x1 mutable matrix slice.
-pub type MatrixSliceMut3x1<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMutMN<'a, N, U3, U1, RStride, CStride>;
+pub type MatrixSliceMut3x1<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMutMN<'a, N, U3, U1, RStride, CStride>;
 /// A column-major 3x2 mutable matrix slice.
-pub type MatrixSliceMut3x2<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMutMN<'a, N, U3, U2, RStride, CStride>;
+pub type MatrixSliceMut3x2<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMutMN<'a, N, U3, U2, RStride, CStride>;
 /// A column-major 3x4 mutable matrix slice.
-pub type MatrixSliceMut3x4<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMutMN<'a, N, U3, U4, RStride, CStride>;
+pub type MatrixSliceMut3x4<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMutMN<'a, N, U3, U4, RStride, CStride>;
 /// A column-major 3x5 mutable matrix slice.
-pub type MatrixSliceMut3x5<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMutMN<'a, N, U3, U5, RStride, CStride>;
+pub type MatrixSliceMut3x5<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMutMN<'a, N, U3, U5, RStride, CStride>;
 /// A column-major 3x6 mutable matrix slice.
-pub type MatrixSliceMut3x6<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMutMN<'a, N, U3, U6, RStride, CStride>;
+pub type MatrixSliceMut3x6<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMutMN<'a, N, U3, U6, RStride, CStride>;
 
 /// A column-major 4x1 mutable matrix slice.
-pub type MatrixSliceMut4x1<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMutMN<'a, N, U4, U1, RStride, CStride>;
+pub type MatrixSliceMut4x1<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMutMN<'a, N, U4, U1, RStride, CStride>;
 /// A column-major 4x2 mutable matrix slice.
-pub type MatrixSliceMut4x2<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMutMN<'a, N, U4, U2, RStride, CStride>;
+pub type MatrixSliceMut4x2<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMutMN<'a, N, U4, U2, RStride, CStride>;
 /// A column-major 4x3 mutable matrix slice.
-pub type MatrixSliceMut4x3<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMutMN<'a, N, U4, U3, RStride, CStride>;
+pub type MatrixSliceMut4x3<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMutMN<'a, N, U4, U3, RStride, CStride>;
 /// A column-major 4x5 mutable matrix slice.
-pub type MatrixSliceMut4x5<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMutMN<'a, N, U4, U5, RStride, CStride>;
+pub type MatrixSliceMut4x5<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMutMN<'a, N, U4, U5, RStride, CStride>;
 /// A column-major 4x6 mutable matrix slice.
-pub type MatrixSliceMut4x6<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMutMN<'a, N, U4, U6, RStride, CStride>;
+pub type MatrixSliceMut4x6<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMutMN<'a, N, U4, U6, RStride, CStride>;
 
 /// A column-major 5x1 mutable matrix slice.
-pub type MatrixSliceMut5x1<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMutMN<'a, N, U5, U1, RStride, CStride>;
+pub type MatrixSliceMut5x1<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMutMN<'a, N, U5, U1, RStride, CStride>;
 /// A column-major 5x2 mutable matrix slice.
-pub type MatrixSliceMut5x2<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMutMN<'a, N, U5, U2, RStride, CStride>;
+pub type MatrixSliceMut5x2<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMutMN<'a, N, U5, U2, RStride, CStride>;
 /// A column-major 5x3 mutable matrix slice.
-pub type MatrixSliceMut5x3<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMutMN<'a, N, U5, U3, RStride, CStride>;
+pub type MatrixSliceMut5x3<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMutMN<'a, N, U5, U3, RStride, CStride>;
 /// A column-major 5x4 mutable matrix slice.
-pub type MatrixSliceMut5x4<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMutMN<'a, N, U5, U4, RStride, CStride>;
+pub type MatrixSliceMut5x4<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMutMN<'a, N, U5, U4, RStride, CStride>;
 /// A column-major 5x6 mutable matrix slice.
-pub type MatrixSliceMut5x6<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMutMN<'a, N, U5, U6, RStride, CStride>;
+pub type MatrixSliceMut5x6<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMutMN<'a, N, U5, U6, RStride, CStride>;
 
 /// A column-major 6x1 mutable matrix slice.
-pub type MatrixSliceMut6x1<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMutMN<'a, N, U6, U1, RStride, CStride>;
+pub type MatrixSliceMut6x1<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceMutMN<'a, N, U6, U1, RStride, CStride>;
 /// A column-major 6x2 mutable matrix slice.
-pub type MatrixSliceMut6x2<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMutMN<'a, N, U6, U2, RStride, CStride>;
+pub type MatrixSliceMut6x2<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceMutMN<'a, N, U6, U2, RStride, CStride>;
 /// A column-major 6x3 mutable matrix slice.
-pub type MatrixSliceMut6x3<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMutMN<'a, N, U6, U3, RStride, CStride>;
+pub type MatrixSliceMut6x3<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceMutMN<'a, N, U6, U3, RStride, CStride>;
 /// A column-major 6x4 mutable matrix slice.
-pub type MatrixSliceMut6x4<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMutMN<'a, N, U6, U4, RStride, CStride>;
+pub type MatrixSliceMut6x4<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceMutMN<'a, N, U6, U4, RStride, CStride>;
 /// A column-major 6x5 mutable matrix slice.
-pub type MatrixSliceMut6x5<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMutMN<'a, N, U6, U5, RStride, CStride>;
+pub type MatrixSliceMut6x5<'a, N, RStride = U1, CStride = U6> =
-
+    MatrixSliceMutMN<'a, N, U6, U5, RStride, CStride>;
 
 /// A column-major mutable matrix slice with 1 row and a number of columns chosen at runtime.
-pub type MatrixSliceMut1xX<'a, N, RStride = U1, CStride = U1>  = MatrixSliceMutMN<'a, N, U1, Dynamic, RStride, CStride>;
+pub type MatrixSliceMut1xX<'a, N, RStride = U1, CStride = U1> =
+    MatrixSliceMutMN<'a, N, U1, Dynamic, RStride, CStride>;
 /// A column-major mutable matrix slice with 2 rows and a number of columns chosen at runtime.
-pub type MatrixSliceMut2xX<'a, N, RStride = U1, CStride = U2>  = MatrixSliceMutMN<'a, N, U2, Dynamic, RStride, CStride>;
+pub type MatrixSliceMut2xX<'a, N, RStride = U1, CStride = U2> =
+    MatrixSliceMutMN<'a, N, U2, Dynamic, RStride, CStride>;
 /// A column-major mutable matrix slice with 3 rows and a number of columns chosen at runtime.
-pub type MatrixSliceMut3xX<'a, N, RStride = U1, CStride = U3>  = MatrixSliceMutMN<'a, N, U3, Dynamic, RStride, CStride>;
+pub type MatrixSliceMut3xX<'a, N, RStride = U1, CStride = U3> =
+    MatrixSliceMutMN<'a, N, U3, Dynamic, RStride, CStride>;
 /// A column-major mutable matrix slice with 4 rows and a number of columns chosen at runtime.
-pub type MatrixSliceMut4xX<'a, N, RStride = U1, CStride = U4>  = MatrixSliceMutMN<'a, N, U4, Dynamic, RStride, CStride>;
+pub type MatrixSliceMut4xX<'a, N, RStride = U1, CStride = U4> =
+    MatrixSliceMutMN<'a, N, U4, Dynamic, RStride, CStride>;
 /// A column-major mutable matrix slice with 5 rows and a number of columns chosen at runtime.
-pub type MatrixSliceMut5xX<'a, N, RStride = U1, CStride = U5>  = MatrixSliceMutMN<'a, N, U5, Dynamic, RStride, CStride>;
+pub type MatrixSliceMut5xX<'a, N, RStride = U1, CStride = U5> =
+    MatrixSliceMutMN<'a, N, U5, Dynamic, RStride, CStride>;
 /// A column-major mutable matrix slice with 6 rows and a number of columns chosen at runtime.
-pub type MatrixSliceMut6xX<'a, N, RStride = U1, CStride = U6>  = MatrixSliceMutMN<'a, N, U6, Dynamic, RStride, CStride>;
+pub type MatrixSliceMut6xX<'a, N, RStride = U1, CStride = U6> =
+    MatrixSliceMutMN<'a, N, U6, Dynamic, RStride, CStride>;
 
 /// A column-major mutable matrix slice with a number of rows chosen at runtime and 1 column.
-pub type MatrixSliceMutXx1<'a, N, RStride = U1, CStride = Dynamic> = MatrixSliceMutMN<'a, N, Dynamic, U1, RStride, CStride>;
+pub type MatrixSliceMutXx1<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceMutMN<'a, N, Dynamic, U1, RStride, CStride>;
 /// A column-major mutable matrix slice with a number of rows chosen at runtime and 2 columns.
-pub type MatrixSliceMutXx2<'a, N, RStride = U1, CStride = Dynamic> = MatrixSliceMutMN<'a, N, Dynamic, U2, RStride, CStride>;
+pub type MatrixSliceMutXx2<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceMutMN<'a, N, Dynamic, U2, RStride, CStride>;
 /// A column-major mutable matrix slice with a number of rows chosen at runtime and 3 columns.
-pub type MatrixSliceMutXx3<'a, N, RStride = U1, CStride = Dynamic> = MatrixSliceMutMN<'a, N, Dynamic, U3, RStride, CStride>;
+pub type MatrixSliceMutXx3<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceMutMN<'a, N, Dynamic, U3, RStride, CStride>;
 /// A column-major mutable matrix slice with a number of rows chosen at runtime and 4 columns.
-pub type MatrixSliceMutXx4<'a, N, RStride = U1, CStride = Dynamic> = MatrixSliceMutMN<'a, N, Dynamic, U4, RStride, CStride>;
+pub type MatrixSliceMutXx4<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceMutMN<'a, N, Dynamic, U4, RStride, CStride>;
 /// A column-major mutable matrix slice with a number of rows chosen at runtime and 5 columns.
-pub type MatrixSliceMutXx5<'a, N, RStride = U1, CStride = Dynamic> = MatrixSliceMutMN<'a, N, Dynamic, U5, RStride, CStride>;
+pub type MatrixSliceMutXx5<'a, N, RStride = U1, CStride = Dynamic> =
+    MatrixSliceMutMN<'a, N, Dynamic, U5, RStride, CStride>;
 /// A column-major mutable matrix slice with a number of rows chosen at runtime and 6 columns.
-pub type MatrixSliceMutXx6<'a, N, RStride = U1, CStride = Dynamic> = MatrixSliceMutMN<'a, N, Dynamic, U6, RStride, CStride>;
+pub type MatrixSliceMutXx6<'a, N, RStride = U1, CStride = Dynamic> =
-
+    MatrixSliceMutMN<'a, N, Dynamic, U6, RStride, CStride>;
 
 /// A mutable column vector slice with `D` rows.
-pub type VectorSliceMutN<'a, N, D, Stride = U1> = Matrix<N, D, U1, SliceStorageMut<'a, N, D, U1, Stride, D>>;
+pub type VectorSliceMutN<'a, N, D, Stride = U1> =
+    Matrix<N, D, U1, SliceStorageMut<'a, N, D, U1, Stride, D>>;
 
 /// A mutable column vector slice dynamic numbers of rows and columns.
 pub type DVectorSliceMut<'a, N, Stride = U1> = VectorSliceMutN<'a, N, Dynamic, Stride>;
 
 /// A 1D mutable column vector slice.
-pub type VectorSliceMut1<'a, N, Stride = U1>  = VectorSliceMutN<'a, N, U1, Stride>;
+pub type VectorSliceMut1<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U1, Stride>;
 /// A 2D mutable column vector slice.
-pub type VectorSliceMut2<'a, N, Stride = U1>  = VectorSliceMutN<'a, N, U2, Stride>;
+pub type VectorSliceMut2<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U2, Stride>;
 /// A 3D mutable column vector slice.
-pub type VectorSliceMut3<'a, N, Stride = U1>  = VectorSliceMutN<'a, N, U3, Stride>;
+pub type VectorSliceMut3<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U3, Stride>;
 /// A 4D mutable column vector slice.
-pub type VectorSliceMut4<'a, N, Stride = U1>  = VectorSliceMutN<'a, N, U4, Stride>;
+pub type VectorSliceMut4<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U4, Stride>;
 /// A 5D mutable column vector slice.
-pub type VectorSliceMut5<'a, N, Stride = U1>  = VectorSliceMutN<'a, N, U5, Stride>;
+pub type VectorSliceMut5<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U5, Stride>;
 /// A 6D mutable column vector slice.
-pub type VectorSliceMut6<'a, N, Stride = U1>  = VectorSliceMutN<'a, N, U6, Stride>;
+pub type VectorSliceMut6<'a, N, Stride = U1> = VectorSliceMutN<'a, N, U6, Stride>;

src/core/allocator.rs

@@ -3,7 +3,7 @@
 use std::any::Any;
 
 use core::{DefaultAllocator, Scalar};
-use core::constraint::{SameNumberOfRows, SameNumberOfColumns, ShapeConstraint};
+use core::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
 use core::dimension::{Dim, U1};
 use core::storage::ContiguousStorageMut;
 
@@ -24,13 +24,17 @@ pub trait Allocator<N: Scalar, R: Dim, C: Dim = U1>: Any + Sized {
     unsafe fn allocate_uninitialized(nrows: R, ncols: C) -> Self::Buffer;
 
     /// Allocates a buffer initialized with the content of the given iterator.
-    fn allocate_from_iterator<I: IntoIterator<Item = N>>(nrows: R, ncols: C, iter: I) -> Self::Buffer;
+    fn allocate_from_iterator<I: IntoIterator<Item = N>>(
+        nrows: R,
+        ncols: C,
+        iter: I,
+    ) -> Self::Buffer;
 }
 
 /// A matrix reallocator. Changes the size of the memory buffer that initially contains (RFrom ×
 /// CFrom) elements to a smaller or larger size (RTo, CTo).
-pub trait Reallocator<N: Scalar, RFrom: Dim, CFrom: Dim, RTo: Dim, CTo: Dim>:
+pub trait Reallocator<N: Scalar, RFrom: Dim, CFrom: Dim, RTo: Dim, CTo: Dim>
-    Allocator<N, RFrom, CFrom> + Allocator<N, RTo, CTo> {
+    : Allocator<N, RFrom, CFrom> + Allocator<N, RTo, CTo> {
     /// Reallocates a buffer of shape `(RTo, CTo)`, possibly reusing a previously allocated buffer
     /// `buf`. Data stored by `buf` are linearly copied to the output:
     ///
@@ -38,9 +42,11 @@ pub trait Reallocator<N: Scalar, RFrom: Dim, CFrom: Dim, RTo: Dim, CTo: Dim>:
     /// * If `buf` is larger than the output size, then extra elements of `buf` are truncated.
     /// * If `buf` is smaller than the output size, then extra elements of the output are left
     /// uninitialized.
-    unsafe fn reallocate_copy(nrows: RTo, ncols: CTo,
+    unsafe fn reallocate_copy(
-                              buf: <Self as Allocator<N, RFrom, CFrom>>::Buffer)
+        nrows: RTo,
-                              -> <Self as Allocator<N, RTo, CTo>>::Buffer;
+        ncols: CTo,
+        buf: <Self as Allocator<N, RFrom, CFrom>>::Buffer,
+    ) -> <Self as Allocator<N, RTo, CTo>>::Buffer;
 }
 
 /// The number of rows of the result of a componentwise operation on two matrices.
@@ -51,35 +57,48 @@ pub type SameShapeC<C1, C2> = <ShapeConstraint as SameNumberOfColumns<C1, C2>>::
 
 // FIXME: Bad name.
 /// Restricts the given number of rows and columns to be respectively the same.
-pub trait SameShapeAllocator<N, R1, C1, R2, C2>:
+pub trait SameShapeAllocator<N, R1, C1, R2, C2>
-        Allocator<N, R1, C1> +
+    : Allocator<N, R1, C1> + Allocator<N, SameShapeR<R1, R2>, SameShapeC<C1, C2>>
-        Allocator<N, SameShapeR<R1, R2>, SameShapeC<C1, C2>>
+where
-    where R1: Dim, R2: Dim, C1: Dim, C2: Dim,
+    R1: Dim,
-          N: Scalar,
+    R2: Dim,
-          ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
+    C1: Dim,
+    C2: Dim,
+    N: Scalar,
+    ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2>,
+{
 }
 
 impl<N, R1, R2, C1, C2> SameShapeAllocator<N, R1, C1, R2, C2> for DefaultAllocator
-    where R1: Dim, R2: Dim, C1: Dim, C2: Dim,
+where
-          N: Scalar,
+    R1: Dim,
-          DefaultAllocator: Allocator<N, R1, C1> + Allocator<N, SameShapeR<R1, R2>, SameShapeC<C1, C2>>,
+    R2: Dim,
-          ShapeConstraint:  SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
+    C1: Dim,
+    C2: Dim,
+    N: Scalar,
+    DefaultAllocator: Allocator<N, R1, C1> + Allocator<N, SameShapeR<R1, R2>, SameShapeC<C1, C2>>,
+    ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2>,
+{
 }
 
 // XXX: Bad name.
 /// Restricts the given number of rows to be equal.
-pub trait SameShapeVectorAllocator<N, R1, R2>:
+pub trait SameShapeVectorAllocator<N, R1, R2>
-        Allocator<N, R1> +
+    : Allocator<N, R1> + Allocator<N, SameShapeR<R1, R2>> + SameShapeAllocator<N, R1, U1, R2, U1>
-        Allocator<N, SameShapeR<R1, R2>> +
+where
-        SameShapeAllocator<N, R1, U1, R2, U1>
+    R1: Dim,
-    where R1: Dim, R2: Dim,
+    R2: Dim,
-          N: Scalar,
+    N: Scalar,
-          ShapeConstraint: SameNumberOfRows<R1, R2> {
+    ShapeConstraint: SameNumberOfRows<R1, R2>,
+{
 }
 
 impl<N, R1, R2> SameShapeVectorAllocator<N, R1, R2> for DefaultAllocator
-    where R1: Dim, R2: Dim,
+where
-          N: Scalar,
+    R1: Dim,
-          DefaultAllocator: Allocator<N, R1, U1> + Allocator<N, SameShapeR<R1, R2>>,
+    R2: Dim,
-          ShapeConstraint:  SameNumberOfRows<R1, R2> {
+    N: Scalar,
+    DefaultAllocator: Allocator<N, R1, U1> + Allocator<N, SameShapeR<R1, R2>>,
+    ShapeConstraint: SameNumberOfRows<R1, R2>,
+{
 }

src/core/blas.rs

@@ -1,16 +1,15 @@
 use std::mem;
-use num::{Zero, One, Signed};
+use num::{One, Signed, Zero};
 use matrixmultiply;
-use alga::general::{ClosedMul, ClosedAdd};
+use alga::general::{ClosedAdd, ClosedMul};
 
-use core::{DefaultAllocator, Scalar, Matrix, SquareMatrix, Vector};
+use core::{DefaultAllocator, Matrix, Scalar, SquareMatrix, Vector};
-use core::dimension::{Dim, U1, U2, U3, U4, Dynamic};
+use core::dimension::{Dim, Dynamic, U1, U2, U3, U4};
-use core::constraint::{ShapeConstraint, SameNumberOfRows, SameNumberOfColumns, AreMultipliable, DimEq};
+use core::constraint::{AreMultipliable, DimEq, SameNumberOfColumns, SameNumberOfRows,
+                       ShapeConstraint};
 use core::storage::{Storage, StorageMut};
 use core::allocator::Allocator;
 
-
-
 impl<N: Scalar + PartialOrd + Signed, D: Dim, S: Storage<N, D>> Vector<N, D, S> {
     /// Computes the index of the vector component with the largest absolute value.
     #[inline]
@@ -18,14 +17,14 @@ impl<N: Scalar + PartialOrd + Signed, D: Dim, S: Storage<N, D>> Vector<N, D, S>
         assert!(!self.is_empty(), "The input vector must not be empty.");
 
         let mut the_max = unsafe { self.vget_unchecked(0).abs() };
-        let mut the_i   = 0;
+        let mut the_i = 0;
 
-        for i in 1 .. self.nrows() {
+        for i in 1..self.nrows() {
             let val = unsafe { self.vget_unchecked(i).abs() };
 
             if val > the_max {
                 the_max = val;
-                the_i   = i;
+                the_i = i;
             }
         }
 
@@ -38,14 +37,14 @@ impl<N: Scalar + PartialOrd + Signed, D: Dim, S: Storage<N, D>> Vector<N, D, S>
         assert!(!self.is_empty(), "The input vector must not be empty.");
 
         let mut the_max = unsafe { self.vget_unchecked(0).abs() };
-        let mut the_i   = 0;
+        let mut the_i = 0;
 
-        for i in 1 .. self.nrows() {
+        for i in 1..self.nrows() {
             let val = unsafe { self.vget_unchecked(i).abs() };
 
             if val < the_max {
                 the_max = val;
-                the_i   = i;
+                the_i = i;
             }
         }
 
@@ -60,15 +59,15 @@ impl<N: Scalar + PartialOrd + Signed, R: Dim, C: Dim, S: Storage<N, R, C>> Matri
         assert!(!self.is_empty(), "The input matrix must not be empty.");
 
         let mut the_max = unsafe { self.get_unchecked(0, 0).abs() };
-        let mut the_ij  = (0, 0);
+        let mut the_ij = (0, 0);
 
-        for j in 0 .. self.ncols() {
+        for j in 0..self.ncols() {
-            for i in 0 .. self.nrows() {
+            for i in 0..self.nrows() {
                 let val = unsafe { self.get_unchecked(i, j).abs() };
 
                 if val > the_max {
                     the_max = val;
-                    the_ij  = (i, j);
+                    the_ij = (i, j);
                 }
             }
         }
@@ -78,22 +77,27 @@ impl<N: Scalar + PartialOrd + Signed, R: Dim, C: Dim, S: Storage<N, R, C>> Matri
 }
 
 impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
-    where N: Scalar + Zero + ClosedAdd + ClosedMul {
+where
+    N: Scalar + Zero + ClosedAdd + ClosedMul,
+{
     /// The dot product between two matrices (seen as vectors).
     ///
     /// Note that this is **not** the matrix multiplication as in, e.g., numpy. For matrix
     /// multiplication, use one of: `.gemm`, `mul_to`, `.mul`, `*`.
     #[inline]
     pub fn dot<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<N, R2, C2, SB>) -> N
-        where SB: Storage<N, R2, C2>,
+    where
-              ShapeConstraint: DimEq<R, R2> + DimEq<C, C2> {
+        SB: Storage<N, R2, C2>,
-        assert!(self.nrows() == rhs.nrows(), "Dot product dimensions mismatch.");
+        ShapeConstraint: DimEq<R, R2> + DimEq<C, C2>,
-
+    {
+        assert!(
+            self.nrows() == rhs.nrows(),
+            "Dot product dimensions mismatch."
+        );
 
         // So we do some special cases for common fixed-size vectors of dimension lower than 8
         // because the `for` loop below won't be very efficient on those.
-        if (R::is::<U2>() || R2::is::<U2>()) &&
+        if (R::is::<U2>() || R2::is::<U2>()) && (C::is::<U1>() || C2::is::<U1>()) {
-           (C::is::<U1>() || C2::is::<U1>()) {
             unsafe {
                 let a = *self.get_unchecked(0, 0) * *rhs.get_unchecked(0, 0);
                 let b = *self.get_unchecked(1, 0) * *rhs.get_unchecked(1, 0);
@@ -101,8 +105,7 @@ impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
                 return a + b;
             }
         }
-        if (R::is::<U3>() || R2::is::<U3>()) &&
+        if (R::is::<U3>() || R2::is::<U3>()) && (C::is::<U1>() || C2::is::<U1>()) {
-           (C::is::<U1>() || C2::is::<U1>()) {
             unsafe {
                 let a = *self.get_unchecked(0, 0) * *rhs.get_unchecked(0, 0);
                 let b = *self.get_unchecked(1, 0) * *rhs.get_unchecked(1, 0);
@@ -111,8 +114,7 @@ impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
                 return a + b + c;
             }
         }
-        if (R::is::<U4>() || R2::is::<U4>()) &&
+        if (R::is::<U4>() || R2::is::<U4>()) && (C::is::<U1>() || C2::is::<U1>()) {
-           (C::is::<U1>() || C2::is::<U1>()) {
             unsafe {
                 let mut a = *self.get_unchecked(0, 0) * *rhs.get_unchecked(0, 0);
                 let mut b = *self.get_unchecked(1, 0) * *rhs.get_unchecked(1, 0);
@@ -126,7 +128,6 @@ impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
             }
         }
 
-
         // All this is inspired from the "unrolled version" discussed in:
         // http://blog.theincredibleholk.org/blog/2012/12/10/optimizing-dot-product/
         //
@@ -145,7 +146,7 @@ impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
         let mut acc6;
         let mut acc7;
 
-        for j in 0 .. self.ncols() {
+        for j in 0..self.ncols() {
             let mut i = 0;
 
             acc0 = N::zero();
@@ -174,7 +175,7 @@ impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
             res += acc2 + acc6;
             res += acc3 + acc7;
 
-            for k in i .. self.nrows() {
+            for k in i..self.nrows() {
                 res += unsafe { *self.get_unchecked(k, j) * *rhs.get_unchecked(k, j) }
             }
         }
@@ -185,15 +186,20 @@ impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
     /// The dot product between the transpose of `self` and `rhs`.
     #[inline]
     pub fn tr_dot<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<N, R2, C2, SB>) -> N
-        where SB: Storage<N, R2, C2>,
+    where
-              ShapeConstraint: DimEq<C, R2> + DimEq<R, C2> {
+        SB: Storage<N, R2, C2>,
+        ShapeConstraint: DimEq<C, R2> + DimEq<R, C2>,
+    {
         let (nrows, ncols) = self.shape();
-        assert!((ncols, nrows) == rhs.shape(), "Transposed dot product dimension mismatch.");
+        assert!(
+            (ncols, nrows) == rhs.shape(),
+            "Transposed dot product dimension mismatch."
+        );
 
         let mut res = N::zero();
 
-        for j in 0 .. self.nrows() {
+        for j in 0..self.nrows() {
-            for i in 0 .. self.ncols() {
+            for i in 0..self.ncols() {
                 res += unsafe { *self.get_unchecked(j, i) * *rhs.get_unchecked(i, j) }
             }
         }
@@ -203,8 +209,10 @@ impl<N, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S>
 }
 
 fn array_axpy<N>(y: &mut [N], a: N, x: &[N], beta: N, stride1: usize, stride2: usize, len: usize)
-    where N: Scalar + Zero + ClosedAdd + ClosedMul {
+where
-    for i in 0 .. len {
+    N: Scalar + Zero + ClosedAdd + ClosedMul,
+{
+    for i in 0..len {
         unsafe {
             let y = y.get_unchecked_mut(i * stride1);
             *y = a * *x.get_unchecked(i * stride2) + beta * *y;
@@ -213,8 +221,10 @@ fn array_axpy<N>(y: &mut [N], a: N, x: &[N], beta: N, stride1: usize, stride2: u
 }
 
 fn array_ax<N>(y: &mut [N], a: N, x: &[N], stride1: usize, stride2: usize, len: usize)
-    where N: Scalar + Zero + ClosedAdd + ClosedMul {
+where
-    for i in 0 .. len {
+    N: Scalar + Zero + ClosedAdd + ClosedMul,
+{
+    for i in 0..len {
         unsafe {
             *y.get_unchecked_mut(i * stride1) = a * *x.get_unchecked(i * stride2);
         }
@@ -222,16 +232,19 @@ fn array_ax<N>(y: &mut [N], a: N, x: &[N], stride1: usize, stride2: usize, len:
 }
 
 impl<N, D: Dim, S> Vector<N, D, S>
-    where N: Scalar + Zero + ClosedAdd + ClosedMul,
+where
-          S: StorageMut<N, D> {
+    N: Scalar + Zero + ClosedAdd + ClosedMul,
+    S: StorageMut<N, D>,
+{
     /// Computes `self = a * x + b * self`.
     ///
     /// If be is zero, `self` is never read from.
     #[inline]
     pub fn axpy<D2: Dim, SB>(&mut self, a: N, x: &Vector<N, D2, SB>, b: N)
-        where SB: Storage<N, D2>,
+    where
-              ShapeConstraint: DimEq<D, D2> {
+        SB: Storage<N, D2>,
-
+        ShapeConstraint: DimEq<D, D2>,
+    {
         assert_eq!(self.nrows(), x.nrows(), "Axpy: mismatched vector shapes.");
 
         let rstride1 = self.strides().0;
@@ -242,8 +255,7 @@ impl<N, D: Dim, S> Vector<N, D, S>
 
         if !b.is_zero() {
             array_axpy(y, a, x, b, rstride1, rstride2, x.len());
-        }
+        } else {
-        else {
             array_ax(y, a, x, rstride1, rstride2, x.len());
         }
     }
@@ -253,21 +265,26 @@ impl<N, D: Dim, S> Vector<N, D, S>
     ///
     /// If `beta` is zero, `self` is never read.
     #[inline]
-    pub fn gemv<R2: Dim, C2: Dim, D3: Dim, SB, SC>(&mut self,
+    pub fn gemv<R2: Dim, C2: Dim, D3: Dim, SB, SC>(
-                                                   alpha: N,
+        &mut self,
-                                                   a:     &Matrix<N, R2, C2, SB>,
+        alpha: N,
-                                                   x:     &Vector<N, D3, SC>,
+        a: &Matrix<N, R2, C2, SB>,
-                                                   beta:  N)
+        x: &Vector<N, D3, SC>,
-        where N:  One,
+        beta: N,
-              SB: Storage<N, R2, C2>,
+    ) where
-              SC: Storage<N, D3>,
+        N: One,
-              ShapeConstraint: DimEq<D, R2> +
+        SB: Storage<N, R2, C2>,
-                               AreMultipliable<R2, C2, D3, U1> {
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<D, R2> + AreMultipliable<R2, C2, D3, U1>,
+    {
         let dim1 = self.nrows();
         let (nrows2, ncols2) = a.shape();
         let dim3 = x.nrows();
 
-        assert!(ncols2 == dim3 && dim1 == nrows2, "Gemv: dimensions mismatch.");
+        assert!(
+            ncols2 == dim3 && dim1 == nrows2,
+            "Gemv: dimensions mismatch."
+        );
 
         if ncols2 == 0 {
             return;
@@ -275,12 +292,12 @@ impl<N, D: Dim, S> Vector<N, D, S>
 
         // FIXME: avoid bound checks.
         let col2 = a.column(0);
-        let val  = unsafe { *x.vget_unchecked(0) };
+        let val = unsafe { *x.vget_unchecked(0) };
         self.axpy(alpha * val, &col2, beta);
 
-        for j in 1 .. ncols2 {
+        for j in 1..ncols2 {
             let col2 = a.column(j);
-            let val  = unsafe { *x.vget_unchecked(j) };
+            let val = unsafe { *x.vget_unchecked(j) };
 
             self.axpy(alpha * val, &col2, N::one());
         }
@@ -292,22 +309,30 @@ impl<N, D: Dim, S> Vector<N, D, S>
     /// If `beta` is zero, `self` is never read. If `self` is read, only its lower-triangular part
     /// (including the diagonal) is actually read.
     #[inline]
-    pub fn gemv_symm<D2: Dim, D3: Dim, SB, SC>(&mut self,
+    pub fn gemv_symm<D2: Dim, D3: Dim, SB, SC>(
-                                               alpha: N,
+        &mut self,
-                                               a:     &SquareMatrix<N, D2, SB>,
+        alpha: N,
-                                               x:     &Vector<N, D3, SC>,
+        a: &SquareMatrix<N, D2, SB>,
-                                               beta:  N)
+        x: &Vector<N, D3, SC>,
-        where N:  One,
+        beta: N,
-              SB: Storage<N, D2, D2>,
+    ) where
-              SC: Storage<N, D3>,
+        N: One,
-              ShapeConstraint: DimEq<D, D2> +
+        SB: Storage<N, D2, D2>,
-                               AreMultipliable<D2, D2, D3, U1> {
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<D, D2> + AreMultipliable<D2, D2, D3, U1>,
+    {
         let dim1 = self.nrows();
         let dim2 = a.nrows();
         let dim3 = x.nrows();
 
-        assert!(a.is_square(), "Syetric gemv: the input matrix must be square.");
+        assert!(
-        assert!(dim2 == dim3 && dim1 == dim2, "Symmetric gemv: dimensions mismatch.");
+            a.is_square(),
+            "Syetric gemv: the input matrix must be square."
+        );
+        assert!(
+            dim2 == dim3 && dim1 == dim2,
+            "Symmetric gemv: dimensions mismatch."
+        );
 
         if dim2 == 0 {
             return;
@@ -315,20 +340,21 @@ impl<N, D: Dim, S> Vector<N, D, S>
 
         // FIXME: avoid bound checks.
         let col2 = a.column(0);
-        let val  = unsafe { *x.vget_unchecked(0) };
+        let val = unsafe { *x.vget_unchecked(0) };
         self.axpy(alpha * val, &col2, beta);
-        self[0] += alpha * x.rows_range(1 ..).dot(&a.slice_range(1 .., 0));
+        self[0] += alpha * x.rows_range(1..).dot(&a.slice_range(1.., 0));
 
-        for j in 1 .. dim2 {
+        for j in 1..dim2 {
             let col2 = a.column(j);
-            let dot  = x.rows_range(j ..).dot(&col2.rows_range(j ..));
+            let dot = x.rows_range(j..).dot(&col2.rows_range(j..));
 
             let val;
             unsafe {
                 val = *x.vget_unchecked(j);
                 *self.vget_unchecked_mut(j) += alpha * dot;
             }
-            self.rows_range_mut(j + 1 ..).axpy(alpha * val, &col2.rows_range(j + 1 ..), N::one());
+            self.rows_range_mut(j + 1..)
+                .axpy(alpha * val, &col2.rows_range(j + 1..), N::one());
         }
     }
 
@@ -337,34 +363,38 @@ impl<N, D: Dim, S> Vector<N, D, S>
     ///
     /// If `beta` is zero, `self` is never read.
     #[inline]
-    pub fn gemv_tr<R2: Dim, C2: Dim, D3: Dim, SB, SC>(&mut self,
+    pub fn gemv_tr<R2: Dim, C2: Dim, D3: Dim, SB, SC>(
-                                                      alpha: N,
+        &mut self,
-                                                      a:     &Matrix<N, R2, C2, SB>,
+        alpha: N,
-                                                      x:     &Vector<N, D3, SC>,
+        a: &Matrix<N, R2, C2, SB>,
-                                                      beta:  N)
+        x: &Vector<N, D3, SC>,
-        where N:  One,
+        beta: N,
-              SB: Storage<N, R2, C2>,
+    ) where
-              SC: Storage<N, D3>,
+        N: One,
-              ShapeConstraint: DimEq<D, C2> +
+        SB: Storage<N, R2, C2>,
-                               AreMultipliable<C2, R2, D3, U1> {
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<D, C2> + AreMultipliable<C2, R2, D3, U1>,
+    {
         let dim1 = self.nrows();
         let (nrows2, ncols2) = a.shape();
         let dim3 = x.nrows();
 
-        assert!(nrows2 == dim3 && dim1 == ncols2, "Gemv: dimensions mismatch.");
+        assert!(
+            nrows2 == dim3 && dim1 == ncols2,
+            "Gemv: dimensions mismatch."
+        );
 
         if ncols2 == 0 {
             return;
         }
 
         if beta.is_zero() {
-            for j in 0 .. ncols2 {
+            for j in 0..ncols2 {
                 let val = unsafe { self.vget_unchecked_mut(j) };
                 *val = alpha * a.column(j).dot(x)
             }
-        }
+        } else {
-        else {
+            for j in 0..ncols2 {
-            for j in 0 .. ncols2 {
                 let val = unsafe { self.vget_unchecked_mut(j) };
                 *val = alpha * a.column(j).dot(x) + beta * *val;
             }
@@ -373,24 +403,35 @@ impl<N, D: Dim, S> Vector<N, D, S>
 }
 
 impl<N, R1: Dim, C1: Dim, S: StorageMut<N, R1, C1>> Matrix<N, R1, C1, S>
-    where N: Scalar + Zero + ClosedAdd + ClosedMul {
+where
-
+    N: Scalar + Zero + ClosedAdd + ClosedMul,
+{
     /// Computes `self = alpha * x * y.transpose() + beta * self`.
     ///
     /// If `beta` is zero, `self` is never read.
     #[inline]
-    pub fn ger<D2: Dim, D3: Dim, SB, SC>(&mut self, alpha: N, x: &Vector<N, D2, SB>, y: &Vector<N, D3, SC>, beta: N)
+    pub fn ger<D2: Dim, D3: Dim, SB, SC>(
-        where N: One,
+        &mut self,
-              SB: Storage<N, D2>,
+        alpha: N,
-              SC: Storage<N, D3>,
+        x: &Vector<N, D2, SB>,
-              ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3> {
+        y: &Vector<N, D3, SC>,
+        beta: N,
+    ) where
+        N: One,
+        SB: Storage<N, D2>,
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
+    {
         let (nrows1, ncols1) = self.shape();
         let dim2 = x.nrows();
         let dim3 = y.nrows();
 
-        assert!(nrows1 == dim2 && ncols1 == dim3, "ger: dimensions mismatch.");
+        assert!(
+            nrows1 == dim2 && ncols1 == dim3,
+            "ger: dimensions mismatch."
+        );
 
-        for j in 0 .. ncols1 {
+        for j in 0..ncols1 {
             // FIXME: avoid bound checks.
             let val = unsafe { *y.vget_unchecked(j) };
             self.column_mut(j).axpy(alpha * val, x, beta);
@@ -402,84 +443,101 @@ impl<N, R1: Dim, C1: Dim, S: StorageMut<N, R1, C1>> Matrix<N, R1, C1, S>
     ///
     /// If `beta` is zero, `self` is never read.
     #[inline]
-    pub fn gemm<R2: Dim, C2: Dim, R3: Dim, C3: Dim, SB, SC>(&mut self,
+    pub fn gemm<R2: Dim, C2: Dim, R3: Dim, C3: Dim, SB, SC>(
-                                                            alpha: N,
+        &mut self,
-                                                            a: &Matrix<N, R2, C2, SB>,
+        alpha: N,
-                                                            b: &Matrix<N, R3, C3, SC>,
+        a: &Matrix<N, R2, C2, SB>,
-                                                            beta: N)
+        b: &Matrix<N, R3, C3, SC>,
-        where N:  One,
+        beta: N,
-              SB: Storage<N, R2, C2>,
+    ) where
-              SC: Storage<N, R3, C3>,
+        N: One,
-              ShapeConstraint: SameNumberOfRows<R1, R2>    +
+        SB: Storage<N, R2, C2>,
-                               SameNumberOfColumns<C1, C3> +
+        SC: Storage<N, R3, C3>,
-                               AreMultipliable<R2, C2, R3, C3> {
+        ShapeConstraint: SameNumberOfRows<R1, R2>
-       let (nrows1, ncols1) = self.shape();
+            + SameNumberOfColumns<C1, C3>
-       let (nrows2, ncols2) = a.shape();
+            + AreMultipliable<R2, C2, R3, C3>,
-       let (nrows3, ncols3) = b.shape();
+    {
+        let (nrows1, ncols1) = self.shape();
+        let (nrows2, ncols2) = a.shape();
+        let (nrows3, ncols3) = b.shape();
 
-       assert_eq!(ncols2, nrows3, "gemm: dimensions mismatch for multiplication.");
+        assert_eq!(
-       assert_eq!((nrows1, ncols1), (nrows2, ncols3), "gemm: dimensions mismatch for addition.");
+            ncols2,
+            nrows3,
+            "gemm: dimensions mismatch for multiplication."
+        );
+        assert_eq!(
+            (nrows1, ncols1),
+            (nrows2, ncols3),
+            "gemm: dimensions mismatch for addition."
+        );
 
-       // We assume large matrices will be Dynamic but small matrices static.
+        // We assume large matrices will be Dynamic but small matrices static.
-       // We could use matrixmultiply for large statically-sized matrices but the performance
+        // We could use matrixmultiply for large statically-sized matrices but the performance
-       // threshold to activate it would be different from SMALL_DIM because our code optimizes
+        // threshold to activate it would be different from SMALL_DIM because our code optimizes
-       // better for statically-sized matrices.
+        // better for statically-sized matrices.
-       let is_dynamic = R1::is::<Dynamic>() || C1::is::<Dynamic>() ||
+        let is_dynamic = R1::is::<Dynamic>() || C1::is::<Dynamic>() || R2::is::<Dynamic>()
-                        R2::is::<Dynamic>() || C2::is::<Dynamic>() ||
+            || C2::is::<Dynamic>() || R3::is::<Dynamic>()
-                        R3::is::<Dynamic>() || C3::is::<Dynamic>();
+            || C3::is::<Dynamic>();
-       // Thershold determined ampirically.
+        // Thershold determined ampirically.
-       const SMALL_DIM: usize = 5;
+        const SMALL_DIM: usize = 5;
 
-       if is_dynamic &&
+        if is_dynamic && nrows1 > SMALL_DIM && ncols1 > SMALL_DIM && nrows2 > SMALL_DIM
-          nrows1 > SMALL_DIM && ncols1 > SMALL_DIM &&
+            && ncols2 > SMALL_DIM
-          nrows2 > SMALL_DIM && ncols2 > SMALL_DIM {
+        {
-           if N::is::<f32>() {
+            if N::is::<f32>() {
-               let (rsa, csa) = a.strides();
+                let (rsa, csa) = a.strides();
-               let (rsb, csb) = b.strides();
+                let (rsb, csb) = b.strides();
-               let (rsc, csc) = self.strides();
+                let (rsc, csc) = self.strides();
 
-               unsafe {
+                unsafe {
-                   matrixmultiply::sgemm(
+                    matrixmultiply::sgemm(
-                       nrows2,
+                        nrows2,
-                       ncols2,
+                        ncols2,
-                       ncols3,
+                        ncols3,
-                       mem::transmute_copy(&alpha),
+                        mem::transmute_copy(&alpha),
-                       a.data.ptr() as *const f32,
+                        a.data.ptr() as *const f32,
-                       rsa as isize, csa as isize,
+                        rsa as isize,
-                       b.data.ptr() as *const f32,
+                        csa as isize,
-                       rsb as isize, csb as isize,
+                        b.data.ptr() as *const f32,
-                       mem::transmute_copy(&beta),
+                        rsb as isize,
-                       self.data.ptr_mut() as *mut f32,
+                        csb as isize,
-                       rsc as isize, csc as isize);
+                        mem::transmute_copy(&beta),
-               }
+                        self.data.ptr_mut() as *mut f32,
-           }
+                        rsc as isize,
-           else if N::is::<f64>() {
+                        csc as isize,
-               let (rsa, csa) = a.strides();
+                    );
-               let (rsb, csb) = b.strides();
+                }
-               let (rsc, csc) = self.strides();
+            } else if N::is::<f64>() {
+                let (rsa, csa) = a.strides();
+                let (rsb, csb) = b.strides();
+                let (rsc, csc) = self.strides();
 
-               unsafe {
+                unsafe {
-                   matrixmultiply::dgemm(
+                    matrixmultiply::dgemm(
-                       nrows2,
+                        nrows2,
-                       ncols2,
+                        ncols2,
-                       ncols3,
+                        ncols3,
-                       mem::transmute_copy(&alpha),
+                        mem::transmute_copy(&alpha),
-                       a.data.ptr() as *const f64,
+                        a.data.ptr() as *const f64,
-                       rsa as isize, csa as isize,
+                        rsa as isize,
-                       b.data.ptr() as *const f64,
+                        csa as isize,
-                       rsb as isize, csb as isize,
+                        b.data.ptr() as *const f64,
-                       mem::transmute_copy(&beta),
+                        rsb as isize,
-                       self.data.ptr_mut() as *mut f64,
+                        csb as isize,
-                       rsc as isize, csc as isize);
+                        mem::transmute_copy(&beta),
-               }
+                        self.data.ptr_mut() as *mut f64,
-           }
+                        rsc as isize,
-       }
+                        csc as isize,
-       else {
+                    );
-           for j1 in 0 .. ncols1 {
+                }
-               // FIXME: avoid bound checks.
+            }
-               self.column_mut(j1).gemv(alpha, a, &b.column(j1), beta);
+        } else {
-           }
+            for j1 in 0..ncols1 {
-       }
+                // FIXME: avoid bound checks.
+                self.column_mut(j1).gemv(alpha, a, &b.column(j1), beta);
+            }
+        }
     }
 
     /// Computes `self = alpha * a.transpose() * b + beta * self`, where `a, b, self` are matrices.
@@ -487,89 +545,115 @@ impl<N, R1: Dim, C1: Dim, S: StorageMut<N, R1, C1>> Matrix<N, R1, C1, S>
     ///
     /// If `beta` is zero, `self` is never read.
     #[inline]
-    pub fn gemm_tr<R2: Dim, C2: Dim, R3: Dim, C3: Dim, SB, SC>(&mut self,
+    pub fn gemm_tr<R2: Dim, C2: Dim, R3: Dim, C3: Dim, SB, SC>(
-                                                               alpha: N,
+        &mut self,
-                                                               a: &Matrix<N, R2, C2, SB>,
+        alpha: N,
-                                                               b: &Matrix<N, R3, C3, SC>,
+        a: &Matrix<N, R2, C2, SB>,
-                                                               beta: N)
+        b: &Matrix<N, R3, C3, SC>,
-        where N:  One,
+        beta: N,
-              SB: Storage<N, R2, C2>,
+    ) where
-              SC: Storage<N, R3, C3>,
+        N: One,
-              ShapeConstraint: SameNumberOfRows<R1, C2>    +
+        SB: Storage<N, R2, C2>,
-                               SameNumberOfColumns<C1, C3> +
+        SC: Storage<N, R3, C3>,
-                               AreMultipliable<C2, R2, R3, C3> {
+        ShapeConstraint: SameNumberOfRows<R1, C2>
-       let (nrows1, ncols1) = self.shape();
+            + SameNumberOfColumns<C1, C3>
-       let (nrows2, ncols2) = a.shape();
+            + AreMultipliable<C2, R2, R3, C3>,
-       let (nrows3, ncols3) = b.shape();
+    {
+        let (nrows1, ncols1) = self.shape();
+        let (nrows2, ncols2) = a.shape();
+        let (nrows3, ncols3) = b.shape();
 
-       assert_eq!(nrows2, nrows3, "gemm: dimensions mismatch for multiplication.");
+        assert_eq!(
-       assert_eq!((nrows1, ncols1), (ncols2, ncols3), "gemm: dimensions mismatch for addition.");
+            nrows2,
+            nrows3,
+            "gemm: dimensions mismatch for multiplication."
+        );
+        assert_eq!(
+            (nrows1, ncols1),
+            (ncols2, ncols3),
+            "gemm: dimensions mismatch for addition."
+        );
 
-       for j1 in 0 .. ncols1 {
+        for j1 in 0..ncols1 {
-           // FIXME: avoid bound checks.
+            // FIXME: avoid bound checks.
-           self.column_mut(j1).gemv_tr(alpha, a, &b.column(j1), beta);
+            self.column_mut(j1).gemv_tr(alpha, a, &b.column(j1), beta);
-       }
+        }
     }
 }
 
-
 impl<N, R1: Dim, C1: Dim, S: StorageMut<N, R1, C1>> Matrix<N, R1, C1, S>
-    where N: Scalar + Zero + ClosedAdd + ClosedMul {
+where
+    N: Scalar + Zero + ClosedAdd + ClosedMul,
+{
     /// Computes `self = alpha * x * y.transpose() + beta * self`, where `self` is a **symmetric**
     /// matrix.
     ///
     /// If `beta` is zero, `self` is never read. The result is symmetric. Only the lower-triangular
     /// (including the diagonal) part of `self` is read/written.
     #[inline]
-    pub fn ger_symm<D2: Dim, D3: Dim, SB, SC>(&mut self,
+    pub fn ger_symm<D2: Dim, D3: Dim, SB, SC>(
-                                              alpha: N,
+        &mut self,
-                                              x:     &Vector<N, D2, SB>,
+        alpha: N,
-                                              y:     &Vector<N, D3, SC>,
+        x: &Vector<N, D2, SB>,
-                                              beta:  N)
+        y: &Vector<N, D3, SC>,
-        where N: One,
+        beta: N,
-              SB: Storage<N, D2>,
+    ) where
-              SC: Storage<N, D3>,
+        N: One,
-              ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3> {
+        SB: Storage<N, D2>,
+        SC: Storage<N, D3>,
+        ShapeConstraint: DimEq<R1, D2> + DimEq<C1, D3>,
+    {
         let dim1 = self.nrows();
         let dim2 = x.nrows();
         let dim3 = y.nrows();
 
-        assert!(self.is_square(), "Symmetric ger: the input matrix must be square.");
+        assert!(
+            self.is_square(),
+            "Symmetric ger: the input matrix must be square."
+        );
         assert!(dim1 == dim2 && dim1 == dim3, "ger: dimensions mismatch.");
 
-        for j in 0 .. dim1 {
+        for j in 0..dim1 {
             let val = unsafe { *y.vget_unchecked(j) };
             let subdim = Dynamic::new(dim1 - j);
             // FIXME: avoid bound checks.
-            self.generic_slice_mut((j, j), (subdim, U1)).axpy(alpha * val, &x.rows_range(j ..), beta);
+            self.generic_slice_mut((j, j), (subdim, U1)).axpy(
+                alpha * val,
+                &x.rows_range(j..),
+                beta,
+            );
         }
     }
 }
 
 impl<N, D1: Dim, S: StorageMut<N, D1, D1>> SquareMatrix<N, D1, S>
-    where N: Scalar + Zero + One + ClosedAdd + ClosedMul {
+where
-
+    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
+{
     /// Computes the quadratic form `self = alpha * lhs * mid * lhs.transpose() + beta * self`.
     ///
     /// This uses the provided workspace `work` to avoid allocations for intermediate results.
-    pub fn quadform_tr_with_workspace<D2, S2, R3, C3, S3, D4, S4>(&mut self,
+    pub fn quadform_tr_with_workspace<D2, S2, R3, C3, S3, D4, S4>(
-                                                                  work:  &mut Vector<N, D2, S2>,
+        &mut self,
-                                                                  alpha: N,
+        work: &mut Vector<N, D2, S2>,
-                                                                  lhs:   &Matrix<N, R3, C3, S3>,
+        alpha: N,
-                                                                  mid:   &SquareMatrix<N, D4, S4>,
+        lhs: &Matrix<N, R3, C3, S3>,
-                                                                  beta:  N)
+        mid: &SquareMatrix<N, D4, S4>,
-        where D2: Dim, R3: Dim, C3: Dim, D4: Dim,
+        beta: N,
-              S2: StorageMut<N, D2>,
+    ) where
-              S3: Storage<N, R3, C3>,
+        D2: Dim,
-              S4: Storage<N, D4, D4>,
+        R3: Dim,
-              ShapeConstraint: DimEq<D1, D2> +
+        C3: Dim,
-                               DimEq<D1, R3> +
+        D4: Dim,
-                               DimEq<D2, R3> +
+        S2: StorageMut<N, D2>,
-                               DimEq<C3, D4> {
+        S3: Storage<N, R3, C3>,
+        S4: Storage<N, D4, D4>,
+        ShapeConstraint: DimEq<D1, D2> + DimEq<D1, R3> + DimEq<D2, R3> + DimEq<C3, D4>,
+    {
         work.gemv(N::one(), lhs, &mid.column(0), N::zero());
         self.ger(alpha, work, &lhs.column(0), beta);
 
-        for j in 1 .. mid.ncols() {
+        for j in 1..mid.ncols() {
             work.gemv(N::one(), lhs, &mid.column(j), N::zero());
             self.ger(alpha, work, &lhs.column(j), N::one());
         }
@@ -579,16 +663,21 @@ impl<N, D1: Dim, S: StorageMut<N, D1, D1>> SquareMatrix<N, D1, S>
     ///
     /// This allocates a workspace vector of dimension D1 for intermediate results.
     /// Use `.quadform_tr_with_workspace(...)` instead to avoid allocations.
-    pub fn quadform_tr<R3, C3, S3, D4, S4>(&mut self,
+    pub fn quadform_tr<R3, C3, S3, D4, S4>(
-                                           alpha: N,
+        &mut self,
-                                           lhs:   &Matrix<N, R3, C3, S3>,
+        alpha: N,
-                                           mid:   &SquareMatrix<N, D4, S4>,
+        lhs: &Matrix<N, R3, C3, S3>,
-                                           beta:  N)
+        mid: &SquareMatrix<N, D4, S4>,
-        where R3: Dim, C3: Dim, D4: Dim,   
+        beta: N,
-              S3: Storage<N, R3, C3>,
+    ) where
-              S4: Storage<N, D4, D4>,
+        R3: Dim,
-              ShapeConstraint: DimEq<D1, D1> + DimEq<D1, R3> + DimEq<C3, D4>,
+        C3: Dim,
-              DefaultAllocator: Allocator<N, D1> {
+        D4: Dim,
+        S3: Storage<N, R3, C3>,
+        S4: Storage<N, D4, D4>,
+        ShapeConstraint: DimEq<D1, D1> + DimEq<D1, R3> + DimEq<C3, D4>,
+        DefaultAllocator: Allocator<N, D1>,
+    {
         let mut work = unsafe { Vector::new_uninitialized_generic(self.data.shape().0, U1) };
         self.quadform_tr_with_workspace(&mut work, alpha, lhs, mid, beta)
     }
@@ -596,24 +685,30 @@ impl<N, D1: Dim, S: StorageMut<N, D1, D1>> SquareMatrix<N, D1, S>
     /// Computes the quadratic form `self = alpha * rhs.transpose() * mid * rhs + beta * self`.
     ///
     /// This uses the provided workspace `work` to avoid allocations for intermediate results.
-    pub fn quadform_with_workspace<D2, S2, D3, S3, R4, C4, S4>(&mut self,
+    pub fn quadform_with_workspace<D2, S2, D3, S3, R4, C4, S4>(
-                                                               work:  &mut Vector<N, D2, S2>,
+        &mut self,
-                                                               alpha: N,
+        work: &mut Vector<N, D2, S2>,
-                                                               mid:   &SquareMatrix<N, D3, S3>,
+        alpha: N,
-                                                               rhs:   &Matrix<N, R4, C4, S4>,
+        mid: &SquareMatrix<N, D3, S3>,
-                                                               beta:  N)
+        rhs: &Matrix<N, R4, C4, S4>,
-        where D2: Dim, D3: Dim, R4: Dim, C4: Dim,
+        beta: N,
-              S2: StorageMut<N, D2>,
+    ) where
-              S3: Storage<N, D3, D3>,
+        D2: Dim,
-              S4: Storage<N, R4, C4>,
+        D3: Dim,
-              ShapeConstraint: DimEq<D3, R4> +
+        R4: Dim,
-                               DimEq<D1, C4> +
+        C4: Dim,
-                               DimEq<D2, D3> +
+        S2: StorageMut<N, D2>,
-                               AreMultipliable<C4, R4, D2, U1> {
+        S3: Storage<N, D3, D3>,
+        S4: Storage<N, R4, C4>,
+        ShapeConstraint: DimEq<D3, R4>
+            + DimEq<D1, C4>
+            + DimEq<D2, D3>
+            + AreMultipliable<C4, R4, D2, U1>,
+    {
         work.gemv(N::one(), mid, &rhs.column(0), N::zero());
         self.column_mut(0).gemv_tr(alpha, &rhs, work, beta);
 
-        for j in 1 .. rhs.ncols() {
+        for j in 1..rhs.ncols() {
             work.gemv(N::one(), mid, &rhs.column(j), N::zero());
             self.column_mut(j).gemv_tr(alpha, &rhs, work, beta);
         }
@@ -623,19 +718,21 @@ impl<N, D1: Dim, S: StorageMut<N, D1, D1>> SquareMatrix<N, D1, S>
     ///
     /// This allocates a workspace vector of dimension D2 for intermediate results.
     /// Use `.quadform_with_workspace(...)` instead to avoid allocations.
-    pub fn quadform<D2, S2, R3, C3, S3>(&mut self,
+    pub fn quadform<D2, S2, R3, C3, S3>(
-                                        alpha: N,
+        &mut self,
-                                        mid:   &SquareMatrix<N, D2, S2>,
+        alpha: N,
-                                        rhs:   &Matrix<N, R3, C3, S3>,
+        mid: &SquareMatrix<N, D2, S2>,
-                                        beta:  N)
+        rhs: &Matrix<N, R3, C3, S3>,
-        where D2: Dim, R3: Dim, C3: Dim,
+        beta: N,
-              S2: Storage<N, D2, D2>,
+    ) where
-              S3: Storage<N, R3, C3>,
+        D2: Dim,
-              ShapeConstraint: DimEq<D2, R3> +
+        R3: Dim,
-                               DimEq<D1, C3> +
+        C3: Dim,
-                               AreMultipliable<C3, R3, D2, U1>,
+        S2: Storage<N, D2, D2>,
-              DefaultAllocator: Allocator<N, D2> {
+        S3: Storage<N, R3, C3>,
-
+        ShapeConstraint: DimEq<D2, R3> + DimEq<D1, C3> + AreMultipliable<C3, R3, D2, U1>,
+        DefaultAllocator: Allocator<N, D2>,
+    {
         let mut work = unsafe { Vector::new_uninitialized_generic(mid.data.shape().0, U1) };
         self.quadform_with_workspace(&mut work, alpha, mid, rhs, beta)
     }

src/core/cg.rs

@@ -7,20 +7,22 @@
 
 use num::One;
 
-use core::{DefaultAllocator, Scalar, SquareMatrix, Vector, Unit,
+use core::{DefaultAllocator, Matrix3, Matrix4, MatrixN, Scalar, SquareMatrix, Unit, Vector,
-           VectorN, MatrixN, Vector3, Matrix3, Matrix4};
+           Vector3, VectorN};
-use core::dimension::{DimName, DimNameSub, DimNameDiff, U1};
+use core::dimension::{DimName, DimNameDiff, DimNameSub, U1};
 use core::storage::{Storage, StorageMut};
 use core::allocator::Allocator;
-use geometry::{Point, Isometry, Point3, Rotation2, Rotation3, Orthographic3, Perspective3, IsometryMatrix3};
+use geometry::{Isometry, IsometryMatrix3, Orthographic3, Perspective3, Point, Point3, Rotation2,
+               Rotation3};
 
-use alga::general::{Real, Field};
+use alga::general::{Field, Real};
 use alga::linear::Transformation;
 
-
 impl<N, D: DimName> MatrixN<N, D>
-    where N: Scalar + Field,
+where
-          DefaultAllocator: Allocator<N, D, D> {
+    N: Scalar + Field,
+    DefaultAllocator: Allocator<N, D, D>,
+{
     /// Creates a new homogeneous matrix that applies the same scaling factor on each dimension.
     #[inline]
     pub fn new_scaling(scaling: N) -> Self {
@@ -33,10 +35,12 @@ impl<N, D: DimName> MatrixN<N, D>
     /// Creates a new homogeneous matrix that applies a distinct scaling factor for each dimension.
     #[inline]
     pub fn new_nonuniform_scaling<SB>(scaling: &Vector<N, DimNameDiff<D, U1>, SB>) -> Self
-        where D:  DimNameSub<U1>,
+    where
-              SB: Storage<N, DimNameDiff<D, U1>> {
+        D: DimNameSub<U1>,
+        SB: Storage<N, DimNameDiff<D, U1>>,
+    {
         let mut res = Self::one();
-        for i in 0 .. scaling.len() {
+        for i in 0..scaling.len() {
             res[(i, i)] = scaling[i];
         }
 
@@ -46,10 +50,13 @@ impl<N, D: DimName> MatrixN<N, D>
     /// Creates a new homogeneous matrix that applies a pure translation.
     #[inline]
     pub fn new_translation<SB>(translation: &Vector<N, DimNameDiff<D, U1>, SB>) -> Self
-        where D:  DimNameSub<U1>,
+    where
-              SB: Storage<N, DimNameDiff<D, U1>> {
+        D: DimNameSub<U1>,
+        SB: Storage<N, DimNameDiff<D, U1>>,
+    {
         let mut res = Self::one();
-        res.fixed_slice_mut::<DimNameDiff<D, U1>, U1>(0, D::dim() - 1).copy_from(translation);
+        res.fixed_slice_mut::<DimNameDiff<D, U1>, U1>(0, D::dim() - 1)
+            .copy_from(translation);
 
         res
     }
@@ -65,7 +72,7 @@ impl<N: Real> Matrix3<N> {
 
 impl<N: Real> Matrix4<N> {
     /// Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).
-    /// 
+    ///
     /// Returns the identity matrix if the given argument is zero.
     #[inline]
     pub fn new_rotation(axisangle: Vector3<N>) -> Self {
@@ -73,7 +80,7 @@ impl<N: Real> Matrix4<N> {
     }
 
     /// Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).
-    /// 
+    ///
     /// Returns the identity matrix if the given argument is zero.
     #[inline]
     pub fn new_rotation_wrt_point(axisangle: Vector3<N>, pt: Point3<N>) -> Self {
@@ -82,7 +89,7 @@ impl<N: Real> Matrix4<N> {
     }
 
     /// Builds a 3D homogeneous rotation matrix from an axis and an angle (multiplied together).
-    /// 
+    ///
     /// Returns the identity matrix if the given argument is zero.
     /// This is identical to `Self::new_rotation`.
     #[inline]
@@ -137,13 +144,14 @@ impl<N: Real> Matrix4<N> {
     }
 }
 
-
 impl<N: Scalar + Field, D: DimName, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
     /// Computes the transformation equal to `self` followed by an uniform scaling factor.
     #[inline]
     pub fn append_scaling(&self, scaling: N) -> MatrixN<N, D>
-        where D: DimNameSub<U1>,
+    where
-              DefaultAllocator: Allocator<N, D, D> {
+        D: DimNameSub<U1>,
+        DefaultAllocator: Allocator<N, D, D>,
+    {
         let mut res = self.clone_owned();
         res.append_scaling_mut(scaling);
         res
@@ -152,8 +160,10 @@ impl<N: Scalar + Field, D: DimName, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
     /// Computes the transformation equal to an uniform scaling factor followed by `self`.
     #[inline]
     pub fn prepend_scaling(&self, scaling: N) -> MatrixN<N, D>
-        where D: DimNameSub<U1>,
+    where
-              DefaultAllocator: Allocator<N, D, D> {
+        D: DimNameSub<U1>,
+        DefaultAllocator: Allocator<N, D, D>,
+    {
         let mut res = self.clone_owned();
         res.prepend_scaling_mut(scaling);
         res
@@ -161,10 +171,15 @@ impl<N: Scalar + Field, D: DimName, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
 
     /// Computes the transformation equal to `self` followed by a non-uniform scaling factor.
     #[inline]
-    pub fn append_nonuniform_scaling<SB>(&self, scaling: &Vector<N, DimNameDiff<D, U1>, SB>) -> MatrixN<N, D>
+    pub fn append_nonuniform_scaling<SB>(
-        where D: DimNameSub<U1>,
+        &self,
-              SB: Storage<N, DimNameDiff<D, U1>>,
+        scaling: &Vector<N, DimNameDiff<D, U1>, SB>,
-              DefaultAllocator: Allocator<N, D, D> {
+    ) -> MatrixN<N, D>
+    where
+        D: DimNameSub<U1>,
+        SB: Storage<N, DimNameDiff<D, U1>>,
+        DefaultAllocator: Allocator<N, D, D>,
+    {
         let mut res = self.clone_owned();
         res.append_nonuniform_scaling_mut(scaling);
         res
@@ -172,10 +187,15 @@ impl<N: Scalar + Field, D: DimName, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
 
     /// Computes the transformation equal to a non-uniform scaling factor followed by `self`.
     #[inline]
-    pub fn prepend_nonuniform_scaling<SB>(&self, scaling: &Vector<N, DimNameDiff<D, U1>, SB>) -> MatrixN<N, D>
+    pub fn prepend_nonuniform_scaling<SB>(
-        where D: DimNameSub<U1>,
+        &self,
-              SB: Storage<N, DimNameDiff<D, U1>>,
+        scaling: &Vector<N, DimNameDiff<D, U1>, SB>,
-              DefaultAllocator: Allocator<N, D, D> {
+    ) -> MatrixN<N, D>
+    where
+        D: DimNameSub<U1>,
+        SB: Storage<N, DimNameDiff<D, U1>>,
+        DefaultAllocator: Allocator<N, D, D>,
+    {
         let mut res = self.clone_owned();
         res.prepend_nonuniform_scaling_mut(scaling);
         res
@@ -184,9 +204,11 @@ impl<N: Scalar + Field, D: DimName, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
     /// Computes the transformation equal to `self` followed by a translation.
     #[inline]
     pub fn append_translation<SB>(&self, shift: &Vector<N, DimNameDiff<D, U1>, SB>) -> MatrixN<N, D>
-        where D: DimNameSub<U1>,
+    where
-              SB: Storage<N, DimNameDiff<D, U1>>,
+        D: DimNameSub<U1>,
-              DefaultAllocator: Allocator<N, D, D> {
+        SB: Storage<N, DimNameDiff<D, U1>>,
+        DefaultAllocator: Allocator<N, D, D>,
+    {
         let mut res = self.clone_owned();
         res.append_translation_mut(shift);
         res
@@ -194,11 +216,15 @@ impl<N: Scalar + Field, D: DimName, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
 
     /// Computes the transformation equal to a translation followed by `self`.
     #[inline]
-    pub fn prepend_translation<SB>(&self, shift: &Vector<N, DimNameDiff<D, U1>, SB>) -> MatrixN<N, D>
+    pub fn prepend_translation<SB>(
-        where D: DimNameSub<U1>,
+        &self,
-              SB: Storage<N, DimNameDiff<D, U1>>,
+        shift: &Vector<N, DimNameDiff<D, U1>, SB>,
-              DefaultAllocator: Allocator<N, D, D> +
+    ) -> MatrixN<N, D>
-                                Allocator<N, DimNameDiff<D, U1>> {
+    where
+        D: DimNameSub<U1>,
+        SB: Storage<N, DimNameDiff<D, U1>>,
+        DefaultAllocator: Allocator<N, D, D> + Allocator<N, DimNameDiff<D, U1>>,
+    {
         let mut res = self.clone_owned();
         res.prepend_translation_mut(shift);
         res
@@ -206,11 +232,12 @@ impl<N: Scalar + Field, D: DimName, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
 }
 
 impl<N: Scalar + Field, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S> {
-
     /// Computes in-place the transformation equal to `self` followed by an uniform scaling factor.
     #[inline]
     pub fn append_scaling_mut(&mut self, scaling: N)
-        where D: DimNameSub<U1> {
+    where
+        D: DimNameSub<U1>,
+    {
         let mut to_scale = self.fixed_rows_mut::<DimNameDiff<D, U1>>(0);
         to_scale *= scaling;
     }
@@ -218,7 +245,9 @@ impl<N: Scalar + Field, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S
     /// Computes in-place the transformation equal to an uniform scaling factor followed by `self`.
     #[inline]
     pub fn prepend_scaling_mut(&mut self, scaling: N)
-        where D: DimNameSub<U1> {
+    where
+        D: DimNameSub<U1>,
+    {
         let mut to_scale = self.fixed_columns_mut::<DimNameDiff<D, U1>>(0);
         to_scale *= scaling;
     }
@@ -226,9 +255,11 @@ impl<N: Scalar + Field, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S
     /// Computes in-place the transformation equal to `self` followed by a non-uniform scaling factor.
     #[inline]
     pub fn append_nonuniform_scaling_mut<SB>(&mut self, scaling: &Vector<N, DimNameDiff<D, U1>, SB>)
-        where D:  DimNameSub<U1>,
+    where
-              SB: Storage<N, DimNameDiff<D, U1>> {
+        D: DimNameSub<U1>,
-        for i in 0 .. scaling.len() {
+        SB: Storage<N, DimNameDiff<D, U1>>,
+    {
+        for i in 0..scaling.len() {
             let mut to_scale = self.fixed_rows_mut::<U1>(i);
             to_scale *= scaling[i];
         }
@@ -236,10 +267,14 @@ impl<N: Scalar + Field, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S
 
     /// Computes in-place the transformation equal to a non-uniform scaling factor followed by `self`.
     #[inline]
-    pub fn prepend_nonuniform_scaling_mut<SB>(&mut self, scaling: &Vector<N, DimNameDiff<D, U1>, SB>)
+    pub fn prepend_nonuniform_scaling_mut<SB>(
-        where D:  DimNameSub<U1>,
+        &mut self,
-              SB: Storage<N, DimNameDiff<D, U1>> {
+        scaling: &Vector<N, DimNameDiff<D, U1>, SB>,
-        for i in 0 .. scaling.len() {
+    ) where
+        D: DimNameSub<U1>,
+        SB: Storage<N, DimNameDiff<D, U1>>,
+    {
+        for i in 0..scaling.len() {
             let mut to_scale = self.fixed_columns_mut::<U1>(i);
             to_scale *= scaling[i];
         }
@@ -248,10 +283,12 @@ impl<N: Scalar + Field, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S
     /// Computes the transformation equal to `self` followed by a translation.
     #[inline]
     pub fn append_translation_mut<SB>(&mut self, shift: &Vector<N, DimNameDiff<D, U1>, SB>)
-        where D: DimNameSub<U1>,
+    where
-              SB: Storage<N, DimNameDiff<D, U1>> {
+        D: DimNameSub<U1>,
-        for i in 0 .. D::dim() {
+        SB: Storage<N, DimNameDiff<D, U1>>,
-            for j in 0 .. D::dim() - 1 {
+    {
+        for i in 0..D::dim() {
+            for j in 0..D::dim() - 1 {
                 self[(j, i)] += shift[j] * self[(D::dim() - 1, i)];
             }
         }
@@ -260,11 +297,15 @@ impl<N: Scalar + Field, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S
     /// Computes the transformation equal to a translation followed by `self`.
     #[inline]
     pub fn prepend_translation_mut<SB>(&mut self, shift: &Vector<N, DimNameDiff<D, U1>, SB>)
-        where D: DimNameSub<U1>,
+    where
-              SB: Storage<N, DimNameDiff<D, U1>>,
+        D: DimNameSub<U1>,
-              DefaultAllocator: Allocator<N, DimNameDiff<D, U1>> {
+        SB: Storage<N, DimNameDiff<D, U1>>,
-        let scale = self.fixed_slice::<U1, DimNameDiff<D, U1>>(D::dim() - 1, 0).tr_dot(&shift);
+        DefaultAllocator: Allocator<N, DimNameDiff<D, U1>>,
-        let post_translation = self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0) * shift;
+    {
+        let scale = self.fixed_slice::<U1, DimNameDiff<D, U1>>(D::dim() - 1, 0)
+            .tr_dot(&shift);
+        let post_translation =
+            self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0) * shift;
 
         self[(D::dim() - 1, D::dim() - 1)] += scale;
 
@@ -273,14 +314,18 @@ impl<N: Scalar + Field, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S
     }
 }
 
-
 impl<N: Real, D: DimNameSub<U1>> Transformation<Point<N, DimNameDiff<D, U1>>> for MatrixN<N, D>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, DimNameDiff<D, U1>> +
+    DefaultAllocator: Allocator<N, D, D>
-                            Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>> {
+        + Allocator<N, DimNameDiff<D, U1>>
+        + Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>>,
+{
     #[inline]
-    fn transform_vector(&self, v: &VectorN<N, DimNameDiff<D, U1>>) -> VectorN<N, DimNameDiff<D, U1>> {
+    fn transform_vector(
-        let transform  = self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0);
+        &self,
+        v: &VectorN<N, DimNameDiff<D, U1>>,
+    ) -> VectorN<N, DimNameDiff<D, U1>> {
+        let transform = self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0);
         let normalizer = self.fixed_slice::<U1, DimNameDiff<D, U1>>(D::dim() - 1, 0);
         let n = normalizer.tr_dot(&v);
 
@@ -293,10 +338,12 @@ impl<N: Real, D: DimNameSub<U1>> Transformation<Point<N, DimNameDiff<D, U1>>> fo
 
     #[inline]
     fn transform_point(&self, pt: &Point<N, DimNameDiff<D, U1>>) -> Point<N, DimNameDiff<D, U1>> {
-        let transform   = self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0);
+        let transform = self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0);
         let translation = self.fixed_slice::<DimNameDiff<D, U1>, U1>(0, D::dim() - 1);
-        let normalizer  = self.fixed_slice::<U1, DimNameDiff<D, U1>>(D::dim() - 1, 0);
+        let normalizer = self.fixed_slice::<U1, DimNameDiff<D, U1>>(D::dim() - 1, 0);
-        let n = normalizer.tr_dot(&pt.coords) + unsafe { *self.get_unchecked(D::dim() - 1, D::dim() - 1) };
+        let n = normalizer.tr_dot(&pt.coords) + unsafe {
+            *self.get_unchecked(D::dim() - 1, D::dim() - 1)
+        };
 
         if !n.is_zero() {
             return transform * (pt / n) + translation;

src/core/componentwise.rs

@@ -1,16 +1,15 @@
 // Non-convensional componentwise operators.
 
 use std::ops::{Add, Mul};
-use num::{Zero, Signed};
+use num::{Signed, Zero};
 
-use alga::general::{ClosedMul, ClosedDiv};
+use alga::general::{ClosedDiv, ClosedMul};
 
-use core::{DefaultAllocator, Scalar, Matrix, MatrixMN, MatrixSum};
+use core::{DefaultAllocator, Matrix, MatrixMN, MatrixSum, Scalar};
 use core::dimension::Dim;
 use core::storage::{Storage, StorageMut};
 use core::allocator::{Allocator, SameShapeAllocator};
-use core::constraint::{ShapeConstraint, SameNumberOfRows, SameNumberOfColumns};
+use core::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
-
 
 /// The type of the result of a matrix componentwise operation.
 pub type MatrixComponentOp<N, R1, C1, R2, C2> = MatrixSum<N, R1, C1, R2, C2>;
@@ -19,8 +18,10 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Computes the componentwise absolute value.
     #[inline]
     pub fn abs(&self) -> MatrixMN<N, R, C>
-        where N: Signed,
+    where
-              DefaultAllocator: Allocator<N, R, C> {
+        N: Signed,
+        DefaultAllocator: Allocator<N, R, C>,
+    {
         let mut res = self.clone_owned();
 
         for e in res.iter_mut() {
@@ -44,7 +45,7 @@ macro_rules! component_binop_impl(
                       SB: Storage<N, R2, C2>,
                       DefaultAllocator: SameShapeAllocator<N, R1, C1, R2, C2>,
                       ShapeConstraint:  SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
-        
+
                 assert_eq!(self.shape(), rhs.shape(), "Componentwise mul/div: mismatched matrix dimensions.");
                 let mut res = self.clone_owned_sum();
 

src/core/constraint.rs

@@ -6,12 +6,12 @@ use core::dimension::{Dim, DimName, Dynamic};
 pub struct ShapeConstraint;
 
 /// Constraints `C1` and `R2` to be equivalent.
-pub trait AreMultipliable<R1: Dim, C1: Dim, R2: Dim, C2: Dim>: DimEq<C1, R2> {
+pub trait AreMultipliable<R1: Dim, C1: Dim, R2: Dim, C2: Dim>: DimEq<C1, R2> {}
-}
-
 
 impl<R1: Dim, C1: Dim, R2: Dim, C2: Dim> AreMultipliable<R1, C1, R2, C2> for ShapeConstraint
-where ShapeConstraint: DimEq<C1, R2> {
+where
+    ShapeConstraint: DimEq<C1, R2>,
+{
 }
 
 /// Constraints `D1` and `D2` to be equivalent.
@@ -62,7 +62,6 @@ equality_trait_decl!(
      They are both assumed to be the number of \
      rows of a matrix.",
     SameNumberOfRows,
-
     "Constraints `D1` and `D2` to be equivalent. \
      They are both assumed to be the number of \
      columns of a matrix.",
@@ -71,7 +70,8 @@ equality_trait_decl!(
 
 /// Constraints D1 and D2 to be equivalent, where they both designate dimensions of algebraic
 /// entities (e.g. square matrices).
-pub trait SameDimension<D1: Dim, D2: Dim>: SameNumberOfRows<D1, D2> + SameNumberOfColumns<D1, D2> {
+pub trait SameDimension<D1: Dim, D2: Dim>
+    : SameNumberOfRows<D1, D2> + SameNumberOfColumns<D1, D2> {
     /// This is either equal to `D1` or `D2`, always choosing the one (if any) which is a type-level
     /// constant.
     type Representative: Dim;

src/core/construction.rs

@@ -4,13 +4,13 @@ use quickcheck::{Arbitrary, Gen};
 use core::storage::Owned;
 
 use std::iter;
-use num::{Zero, One, Bounded};
+use num::{Bounded, One, Zero};
 use rand::{self, Rand, Rng};
 use typenum::{self, Cmp, Greater};
 
 use alga::general::{ClosedAdd, ClosedMul};
 
-use core::{DefaultAllocator, Scalar, Matrix, Vector, Unit, MatrixMN, MatrixN, VectorN};
+use core::{DefaultAllocator, Matrix, MatrixMN, MatrixN, Scalar, Unit, Vector, VectorN};
 use core::dimension::{Dim, DimName, Dynamic, U1, U2, U3, U4, U5, U6};
 use core::allocator::Allocator;
 use core::storage::Storage;
@@ -21,7 +21,9 @@ use core::storage::Storage;
  *
  */
 impl<N: Scalar, R: Dim, C: Dim> MatrixMN<N, R, C>
-    where DefaultAllocator: Allocator<N, R, C> {
+where
+    DefaultAllocator: Allocator<N, R, C>,
+{
     /// Creates a new uninitialized matrix. If the matrix has a compile-time dimension, this panics
     /// if `nrows != R::to_usize()` or `ncols != C::to_usize()`.
     #[inline]
@@ -37,7 +39,7 @@ impl<N: Scalar, R: Dim, C: Dim> MatrixMN<N, R, C>
     }
 
     /// Creates a matrix with all its elements set to `elem`.
-    /// 
+    ///
     /// Same as `from_element_generic`.
     #[inline]
     pub fn repeat_generic(nrows: R, ncols: C, elem: N) -> Self {
@@ -48,14 +50,18 @@ impl<N: Scalar, R: Dim, C: Dim> MatrixMN<N, R, C>
     /// Creates a matrix with all its elements set to 0.
     #[inline]
     pub fn zeros_generic(nrows: R, ncols: C) -> Self
-        where N: Zero {
+    where
+        N: Zero,
+    {
         Self::from_element_generic(nrows, ncols, N::zero())
     }
 
     /// Creates a matrix with all its elements filled by an iterator.
     #[inline]
     pub fn from_iterator_generic<I>(nrows: R, ncols: C, iter: I) -> Self
-        where I: IntoIterator<Item = N> {
+    where
+        I: IntoIterator<Item = N>,
+    {
         Self::from_data(DefaultAllocator::allocate_from_iterator(nrows, ncols, iter))
     }
 
@@ -66,17 +72,17 @@ impl<N: Scalar, R: Dim, C: Dim> MatrixMN<N, R, C>
     /// row-by-row.
     #[inline]
     pub fn from_row_slice_generic(nrows: R, ncols: C, slice: &[N]) -> Self {
-        assert!(slice.len() == nrows.value() * ncols.value(),
+        assert!(
-                "Matrix init. error: the slice did not contain the right number of elements.");
+            slice.len() == nrows.value() * ncols.value(),
+            "Matrix init. error: the slice did not contain the right number of elements."
+        );
 
-        let mut res  = unsafe { Self::new_uninitialized_generic(nrows, ncols) };
+        let mut res = unsafe { Self::new_uninitialized_generic(nrows, ncols) };
         let mut iter = slice.iter();
 
-        for i in 0 .. nrows.value() {
+        for i in 0..nrows.value() {
-            for j in 0 .. ncols.value() {
+            for j in 0..ncols.value() {
-                unsafe {
+                unsafe { *res.get_unchecked_mut(i, j) = *iter.next().unwrap() }
-                    *res.get_unchecked_mut(i, j) = *iter.next().unwrap()
-                }
             }
         }
 
@@ -94,11 +100,13 @@ impl<N: Scalar, R: Dim, C: Dim> MatrixMN<N, R, C>
     /// coordinates.
     #[inline]
     pub fn from_fn_generic<F>(nrows: R, ncols: C, mut f: F) -> Self
-        where F: FnMut(usize, usize) -> N {
+    where
+        F: FnMut(usize, usize) -> N,
+    {
         let mut res = unsafe { Self::new_uninitialized_generic(nrows, ncols) };
 
-        for i in 0 .. nrows.value() {
+        for i in 0..nrows.value() {
-            for j in 0 .. ncols.value() {
+            for j in 0..ncols.value() {
                 unsafe { *res.get_unchecked_mut(i, j) = f(i, j) }
             }
         }
@@ -112,7 +120,9 @@ impl<N: Scalar, R: Dim, C: Dim> MatrixMN<N, R, C>
     /// to the identity matrix. All other entries are set to zero.
     #[inline]
     pub fn identity_generic(nrows: R, ncols: C) -> Self
-        where N: Zero + One {
+    where
+        N: Zero + One,
+    {
         Self::from_diagonal_element_generic(nrows, ncols, N::one())
     }
 
@@ -122,10 +132,12 @@ impl<N: Scalar, R: Dim, C: Dim> MatrixMN<N, R, C>
     /// to the identity matrix. All other entries are set to zero.
     #[inline]
     pub fn from_diagonal_element_generic(nrows: R, ncols: C, elt: N) -> Self
-        where N: Zero + One {
+    where
+        N: Zero + One,
+    {
         let mut res = Self::zeros_generic(nrows, ncols);
 
-        for i in 0 .. ::min(nrows.value(), ncols.value()) {
+        for i in 0..::min(nrows.value(), ncols.value()) {
             unsafe { *res.get_unchecked_mut(i, i) = elt }
         }
 
@@ -138,9 +150,14 @@ impl<N: Scalar, R: Dim, C: Dim> MatrixMN<N, R, C>
     /// Panics if `elts.len()` is larger than the minimum among `nrows` and `ncols`.
     #[inline]
     pub fn from_partial_diagonal_generic(nrows: R, ncols: C, elts: &[N]) -> Self
-        where N: Zero {
+    where
+        N: Zero,
+    {
         let mut res = Self::zeros_generic(nrows, ncols);
-        assert!(elts.len() <= ::min(nrows.value(), ncols.value()), "Too many diagonal elements provided.");
+        assert!(
+            elts.len() <= ::min(nrows.value(), ncols.value()),
+            "Too many diagonal elements provided."
+        );
 
         for (i, elt) in elts.iter().enumerate() {
             unsafe { *res.get_unchecked_mut(i, i) = *elt }
@@ -155,65 +172,88 @@ impl<N: Scalar, R: Dim, C: Dim> MatrixMN<N, R, C>
     /// not have the same dimensions.
     #[inline]
     pub fn from_rows<SB>(rows: &[Matrix<N, U1, C, SB>]) -> Self
-        where SB: Storage<N, U1, C> {
+    where
-
+        SB: Storage<N, U1, C>,
+    {
         assert!(rows.len() > 0, "At least one row must be given.");
         let nrows = R::try_to_usize().unwrap_or(rows.len());
         let ncols = rows[0].len();
-        assert!(rows.len() == nrows, "Invalid number of rows provided to build this matrix.");
+        assert!(
+            rows.len() == nrows,
+            "Invalid number of rows provided to build this matrix."
+        );
 
         if C::try_to_usize().is_none() {
-            assert!(rows.iter().all(|r| r.len() == ncols),
+            assert!(
-            "The provided rows must all have the same dimension.");
+                rows.iter().all(|r| r.len() == ncols),
+                "The provided rows must all have the same dimension."
+            );
         }
 
         // FIXME: optimize that.
-        Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |i, j| rows[i][(0, j)])
+        Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |i, j| {
+            rows[i][(0, j)]
+        })
     }
 
-
     /// Builds a new matrix from its columns.
     ///
     /// Panics if not enough columns are provided (for statically-sized matrices), or if all
     /// columns do not have the same dimensions.
     #[inline]
     pub fn from_columns<SB>(columns: &[Vector<N, R, SB>]) -> Self
-        where SB: Storage<N, R> {
+    where
-
+        SB: Storage<N, R>,
+    {
         assert!(columns.len() > 0, "At least one column must be given.");
         let ncols = C::try_to_usize().unwrap_or(columns.len());
         let nrows = columns[0].len();
-        assert!(columns.len() == ncols, "Invalid number of columns provided to build this matrix.");
+        assert!(
+            columns.len() == ncols,
+            "Invalid number of columns provided to build this matrix."
+        );
 
         if R::try_to_usize().is_none() {
-            assert!(columns.iter().all(|r| r.len() == nrows),
+            assert!(
-            "The columns provided must all have the same dimension.");
+                columns.iter().all(|r| r.len() == nrows),
+                "The columns provided must all have the same dimension."
+            );
         }
 
         // FIXME: optimize that.
-        Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |i, j| columns[j][i])
+        Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |i, j| {
+            columns[j][i]
+        })
     }
 
     /// Creates a matrix filled with random values.
     #[inline]
     pub fn new_random_generic(nrows: R, ncols: C) -> Self
-        where N: Rand {
+    where
+        N: Rand,
+    {
         Self::from_fn_generic(nrows, ncols, |_, _| rand::random())
     }
 }
 
 impl<N, D: Dim> MatrixN<N, D>
-    where N: Scalar,
+where
-          DefaultAllocator: Allocator<N, D, D> {
+    N: Scalar,
+    DefaultAllocator: Allocator<N, D, D>,
+{
     /// Creates a square matrix with its diagonal set to `diag` and all other entries set to 0.
     #[inline]
     pub fn from_diagonal<SB: Storage<N, D>>(diag: &Vector<N, D, SB>) -> Self
-        where N: Zero {
+    where
+        N: Zero,
+    {
         let (dim, _) = diag.data.shape();
         let mut res = Self::zeros_generic(dim, dim);
 
-        for i in 0 .. diag.len() {
+        for i in 0..diag.len() {
-            unsafe { *res.get_unchecked_mut(i, i) = *diag.vget_unchecked(i); }
+            unsafe {
+                *res.get_unchecked_mut(i, i) = *diag.vget_unchecked(i);
+            }
         }
 
         res
@@ -334,7 +374,7 @@ macro_rules! impl_constructors(
 impl_constructors!(R, C;                         // Arguments for Matrix<N, ..., S>
                    => R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
                    R::name(), C::name();         // Arguments for `_generic` constructors.
-                   );                            // Arguments for non-generic constructors.
+                   ); // Arguments for non-generic constructors.
 
 impl_constructors!(R, Dynamic;
                    => R: DimName;
@@ -357,8 +397,10 @@ impl_constructors!(Dynamic, Dynamic;
  *
  */
 impl<N, R: DimName, C: DimName> Zero for MatrixMN<N, R, C>
-    where N: Scalar + Zero + ClosedAdd,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + Zero + ClosedAdd,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn zero() -> Self {
         Self::from_element(N::zero())
@@ -371,8 +413,10 @@ impl<N, R: DimName, C: DimName> Zero for MatrixMN<N, R, C>
 }
 
 impl<N, D: DimName> One for MatrixN<N, D>
-    where N: Scalar + Zero + One + ClosedMul + ClosedAdd,
+where
-          DefaultAllocator: Allocator<N, D, D> {
+    N: Scalar + Zero + One + ClosedMul + ClosedAdd,
+    DefaultAllocator: Allocator<N, D, D>,
+{
     #[inline]
     fn one() -> Self {
         Self::identity()
@@ -380,8 +424,10 @@ impl<N, D: DimName> One for MatrixN<N, D>
 }
 
 impl<N, R: DimName, C: DimName> Bounded for MatrixMN<N, R, C>
-    where N: Scalar + Bounded,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + Bounded,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn max_value() -> Self {
         Self::from_element(N::max_value())
@@ -394,33 +440,40 @@ impl<N, R: DimName, C: DimName> Bounded for MatrixMN<N, R, C>
 }
 
 impl<N: Scalar + Rand, R: Dim, C: Dim> Rand for MatrixMN<N, R, C>
-    where DefaultAllocator: Allocator<N, R, C> {
+where
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn rand<G: Rng>(rng: &mut G) -> Self {
         let nrows = R::try_to_usize().unwrap_or(rng.gen_range(0, 10));
         let ncols = C::try_to_usize().unwrap_or(rng.gen_range(0, 10));
 
-        Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |_, _| rng.gen())
+        Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |_, _| {
+            rng.gen()
+        })
     }
 }
 
-
 #[cfg(feature = "arbitrary")]
 impl<N, R, C> Arbitrary for MatrixMN<N, R, C>
-    where R: Dim, C: Dim,
+where
-          N: Scalar + Arbitrary + Send,
+    R: Dim,
-          DefaultAllocator: Allocator<N, R, C>,
+    C: Dim,
-          Owned<N, R, C>: Clone + Send {
+    N: Scalar + Arbitrary + Send,
+    DefaultAllocator: Allocator<N, R, C>,
+    Owned<N, R, C>: Clone + Send,
+{
     #[inline]
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
         let nrows = R::try_to_usize().unwrap_or(g.gen_range(0, 10));
         let ncols = C::try_to_usize().unwrap_or(g.gen_range(0, 10));
 
-        Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |_, _| N::arbitrary(g))
+        Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |_, _| {
+            N::arbitrary(g)
+        })
     }
 }
 
-
 /*
  *
  * Constructors for small matrices and vectors.
@@ -596,14 +649,20 @@ componentwise_constructors_impl!(
  *
  */
 impl<N, R: DimName> VectorN<N, R>
-where N: Scalar + Zero + One,
+where
-      DefaultAllocator: Allocator<N, R> {
+    N: Scalar + Zero + One,
+    DefaultAllocator: Allocator<N, R>,
+{
     /// The column vector with a 1 as its first component, and zero elsewhere.
     #[inline]
     pub fn x() -> Self
-      where R::Value: Cmp<typenum::U0, Output = Greater> {
+    where
+        R::Value: Cmp<typenum::U0, Output = Greater>,
+    {
         let mut res = Self::zeros();
-        unsafe { *res.vget_unchecked_mut(0) = N::one(); }
+        unsafe {
+            *res.vget_unchecked_mut(0) = N::one();
+        }
 
         res
     }
@@ -611,9 +670,13 @@ where N: Scalar + Zero + One,
     /// The column vector with a 1 as its second component, and zero elsewhere.
     #[inline]
     pub fn y() -> Self
-      where R::Value: Cmp<typenum::U1, Output = Greater> {
+    where
+        R::Value: Cmp<typenum::U1, Output = Greater>,
+    {
         let mut res = Self::zeros();
-        unsafe { *res.vget_unchecked_mut(1) = N::one(); }
+        unsafe {
+            *res.vget_unchecked_mut(1) = N::one();
+        }
 
         res
     }
@@ -621,9 +684,13 @@ where N: Scalar + Zero + One,
     /// The column vector with a 1 as its third component, and zero elsewhere.
     #[inline]
     pub fn z() -> Self
-      where R::Value: Cmp<typenum::U2, Output = Greater> {
+    where
+        R::Value: Cmp<typenum::U2, Output = Greater>,
+    {
         let mut res = Self::zeros();
-        unsafe { *res.vget_unchecked_mut(2) = N::one(); }
+        unsafe {
+            *res.vget_unchecked_mut(2) = N::one();
+        }
 
         res
     }
@@ -631,9 +698,13 @@ where N: Scalar + Zero + One,
     /// The column vector with a 1 as its fourth component, and zero elsewhere.
     #[inline]
     pub fn w() -> Self
-      where R::Value: Cmp<typenum::U3, Output = Greater> {
+    where
+        R::Value: Cmp<typenum::U3, Output = Greater>,
+    {
         let mut res = Self::zeros();
-        unsafe { *res.vget_unchecked_mut(3) = N::one(); }
+        unsafe {
+            *res.vget_unchecked_mut(3) = N::one();
+        }
 
         res
     }
@@ -641,9 +712,13 @@ where N: Scalar + Zero + One,
     /// The column vector with a 1 as its fifth component, and zero elsewhere.
     #[inline]
     pub fn a() -> Self
-      where R::Value: Cmp<typenum::U4, Output = Greater> {
+    where
+        R::Value: Cmp<typenum::U4, Output = Greater>,
+    {
         let mut res = Self::zeros();
-        unsafe { *res.vget_unchecked_mut(4) = N::one(); }
+        unsafe {
+            *res.vget_unchecked_mut(4) = N::one();
+        }
 
         res
     }
@@ -651,9 +726,13 @@ where N: Scalar + Zero + One,
     /// The column vector with a 1 as its sixth component, and zero elsewhere.
     #[inline]
     pub fn b() -> Self
-      where R::Value: Cmp<typenum::U5, Output = Greater> {
+    where
+        R::Value: Cmp<typenum::U5, Output = Greater>,
+    {
         let mut res = Self::zeros();
-        unsafe { *res.vget_unchecked_mut(5) = N::one(); }
+        unsafe {
+            *res.vget_unchecked_mut(5) = N::one();
+        }
 
         res
     }
@@ -661,42 +740,54 @@ where N: Scalar + Zero + One,
     /// The unit column vector with a 1 as its first component, and zero elsewhere.
     #[inline]
     pub fn x_axis() -> Unit<Self>
-      where R::Value: Cmp<typenum::U0, Output = Greater> {
+    where
-          Unit::new_unchecked(Self::x())
+        R::Value: Cmp<typenum::U0, Output = Greater>,
+    {
+        Unit::new_unchecked(Self::x())
     }
 
     /// The unit column vector with a 1 as its second component, and zero elsewhere.
     #[inline]
     pub fn y_axis() -> Unit<Self>
-      where R::Value: Cmp<typenum::U1, Output = Greater> {
+    where
-          Unit::new_unchecked(Self::y())
+        R::Value: Cmp<typenum::U1, Output = Greater>,
+    {
+        Unit::new_unchecked(Self::y())
     }
 
     /// The unit column vector with a 1 as its third component, and zero elsewhere.
     #[inline]
     pub fn z_axis() -> Unit<Self>
-      where R::Value: Cmp<typenum::U2, Output = Greater> {
+    where
-          Unit::new_unchecked(Self::z())
+        R::Value: Cmp<typenum::U2, Output = Greater>,
+    {
+        Unit::new_unchecked(Self::z())
     }
 
     /// The unit column vector with a 1 as its fourth component, and zero elsewhere.
     #[inline]
     pub fn w_axis() -> Unit<Self>
-      where R::Value: Cmp<typenum::U3, Output = Greater> {
+    where
-          Unit::new_unchecked(Self::w())
+        R::Value: Cmp<typenum::U3, Output = Greater>,
+    {
+        Unit::new_unchecked(Self::w())
     }
 
     /// The unit column vector with a 1 as its fifth component, and zero elsewhere.
     #[inline]
     pub fn a_axis() -> Unit<Self>
-      where R::Value: Cmp<typenum::U4, Output = Greater> {
+    where
-          Unit::new_unchecked(Self::a())
+        R::Value: Cmp<typenum::U4, Output = Greater>,
+    {
+        Unit::new_unchecked(Self::a())
     }
 
     /// The unit column vector with a 1 as its sixth component, and zero elsewhere.
     #[inline]
     pub fn b_axis() -> Unit<Self>
-      where R::Value: Cmp<typenum::U5, Output = Greater> {
+    where
-          Unit::new_unchecked(Self::b())
+        R::Value: Cmp<typenum::U5, Output = Greater>,
+    {
+        Unit::new_unchecked(Self::b())
     }
 }

src/core/construction_slice.rs

@@ -1,4 +1,4 @@
-use core::{Scalar, MatrixSliceMN, MatrixSliceMutMN};
+use core::{MatrixSliceMN, MatrixSliceMutMN, Scalar};
 use core::dimension::{Dim, DimName, Dynamic, U1};
 use core::matrix_slice::{SliceStorage, SliceStorageMut};
 
@@ -7,45 +7,81 @@ use core::matrix_slice::{SliceStorage, SliceStorageMut};
  * Slice constructors.
  *
  */
-impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim> MatrixSliceMN<'a, N, R, C, RStride, CStride> {
+impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
+    MatrixSliceMN<'a, N, R, C, RStride, CStride> {
     #[inline]
     pub unsafe fn new_with_strides_generic_unchecked(
-        data: &'a [N], start: usize, nrows: R, ncols: C, rstride: RStride, cstride: CStride) -> Self {
+        data: &'a [N],
-        let data = SliceStorage::from_raw_parts(data.as_ptr().offset(start as isize), (nrows, ncols), (rstride, cstride));
+        start: usize,
+        nrows: R,
+        ncols: C,
+        rstride: RStride,
+        cstride: CStride,
+    ) -> Self {
+        let data = SliceStorage::from_raw_parts(
+            data.as_ptr().offset(start as isize),
+            (nrows, ncols),
+            (rstride, cstride),
+        );
         Self::from_data(data)
     }
 
     #[inline]
-    pub fn new_with_strides_generic(data: &'a [N], nrows: R, ncols: C, rstride: RStride, cstride: CStride) -> Self {
+    pub fn new_with_strides_generic(
+        data: &'a [N],
+        nrows: R,
+        ncols: C,
+        rstride: RStride,
+        cstride: CStride,
+    ) -> Self {
         // NOTE: The assertion implements the following formula, but without subtractions to avoid
         // underflow panics:
         //      len >= (ncols - 1) * cstride + (nrows - 1) * rstride + 1
-        assert!(data.len() + cstride.value() + rstride.value() >=
+        assert!(
-                ncols.value() * cstride.value() + nrows.value() * rstride.value() + 1,
+            data.len() + cstride.value() + rstride.value()
-                "Matrix slice: input data buffer to small.");
+                >= ncols.value() * cstride.value() + nrows.value() * rstride.value() + 1,
+            "Matrix slice: input data buffer to small."
+        );
 
-        unsafe {
+        unsafe { Self::new_with_strides_generic_unchecked(data, 0, nrows, ncols, rstride, cstride) }
-            Self::new_with_strides_generic_unchecked(data, 0, nrows, ncols, rstride, cstride)
-        }
     }
 }
 
-impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim> MatrixSliceMutMN<'a, N, R, C, RStride, CStride> {
+impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim>
+    MatrixSliceMutMN<'a, N, R, C, RStride, CStride> {
     #[inline]
     pub unsafe fn new_with_strides_generic_mut_unchecked(
-        data: &'a mut [N], start: usize, nrows: R, ncols: C, rstride: RStride, cstride: CStride) -> Self {
+        data: &'a mut [N],
-        let data = SliceStorageMut::from_raw_parts(data.as_mut_ptr().offset(start as isize), (nrows, ncols), (rstride, cstride));
+        start: usize,
+        nrows: R,
+        ncols: C,
+        rstride: RStride,
+        cstride: CStride,
+    ) -> Self {
+        let data = SliceStorageMut::from_raw_parts(
+            data.as_mut_ptr().offset(start as isize),
+            (nrows, ncols),
+            (rstride, cstride),
+        );
         Self::from_data(data)
     }
 
     #[inline]
-    pub fn new_with_strides_generic_mut(data: &'a mut [N], nrows: R, ncols: C, rstride: RStride, cstride: CStride) -> Self {
+    pub fn new_with_strides_generic_mut(
+        data: &'a mut [N],
+        nrows: R,
+        ncols: C,
+        rstride: RStride,
+        cstride: CStride,
+    ) -> Self {
         // NOTE: The assertion implements the following formula, but without subtractions to avoid
         // underflow panics:
         //      len >= (ncols - 1) * cstride + (nrows - 1) * rstride + 1
-        assert!(data.len() + cstride.value() + rstride.value() >=
+        assert!(
-                ncols.value() * cstride.value() + nrows.value() * rstride.value() + 1,
+            data.len() + cstride.value() + rstride.value()
-                "Matrix slice: input data buffer to small.");
+                >= ncols.value() * cstride.value() + nrows.value() * rstride.value() + 1,
+            "Matrix slice: input data buffer to small."
+        );
 
         unsafe {
             Self::new_with_strides_generic_mut_unchecked(data, 0, nrows, ncols, rstride, cstride)
@@ -67,7 +103,12 @@ impl<'a, N: Scalar, R: Dim, C: Dim> MatrixSliceMN<'a, N, R, C> {
 
 impl<'a, N: Scalar, R: Dim, C: Dim> MatrixSliceMutMN<'a, N, R, C> {
     #[inline]
-    pub unsafe fn new_generic_mut_unchecked(data: &'a mut [N], start: usize, nrows: R, ncols: C) -> Self {
+    pub unsafe fn new_generic_mut_unchecked(
+        data: &'a mut [N],
+        start: usize,
+        nrows: R,
+        ncols: C,
+    ) -> Self {
         Self::new_with_strides_generic_mut_unchecked(data, start, nrows, ncols, U1, nrows)
     }
 
@@ -109,7 +150,7 @@ macro_rules! impl_constructors(
 impl_constructors!(R, C;                         // Arguments for Matrix<N, ..., S>
                    => R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
                    R::name(), C::name();         // Arguments for `_generic` constructors.
-                   );                            // Arguments for non-generic constructors.
+                   ); // Arguments for non-generic constructors.
 
 impl_constructors!(R, Dynamic;
                    => R: DimName;
@@ -126,7 +167,6 @@ impl_constructors!(Dynamic, Dynamic;
                    Dynamic::new(nrows), Dynamic::new(ncols);
                    nrows, ncols);
 
-
 macro_rules! impl_constructors_mut(
     ($($Dims: ty),*; $(=> $DimIdent: ident: $DimBound: ident),*; $($gargs: expr),*; $($args: ident),*) => {
         impl<'a, N: Scalar, $($DimIdent: $DimBound),*> MatrixSliceMutMN<'a, N, $($Dims),*> {
@@ -162,7 +202,7 @@ macro_rules! impl_constructors_mut(
 impl_constructors_mut!(R, C;                         // Arguments for Matrix<N, ..., S>
                        => R: DimName, => C: DimName; // Type parameters for impl<N, ..., S>
                        R::name(), C::name();         // Arguments for `_generic` constructors.
-                       );                            // Arguments for non-generic constructors.
+                       ); // Arguments for non-generic constructors.
 
 impl_constructors_mut!(R, Dynamic;
                        => R: DimName;

src/core/conversion.rs

@@ -1,32 +1,31 @@
 use std::ptr;
 use std::mem;
-use std::convert::{From, Into, AsRef, AsMut};
+use std::convert::{AsMut, AsRef, From, Into};
 use alga::general::{SubsetOf, SupersetOf};
 #[cfg(feature = "mint")]
 use mint;
 
-use core::{DefaultAllocator, Scalar, Matrix, MatrixMN};
+use core::{DefaultAllocator, Matrix, MatrixMN, Scalar};
-use core::dimension::{Dim,
+use core::dimension::{Dim, U1, U10, U11, U12, U13, U14, U15, U16, U2, U3, U4, U5, U6, U7, U8, U9};
-    U1,  U2,  U3,  U4,
-    U5,  U6,  U7,  U8,
-    U9,  U10, U11, U12,
-    U13, U14, U15, U16
-};
 use core::iter::{MatrixIter, MatrixIterMut};
-use core::constraint::{ShapeConstraint, SameNumberOfRows, SameNumberOfColumns};
+use core::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
 use core::storage::{ContiguousStorage, ContiguousStorageMut, Storage, StorageMut};
 use core::allocator::{Allocator, SameShapeAllocator};
 
-
 // FIXME: too bad this won't work allo slice conversions.
 impl<N1, N2, R1, C1, R2, C2> SubsetOf<MatrixMN<N2, R2, C2>> for MatrixMN<N1, R1, C1>
-    where R1: Dim, C1: Dim, R2: Dim, C2: Dim,
+where
-          N1: Scalar,
+    R1: Dim,
-          N2: Scalar + SupersetOf<N1>,
+    C1: Dim,
-          DefaultAllocator: Allocator<N2, R2, C2> +
+    R2: Dim,
-                            Allocator<N1, R1, C1> +
+    C2: Dim,
-                            SameShapeAllocator<N1, R1, C1, R2, C2>,
+    N1: Scalar,
-          ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2> {
+    N2: Scalar + SupersetOf<N1>,
+    DefaultAllocator: Allocator<N2, R2, C2>
+        + Allocator<N1, R1, C1>
+        + SameShapeAllocator<N1, R1, C1, R2, C2>,
+    ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfColumns<C1, C2>,
+{
     #[inline]
     fn to_superset(&self) -> MatrixMN<N2, R2, C2> {
         let (nrows, ncols) = self.shape();
@@ -34,11 +33,9 @@ impl<N1, N2, R1, C1, R2, C2> SubsetOf<MatrixMN<N2, R2, C2>> for MatrixMN<N1, R1,
         let ncols2 = C2::from_usize(ncols);
 
         let mut res = unsafe { MatrixMN::<N2, R2, C2>::new_uninitialized_generic(nrows2, ncols2) };
-        for i in 0 .. nrows {
+        for i in 0..nrows {
-            for j in 0 .. ncols {
+            for j in 0..ncols {
-                unsafe {
+                unsafe { *res.get_unchecked_mut(i, j) = N2::from_subset(self.get_unchecked(i, j)) }
-                    *res.get_unchecked_mut(i, j) = N2::from_subset(self.get_unchecked(i, j))
-                }
             }
         }
 
@@ -57,8 +54,8 @@ impl<N1, N2, R1, C1, R2, C2> SubsetOf<MatrixMN<N2, R2, C2>> for MatrixMN<N1, R1,
         let ncols = C1::from_usize(ncols2);
 
         let mut res = Self::new_uninitialized_generic(nrows, ncols);
-        for i in 0 .. nrows2 {
+        for i in 0..nrows2 {
-            for j in 0 .. ncols2 {
+            for j in 0..ncols2 {
                 *res.get_unchecked_mut(i, j) = m.get_unchecked(i, j).to_subset_unchecked()
             }
         }
@@ -68,7 +65,7 @@ impl<N1, N2, R1, C1, R2, C2> SubsetOf<MatrixMN<N2, R2, C2>> for MatrixMN<N1, R1,
 }
 
 impl<'a, N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> IntoIterator for &'a Matrix<N, R, C, S> {
-    type Item     = &'a N;
+    type Item = &'a N;
     type IntoIter = MatrixIter<'a, N, R, C, S>;
 
     #[inline]
@@ -77,8 +74,9 @@ impl<'a, N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> IntoIterator for &'a Ma
     }
 }
 
-impl<'a, N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> IntoIterator for &'a mut Matrix<N, R, C, S> {
+impl<'a, N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> IntoIterator
-    type Item     = &'a mut N;
+    for &'a mut Matrix<N, R, C, S> {
+    type Item = &'a mut N;
     type IntoIter = MatrixIterMut<'a, N, R, C, S>;
 
     #[inline]
@@ -87,7 +85,6 @@ impl<'a, N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> IntoIterator for &'a
     }
 }
 
-
 macro_rules! impl_from_into_asref_1D(
     ($(($NRows: ident, $NCols: ident) => $SZ: expr);* $(;)*) => {$(
         impl<N> From<[N; $SZ]> for MatrixMN<N, $NRows, $NCols>
@@ -157,8 +154,6 @@ impl_from_into_asref_1D!(
     (U13, U1) => 13; (U14, U1) => 14; (U15, U1) => 15; (U16, U1) => 16;
 );
 
-
-
 macro_rules! impl_from_into_asref_2D(
     ($(($NRows: ty, $NCols: ty) => ($SZRows: expr, $SZCols: expr));* $(;)*) => {$(
         impl<N: Scalar> From<[[N; $SZRows]; $SZCols]> for MatrixMN<N, $NRows, $NCols>
@@ -209,7 +204,6 @@ macro_rules! impl_from_into_asref_2D(
     )*}
 );
 
-
 // Implement for matrices with shape 2x2 .. 6x6.
 impl_from_into_asref_2D!(
     (U2, U2) => (2, 2); (U2, U3) => (2, 3); (U2, U4) => (2, 4); (U2, U5) => (2, 5); (U2, U6) => (2, 6);

src/core/coordinates.rs

@@ -7,7 +7,7 @@
 use std::mem;
 use std::ops::{Deref, DerefMut};
 
-use core::{Scalar, Matrix};
+use core::{Matrix, Scalar};
 use core::dimension::{U1, U2, U3, U4, U5, U6};
 use core::storage::{ContiguousStorage, ContiguousStorageMut};
 
@@ -30,7 +30,6 @@ macro_rules! coords_impl(
     }
 );
 
-
 macro_rules! deref_impl(
     ($R: ty, $C: ty; $Target: ident) => {
         impl<N: Scalar, S> Deref for Matrix<N, $R, $C, S>

src/core/default_allocator.rs

@@ -29,11 +29,13 @@ pub struct DefaultAllocator;
 
 // Static - Static
 impl<N, R, C> Allocator<N, R, C> for DefaultAllocator
-    where N: Scalar,
+where
-          R: DimName,
+    N: Scalar,
-          C: DimName,
+    R: DimName,
-          R::Value: Mul<C::Value>,
+    C: DimName,
-          Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+{
     type Buffer = MatrixArray<N, R, C>;
 
     #[inline]
@@ -42,7 +44,11 @@ impl<N, R, C> Allocator<N, R, C> for DefaultAllocator
     }
 
     #[inline]
-    fn allocate_from_iterator<I: IntoIterator<Item = N>>(nrows: R, ncols: C, iter: I) -> Self::Buffer {
+    fn allocate_from_iterator<I: IntoIterator<Item = N>>(
+        nrows: R,
+        ncols: C,
+        iter: I,
+    ) -> Self::Buffer {
         let mut res = unsafe { Self::allocate_uninitialized(nrows, ncols) };
         let mut count = 0;
 
@@ -51,14 +57,15 @@ impl<N, R, C> Allocator<N, R, C> for DefaultAllocator
             count += 1;
         }
 
-        assert!(count == nrows.value() * ncols.value(),
+        assert!(
-                "Matrix init. from iterator: iterator not long enough.");
+            count == nrows.value() * ncols.value(),
+            "Matrix init. from iterator: iterator not long enough."
+        );
 
         res
     }
 }
 
-
 // Dynamic - Static
 // Dynamic - Dynamic
 impl<N: Scalar, C: Dim> Allocator<N, Dynamic, C> for DefaultAllocator {
@@ -75,7 +82,11 @@ impl<N: Scalar, C: Dim> Allocator<N, Dynamic, C> for DefaultAllocator {
     }
 
     #[inline]
-    fn allocate_from_iterator<I: IntoIterator<Item = N>>(nrows: Dynamic, ncols: C, iter: I) -> Self::Buffer {
+    fn allocate_from_iterator<I: IntoIterator<Item = N>>(
+        nrows: Dynamic,
+        ncols: C,
+        iter: I,
+    ) -> Self::Buffer {
         let it = iter.into_iter();
         let res: Vec<N> = it.collect();
         assert!(res.len() == nrows.value() * ncols.value(),
@@ -85,7 +96,6 @@ impl<N: Scalar, C: Dim> Allocator<N, Dynamic, C> for DefaultAllocator {
     }
 }
 
-
 // Static - Dynamic
 impl<N: Scalar, R: DimName> Allocator<N, R, Dynamic> for DefaultAllocator {
     type Buffer = MatrixVec<N, R, Dynamic>;
@@ -101,7 +111,11 @@ impl<N: Scalar, R: DimName> Allocator<N, R, Dynamic> for DefaultAllocator {
     }
 
     #[inline]
-    fn allocate_from_iterator<I: IntoIterator<Item = N>>(nrows: R, ncols: Dynamic, iter: I) -> Self::Buffer {
+    fn allocate_from_iterator<I: IntoIterator<Item = N>>(
+        nrows: R,
+        ncols: Dynamic,
+        iter: I,
+    ) -> Self::Buffer {
         let it = iter.into_iter();
         let res: Vec<N> = it.collect();
         assert!(res.len() == nrows.value() * ncols.value(),
@@ -118,45 +132,54 @@ impl<N: Scalar, R: DimName> Allocator<N, R, Dynamic> for DefaultAllocator {
  */
 // Anything -> Static × Static
 impl<N: Scalar, RFrom, CFrom, RTo, CTo> Reallocator<N, RFrom, CFrom, RTo, CTo> for DefaultAllocator
-    where RFrom: Dim,
+where
-          CFrom: Dim,
+    RFrom: Dim,
-          RTo:   DimName,
+    CFrom: Dim,
-          CTo:   DimName,
+    RTo: DimName,
-          Self: Allocator<N, RFrom, CFrom>,
+    CTo: DimName,
-          RTo::Value: Mul<CTo::Value>,
+    Self: Allocator<N, RFrom, CFrom>,
-          Prod<RTo::Value, CTo::Value>: ArrayLength<N> {
+    RTo::Value: Mul<CTo::Value>,
-
+    Prod<RTo::Value, CTo::Value>: ArrayLength<N>,
+{
     #[inline]
-    unsafe fn reallocate_copy(rto: RTo, cto: CTo, buf: <Self as Allocator<N, RFrom, CFrom>>::Buffer) -> MatrixArray<N, RTo, CTo> {
+    unsafe fn reallocate_copy(
+        rto: RTo,
+        cto: CTo,
+        buf: <Self as Allocator<N, RFrom, CFrom>>::Buffer,
+    ) -> MatrixArray<N, RTo, CTo> {
         let mut res = <Self as Allocator<N, RTo, CTo>>::allocate_uninitialized(rto, cto);
 
         let (rfrom, cfrom) = buf.shape();
 
         let len_from = rfrom.value() * cfrom.value();
-        let len_to   = rto.value()   * cto.value();
+        let len_to = rto.value() * cto.value();
         ptr::copy_nonoverlapping(buf.ptr(), res.ptr_mut(), cmp::min(len_from, len_to));
 
         res
     }
 }
 
-
 // Static × Static -> Dynamic × Any
 impl<N: Scalar, RFrom, CFrom, CTo> Reallocator<N, RFrom, CFrom, Dynamic, CTo> for DefaultAllocator
-    where RFrom: DimName,
+where
-          CFrom: DimName,
+    RFrom: DimName,
-          CTo:   Dim,
+    CFrom: DimName,
-          RFrom::Value: Mul<CFrom::Value>,
+    CTo: Dim,
-          Prod<RFrom::Value, CFrom::Value>: ArrayLength<N> {
+    RFrom::Value: Mul<CFrom::Value>,
-
+    Prod<RFrom::Value, CFrom::Value>: ArrayLength<N>,
+{
     #[inline]
-    unsafe fn reallocate_copy(rto: Dynamic, cto: CTo, buf: MatrixArray<N, RFrom, CFrom>) -> MatrixVec<N, Dynamic, CTo> {
+    unsafe fn reallocate_copy(
+        rto: Dynamic,
+        cto: CTo,
+        buf: MatrixArray<N, RFrom, CFrom>,
+    ) -> MatrixVec<N, Dynamic, CTo> {
         let mut res = <Self as Allocator<N, Dynamic, CTo>>::allocate_uninitialized(rto, cto);
 
         let (rfrom, cfrom) = buf.shape();
 
         let len_from = rfrom.value() * cfrom.value();
-        let len_to   = rto.value()   * cto.value();
+        let len_to = rto.value() * cto.value();
         ptr::copy_nonoverlapping(buf.ptr(), res.ptr_mut(), cmp::min(len_from, len_to));
 
         res
@@ -165,20 +188,25 @@ impl<N: Scalar, RFrom, CFrom, CTo> Reallocator<N, RFrom, CFrom, Dynamic, CTo> fo
 
 // Static × Static -> Static × Dynamic
 impl<N: Scalar, RFrom, CFrom, RTo> Reallocator<N, RFrom, CFrom, RTo, Dynamic> for DefaultAllocator
-    where RFrom: DimName,
+where
-          CFrom: DimName,
+    RFrom: DimName,
-          RTo:   DimName,
+    CFrom: DimName,
-          RFrom::Value: Mul<CFrom::Value>,
+    RTo: DimName,
-          Prod<RFrom::Value, CFrom::Value>: ArrayLength<N> {
+    RFrom::Value: Mul<CFrom::Value>,
-
+    Prod<RFrom::Value, CFrom::Value>: ArrayLength<N>,
+{
     #[inline]
-    unsafe fn reallocate_copy(rto: RTo, cto: Dynamic, buf: MatrixArray<N, RFrom, CFrom>) -> MatrixVec<N, RTo, Dynamic> {
+    unsafe fn reallocate_copy(
+        rto: RTo,
+        cto: Dynamic,
+        buf: MatrixArray<N, RFrom, CFrom>,
+    ) -> MatrixVec<N, RTo, Dynamic> {
         let mut res = <Self as Allocator<N, RTo, Dynamic>>::allocate_uninitialized(rto, cto);
 
         let (rfrom, cfrom) = buf.shape();
 
         let len_from = rfrom.value() * cfrom.value();
-        let len_to   = rto.value()   * cto.value();
+        let len_to = rto.value() * cto.value();
         ptr::copy_nonoverlapping(buf.ptr(), res.ptr_mut(), cmp::min(len_from, len_to));
 
         res
@@ -186,33 +214,53 @@ impl<N: Scalar, RFrom, CFrom, RTo> Reallocator<N, RFrom, CFrom, RTo, Dynamic> fo
 }
 
 // All conversion from a dynamic buffer to a dynamic buffer.
-impl<N: Scalar, CFrom: Dim, CTo: Dim> Reallocator<N, Dynamic, CFrom, Dynamic, CTo> for DefaultAllocator {
+impl<N: Scalar, CFrom: Dim, CTo: Dim> Reallocator<N, Dynamic, CFrom, Dynamic, CTo>
+    for DefaultAllocator {
     #[inline]
-    unsafe fn reallocate_copy(rto: Dynamic, cto: CTo, buf: MatrixVec<N, Dynamic, CFrom>) -> MatrixVec<N, Dynamic, CTo> {
+    unsafe fn reallocate_copy(
+        rto: Dynamic,
+        cto: CTo,
+        buf: MatrixVec<N, Dynamic, CFrom>,
+    ) -> MatrixVec<N, Dynamic, CTo> {
         let new_buf = buf.resize(rto.value() * cto.value());
         MatrixVec::new(rto, cto, new_buf)
     }
 }
 
-impl<N: Scalar, CFrom: Dim, RTo: DimName> Reallocator<N, Dynamic, CFrom, RTo, Dynamic> for DefaultAllocator {
+impl<N: Scalar, CFrom: Dim, RTo: DimName> Reallocator<N, Dynamic, CFrom, RTo, Dynamic>
+    for DefaultAllocator {
     #[inline]
-    unsafe fn reallocate_copy(rto: RTo, cto: Dynamic, buf: MatrixVec<N, Dynamic, CFrom>) -> MatrixVec<N, RTo, Dynamic> {
+    unsafe fn reallocate_copy(
+        rto: RTo,
+        cto: Dynamic,
+        buf: MatrixVec<N, Dynamic, CFrom>,
+    ) -> MatrixVec<N, RTo, Dynamic> {
         let new_buf = buf.resize(rto.value() * cto.value());
         MatrixVec::new(rto, cto, new_buf)
     }
 }
 
-impl<N: Scalar, RFrom: DimName, CTo: Dim> Reallocator<N, RFrom, Dynamic, Dynamic, CTo> for DefaultAllocator {
+impl<N: Scalar, RFrom: DimName, CTo: Dim> Reallocator<N, RFrom, Dynamic, Dynamic, CTo>
+    for DefaultAllocator {
     #[inline]
-    unsafe fn reallocate_copy(rto: Dynamic, cto: CTo, buf: MatrixVec<N, RFrom, Dynamic>) -> MatrixVec<N, Dynamic, CTo> {
+    unsafe fn reallocate_copy(
+        rto: Dynamic,
+        cto: CTo,
+        buf: MatrixVec<N, RFrom, Dynamic>,
+    ) -> MatrixVec<N, Dynamic, CTo> {
         let new_buf = buf.resize(rto.value() * cto.value());
         MatrixVec::new(rto, cto, new_buf)
     }
 }
 
-impl<N: Scalar, RFrom: DimName, RTo: DimName> Reallocator<N, RFrom, Dynamic, RTo, Dynamic> for DefaultAllocator {
+impl<N: Scalar, RFrom: DimName, RTo: DimName> Reallocator<N, RFrom, Dynamic, RTo, Dynamic>
+    for DefaultAllocator {
     #[inline]
-    unsafe fn reallocate_copy(rto: RTo, cto: Dynamic, buf: MatrixVec<N, RFrom, Dynamic>) -> MatrixVec<N, RTo, Dynamic> {
+    unsafe fn reallocate_copy(
+        rto: RTo,
+        cto: Dynamic,
+        buf: MatrixVec<N, RFrom, Dynamic>,
+    ) -> MatrixVec<N, RTo, Dynamic> {
         let new_buf = buf.resize(rto.value() * cto.value());
         MatrixVec::new(rto, cto, new_buf)
     }

src/core/dimension.rs

@@ -3,35 +3,34 @@
 //! Traits and tags for identifying the dimension of all algebraic entities.
 
 use std::fmt::Debug;
-use std::any::{TypeId, Any};
+use std::any::{Any, TypeId};
 use std::cmp;
-use std::ops::{Add, Sub, Mul, Div};
+use std::ops::{Add, Div, Mul, Sub};
-use typenum::{self, Unsigned, UInt, B1, Bit, UTerm, Sum, Prod, Diff, Quot,
+use typenum::{self, B1, Bit, Diff, Max, Maximum, Min, Minimum, Prod, Quot, Sum, UInt, UTerm,
-              Min, Minimum, Max, Maximum};
+              Unsigned};
 
 #[cfg(feature = "serde-serialize")]
-use serde::{Serialize, Serializer, Deserialize, Deserializer};
+use serde::{Deserialize, Deserializer, Serialize, Serializer};
 
 /// Dim of dynamically-sized algebraic entities.
 #[derive(Clone, Copy, Eq, PartialEq, Debug)]
 pub struct Dynamic {
-    value: usize
+    value: usize,
 }
 
 impl Dynamic {
     /// A dynamic size equal to `value`.
     #[inline]
     pub fn new(value: usize) -> Dynamic {
-        Dynamic {
+        Dynamic { value: value }
-            value: value
-        }
     }
 }
 
 #[cfg(feature = "serde-serialize")]
 impl Serialize for Dynamic {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-        where S: Serializer
+    where
+        S: Serializer,
     {
         self.value.serialize(serializer)
     }
@@ -40,19 +39,20 @@ impl Serialize for Dynamic {
 #[cfg(feature = "serde-serialize")]
 impl<'de> Deserialize<'de> for Dynamic {
     fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
-        where D: Deserializer<'de>
+    where
+        D: Deserializer<'de>,
     {
         usize::deserialize(deserializer).map(|x| Dynamic { value: x })
     }
 }
 
 /// Trait implemented by `Dynamic`.
-pub trait IsDynamic { }
+pub trait IsDynamic {}
 /// Trait implemented by `Dynamic` and type-level integers different from `U1`.
-pub trait IsNotStaticOne { }
+pub trait IsNotStaticOne {}
 
-impl IsDynamic for Dynamic { }
+impl IsDynamic for Dynamic {}
-impl IsNotStaticOne for Dynamic { }
+impl IsNotStaticOne for Dynamic {}
 
 /// Trait implemented by any type that can be used as a dimension. This includes type-level
 /// integers and `Dynamic` (for dimensions not known at compile-time).
@@ -188,7 +188,6 @@ dim_ops!(
     DimMax, DimNameMax, Max, max, cmp::max, DimMaximum, DimNameMaximum, Maximum;
 );
 
-
 /// Trait implemented exclusively by type-level integers.
 pub trait DimName: Dim {
     type Value: NamedDim<Name = Self>;
@@ -240,7 +239,7 @@ impl DimName for U1 {
     }
 }
 
-impl NamedDim for typenum::U1{
+impl NamedDim for typenum::U1 {
     type Name = U1;
 }
 
@@ -285,46 +284,159 @@ macro_rules! named_dimension(
     )*}
 );
 
-
 // We give explicit names to all Unsigned in [0, 128[
 named_dimension!(
-    U0, /*U1,*/ U2, U3, U4, U5, U6, U7, U8, U9,
+    U0,
-    U10, U11, U12, U13, U14, U15, U16, U17, U18, U19,
+    /*U1,*/ U2,
-    U20, U21, U22, U23, U24, U25, U26, U27, U28, U29,
+    U3,
-    U30, U31, U32, U33, U34, U35, U36, U37, U38, U39,
+    U4,
-    U40, U41, U42, U43, U44, U45, U46, U47, U48, U49,
+    U5,
-    U50, U51, U52, U53, U54, U55, U56, U57, U58, U59,
+    U6,
-    U60, U61, U62, U63, U64, U65, U66, U67, U68, U69,
+    U7,
-    U70, U71, U72, U73, U74, U75, U76, U77, U78, U79,
+    U8,
-    U80, U81, U82, U83, U84, U85, U86, U87, U88, U89,
+    U9,
-    U90, U91, U92, U93, U94, U95, U96, U97, U98, U99,
+    U10,
-    U100, U101, U102, U103, U104, U105, U106, U107, U108, U109,
+    U11,
-    U110, U111, U112, U113, U114, U115, U116, U117, U118, U119,
+    U12,
-    U120, U121, U122, U123, U124, U125, U126, U127
+    U13,
+    U14,
+    U15,
+    U16,
+    U17,
+    U18,
+    U19,
+    U20,
+    U21,
+    U22,
+    U23,
+    U24,
+    U25,
+    U26,
+    U27,
+    U28,
+    U29,
+    U30,
+    U31,
+    U32,
+    U33,
+    U34,
+    U35,
+    U36,
+    U37,
+    U38,
+    U39,
+    U40,
+    U41,
+    U42,
+    U43,
+    U44,
+    U45,
+    U46,
+    U47,
+    U48,
+    U49,
+    U50,
+    U51,
+    U52,
+    U53,
+    U54,
+    U55,
+    U56,
+    U57,
+    U58,
+    U59,
+    U60,
+    U61,
+    U62,
+    U63,
+    U64,
+    U65,
+    U66,
+    U67,
+    U68,
+    U69,
+    U70,
+    U71,
+    U72,
+    U73,
+    U74,
+    U75,
+    U76,
+    U77,
+    U78,
+    U79,
+    U80,
+    U81,
+    U82,
+    U83,
+    U84,
+    U85,
+    U86,
+    U87,
+    U88,
+    U89,
+    U90,
+    U91,
+    U92,
+    U93,
+    U94,
+    U95,
+    U96,
+    U97,
+    U98,
+    U99,
+    U100,
+    U101,
+    U102,
+    U103,
+    U104,
+    U105,
+    U106,
+    U107,
+    U108,
+    U109,
+    U110,
+    U111,
+    U112,
+    U113,
+    U114,
+    U115,
+    U116,
+    U117,
+    U118,
+    U119,
+    U120,
+    U121,
+    U122,
+    U123,
+    U124,
+    U125,
+    U126,
+    U127
 );
 
 // For values greater than U1023, just use the typenum binary representation directly.
-impl<A: Bit + Any + Debug + Copy + PartialEq + Send,
+impl<
-     B: Bit + Any + Debug + Copy + PartialEq + Send,
+    A: Bit + Any + Debug + Copy + PartialEq + Send,
-     C: Bit + Any + Debug + Copy + PartialEq + Send,
+    B: Bit + Any + Debug + Copy + PartialEq + Send,
-     D: Bit + Any + Debug + Copy + PartialEq + Send,
+    C: Bit + Any + Debug + Copy + PartialEq + Send,
-     E: Bit + Any + Debug + Copy + PartialEq + Send,
+    D: Bit + Any + Debug + Copy + PartialEq + Send,
-     F: Bit + Any + Debug + Copy + PartialEq + Send,
+    E: Bit + Any + Debug + Copy + PartialEq + Send,
-     G: Bit + Any + Debug + Copy + PartialEq + Send>
+    F: Bit + Any + Debug + Copy + PartialEq + Send,
-NamedDim
+    G: Bit + Any + Debug + Copy + PartialEq + Send,
-for UInt<UInt<UInt<UInt<UInt<UInt<UInt<UInt<UTerm, B1>, A>, B>, C>, D>, E>, F>, G> {
+> NamedDim for UInt<UInt<UInt<UInt<UInt<UInt<UInt<UInt<UTerm, B1>, A>, B>, C>, D>, E>, F>, G> {
     type Name = Self;
 }
 
-impl<A: Bit + Any + Debug + Copy + PartialEq + Send,
+impl<
-     B: Bit + Any + Debug + Copy + PartialEq + Send,
+    A: Bit + Any + Debug + Copy + PartialEq + Send,
-     C: Bit + Any + Debug + Copy + PartialEq + Send,
+    B: Bit + Any + Debug + Copy + PartialEq + Send,
-     D: Bit + Any + Debug + Copy + PartialEq + Send,
+    C: Bit + Any + Debug + Copy + PartialEq + Send,
-     E: Bit + Any + Debug + Copy + PartialEq + Send,
+    D: Bit + Any + Debug + Copy + PartialEq + Send,
-     F: Bit + Any + Debug + Copy + PartialEq + Send,
+    E: Bit + Any + Debug + Copy + PartialEq + Send,
-     G: Bit + Any + Debug + Copy + PartialEq + Send>
+    F: Bit + Any + Debug + Copy + PartialEq + Send,
-Dim
+    G: Bit + Any + Debug + Copy + PartialEq + Send,
-for UInt<UInt<UInt<UInt<UInt<UInt<UInt<UInt<UTerm, B1>, A>, B>, C>, D>, E>, F>, G> {
+> Dim for UInt<UInt<UInt<UInt<UInt<UInt<UInt<UInt<UTerm, B1>, A>, B>, C>, D>, E>, F>, G> {
     #[inline]
     fn try_to_usize() -> Option<usize> {
         Some(Self::to_usize())
@@ -342,15 +454,15 @@ for UInt<UInt<UInt<UInt<UInt<UInt<UInt<UInt<UTerm, B1>, A>, B>, C>, D>, E>, F>,
     }
 }
 
-impl<A: Bit + Any + Debug + Copy + PartialEq + Send,
+impl<
-     B: Bit + Any + Debug + Copy + PartialEq + Send,
+    A: Bit + Any + Debug + Copy + PartialEq + Send,
-     C: Bit + Any + Debug + Copy + PartialEq + Send,
+    B: Bit + Any + Debug + Copy + PartialEq + Send,
-     D: Bit + Any + Debug + Copy + PartialEq + Send,
+    C: Bit + Any + Debug + Copy + PartialEq + Send,
-     E: Bit + Any + Debug + Copy + PartialEq + Send,
+    D: Bit + Any + Debug + Copy + PartialEq + Send,
-     F: Bit + Any + Debug + Copy + PartialEq + Send,
+    E: Bit + Any + Debug + Copy + PartialEq + Send,
-     G: Bit + Any + Debug + Copy + PartialEq + Send>
+    F: Bit + Any + Debug + Copy + PartialEq + Send,
-DimName
+    G: Bit + Any + Debug + Copy + PartialEq + Send,
-for UInt<UInt<UInt<UInt<UInt<UInt<UInt<UInt<UTerm, B1>, A>, B>, C>, D>, E>, F>, G> {
+> DimName for UInt<UInt<UInt<UInt<UInt<UInt<UInt<UInt<UTerm, B1>, A>, B>, C>, D>, E>, F>, G> {
     type Value = Self;
 
     #[inline]
@@ -359,20 +471,20 @@ for UInt<UInt<UInt<UInt<UInt<UInt<UInt<UInt<UTerm, B1>, A>, B>, C>, D>, E>, F>,
     }
 }
 
-impl<A: Bit + Any + Debug + Copy + PartialEq + Send,
+impl<
-     B: Bit + Any + Debug + Copy + PartialEq + Send,
+    A: Bit + Any + Debug + Copy + PartialEq + Send,
-     C: Bit + Any + Debug + Copy + PartialEq + Send,
+    B: Bit + Any + Debug + Copy + PartialEq + Send,
-     D: Bit + Any + Debug + Copy + PartialEq + Send,
+    C: Bit + Any + Debug + Copy + PartialEq + Send,
-     E: Bit + Any + Debug + Copy + PartialEq + Send,
+    D: Bit + Any + Debug + Copy + PartialEq + Send,
-     F: Bit + Any + Debug + Copy + PartialEq + Send,
+    E: Bit + Any + Debug + Copy + PartialEq + Send,
-     G: Bit + Any + Debug + Copy + PartialEq + Send>
+    F: Bit + Any + Debug + Copy + PartialEq + Send,
-IsNotStaticOne
+    G: Bit + Any + Debug + Copy + PartialEq + Send,
-for UInt<UInt<UInt<UInt<UInt<UInt<UInt<UInt<UTerm, B1>, A>, B>, C>, D>, E>, F>, G> {
+> IsNotStaticOne
+    for UInt<UInt<UInt<UInt<UInt<UInt<UInt<UInt<UTerm, B1>, A>, B>, C>, D>, E>, F>, G> {
 }
 
-
+impl<U: Unsigned + DimName, B: Bit + Any + Debug + Copy + PartialEq + Send> NamedDim
-
+    for UInt<U, B> {
-impl<U: Unsigned + DimName, B: Bit + Any + Debug + Copy + PartialEq + Send> NamedDim for UInt<U, B> {
     type Name = UInt<U, B>;
 }
 
@@ -403,5 +515,6 @@ impl<U: Unsigned + DimName, B: Bit + Any + Debug + Copy + PartialEq + Send> DimN
     }
 }
 
-impl<U: Unsigned + DimName, B: Bit + Any + Debug + Copy + PartialEq + Send> IsNotStaticOne for UInt<U, B> {
+impl<U: Unsigned + DimName, B: Bit + Any + Debug + Copy + PartialEq + Send> IsNotStaticOne
+    for UInt<U, B> {
 }

src/core/edition.rs

@@ -1,10 +1,11 @@
-use num::{Zero, One};
+use num::{One, Zero};
 use std::cmp;
 use std::ptr;
 
-use core::{DefaultAllocator, Scalar, Matrix, DMatrix, MatrixMN, Vector, RowVector};
+use core::{DMatrix, DefaultAllocator, Matrix, MatrixMN, RowVector, Scalar, Vector};
-use core::dimension::{Dim, DimName, DimSub, DimDiff, DimAdd, DimSum, DimMin, DimMinimum, U1, Dynamic};
+use core::dimension::{Dim, DimAdd, DimDiff, DimMin, DimMinimum, DimName, DimSub, DimSum, Dynamic,
-use core::constraint::{ShapeConstraint, DimEq, SameNumberOfColumns, SameNumberOfRows};
+                      U1};
+use core::constraint::{DimEq, SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
 use core::allocator::{Allocator, Reallocator};
 use core::storage::{Storage, StorageMut};
 
@@ -12,7 +13,9 @@ impl<N: Scalar + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Extracts the upper triangular part of this matrix (including the diagonal).
     #[inline]
     pub fn upper_triangle(&self) -> MatrixMN<N, R, C>
-        where DefaultAllocator: Allocator<N, R, C> {
+    where
+        DefaultAllocator: Allocator<N, R, C>,
+    {
         let mut res = self.clone_owned();
         res.fill_lower_triangle(N::zero(), 1);
 
@@ -22,7 +25,9 @@ impl<N: Scalar + Zero, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Extracts the upper triangular part of this matrix (including the diagonal).
     #[inline]
     pub fn lower_triangle(&self) -> MatrixMN<N, R, C>
-        where DefaultAllocator: Allocator<N, R, C> {
+    where
+        DefaultAllocator: Allocator<N, R, C>,
+    {
         let mut res = self.clone_owned();
         res.fill_upper_triangle(N::zero(), 1);
 
@@ -42,7 +47,9 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// Fills `self` with the identity matrix.
     #[inline]
     pub fn fill_with_identity(&mut self)
-        where N: Zero + One {
+    where
+        N: Zero + One,
+    {
         self.fill(N::zero());
         self.fill_diagonal(N::one());
     }
@@ -53,7 +60,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
         let (nrows, ncols) = self.shape();
         let n = cmp::min(nrows, ncols);
 
-        for i in 0 .. n {
+        for i in 0..n {
             unsafe { *self.get_unchecked_mut(i, i) = val }
         }
     }
@@ -62,7 +69,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     #[inline]
     pub fn fill_row(&mut self, i: usize, val: N) {
         assert!(i < self.nrows(), "Row index out of bounds.");
-        for j in 0 .. self.ncols() {
+        for j in 0..self.ncols() {
             unsafe { *self.get_unchecked_mut(i, j) = val }
         }
     }
@@ -71,7 +78,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     #[inline]
     pub fn fill_column(&mut self, j: usize, val: N) {
         assert!(j < self.ncols(), "Row index out of bounds.");
-        for i in 0 .. self.nrows() {
+        for i in 0..self.nrows() {
             unsafe { *self.get_unchecked_mut(i, j) = val }
         }
     }
@@ -79,14 +86,16 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// Fills the diagonal of this matrix with the content of the given vector.
     #[inline]
     pub fn set_diagonal<R2: Dim, S2>(&mut self, diag: &Vector<N, R2, S2>)
-        where R:  DimMin<C>,
+    where
-              S2: Storage<N, R2>,
+        R: DimMin<C>,
-              ShapeConstraint: DimEq<DimMinimum<R, C>, R2> {
+        S2: Storage<N, R2>,
-        let (nrows, ncols)  = self.shape();
+        ShapeConstraint: DimEq<DimMinimum<R, C>, R2>,
+    {
+        let (nrows, ncols) = self.shape();
         let min_nrows_ncols = cmp::min(nrows, ncols);
         assert_eq!(diag.len(), min_nrows_ncols, "Mismatched dimensions.");
 
-        for i in 0 .. min_nrows_ncols {
+        for i in 0..min_nrows_ncols {
             unsafe { *self.get_unchecked_mut(i, i) = *diag.vget_unchecked(i) }
         }
     }
@@ -94,16 +103,20 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// Fills the selected row of this matrix with the content of the given vector.
     #[inline]
     pub fn set_row<C2: Dim, S2>(&mut self, i: usize, row: &RowVector<N, C2, S2>)
-        where S2: Storage<N, U1, C2>,
+    where
-              ShapeConstraint: SameNumberOfColumns<C, C2> {
+        S2: Storage<N, U1, C2>,
+        ShapeConstraint: SameNumberOfColumns<C, C2>,
+    {
         self.row_mut(i).copy_from(row);
     }
 
     /// Fills the selected column of this matrix with the content of the given vector.
     #[inline]
     pub fn set_column<R2: Dim, S2>(&mut self, i: usize, column: &Vector<N, R2, S2>)
-        where S2: Storage<N, R2, U1>,
+    where
-              ShapeConstraint: SameNumberOfRows<R, R2> {
+        S2: Storage<N, R2, U1>,
+        ShapeConstraint: SameNumberOfRows<R, R2>,
+    {
         self.column_mut(i).copy_from(column);
     }
 
@@ -116,8 +129,8 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// untouched.
     #[inline]
     pub fn fill_lower_triangle(&mut self, val: N, shift: usize) {
-        for j in 0 .. self.ncols() {
+        for j in 0..self.ncols() {
-            for i in (j + shift) .. self.nrows() {
+            for i in (j + shift)..self.nrows() {
                 unsafe { *self.get_unchecked_mut(i, j) = val }
             }
         }
@@ -132,10 +145,10 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// untouched.
     #[inline]
     pub fn fill_upper_triangle(&mut self, val: N, shift: usize) {
-        for j in shift .. self.ncols() {
+        for j in shift..self.ncols() {
             // FIXME: is there a more efficient way to avoid the min ?
             // (necessary for rectangular matrices)
-            for i in 0 .. cmp::min(j + 1 - shift, self.nrows()) {
+            for i in 0..cmp::min(j + 1 - shift, self.nrows()) {
                 unsafe { *self.get_unchecked_mut(i, j) = val }
             }
         }
@@ -148,7 +161,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
 
         if irow1 != irow2 {
             // FIXME: optimize that.
-            for i in 0 .. self.ncols() {
+            for i in 0..self.ncols() {
                 unsafe { self.swap_unchecked((irow1, i), (irow2, i)) }
             }
         }
@@ -162,7 +175,7 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
 
         if icol1 != icol2 {
             // FIXME: optimize that.
-            for i in 0 .. self.nrows() {
+            for i in 0..self.nrows() {
                 unsafe { self.swap_unchecked((i, icol1), (i, icol2)) }
             }
         }
@@ -178,8 +191,8 @@ impl<N: Scalar, D: Dim, S: StorageMut<N, D, D>> Matrix<N, D, D, S> {
         assert!(self.is_square(), "The input matrix should be square.");
 
         let dim = self.nrows();
-        for j in 0 .. dim {
+        for j in 0..dim {
-            for i in j + 1 .. dim {
+            for i in j + 1..dim {
                 unsafe {
                     *self.get_unchecked_mut(i, j) = *self.get_unchecked(j, i);
                 }
@@ -193,8 +206,8 @@ impl<N: Scalar, D: Dim, S: StorageMut<N, D, D>> Matrix<N, D, D, S> {
     pub fn fill_upper_triangle_with_lower_triangle(&mut self) {
         assert!(self.is_square(), "The input matrix should be square.");
 
-        for j in 1 .. self.ncols() {
+        for j in 1..self.ncols() {
-            for i in 0 .. j {
+            for i in 0..j {
                 unsafe {
                     *self.get_unchecked_mut(i, j) = *self.get_unchecked(j, i);
                 }
@@ -217,8 +230,10 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Removes the `i`-th column from this matrix.
     #[inline]
     pub fn remove_column(self, i: usize) -> MatrixMN<N, R, DimDiff<C, U1>>
-        where C: DimSub<U1>,
+    where
-              DefaultAllocator: Reallocator<N, R, C, R, DimDiff<C, U1>> {
+        C: DimSub<U1>,
+        DefaultAllocator: Reallocator<N, R, C, R, DimDiff<C, U1>>,
+    {
         self.remove_fixed_columns::<U1>(i)
     }
 
@@ -226,19 +241,21 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// (included).
     #[inline]
     pub fn remove_fixed_columns<D>(self, i: usize) -> MatrixMN<N, R, DimDiff<C, D>>
-        where D: DimName,
+    where
-              C: DimSub<D>,
+        D: DimName,
-              DefaultAllocator: Reallocator<N, R, C, R, DimDiff<C, D>> {
+        C: DimSub<D>,
-
+        DefaultAllocator: Reallocator<N, R, C, R, DimDiff<C, D>>,
+    {
         self.remove_columns_generic(i, D::name())
     }
 
     /// Removes `n` consecutive columns from this matrix, starting with the `i`-th (included).
     #[inline]
     pub fn remove_columns(self, i: usize, n: usize) -> MatrixMN<N, R, Dynamic>
-        where C: DimSub<Dynamic, Output = Dynamic>,
+    where
-              DefaultAllocator: Reallocator<N, R, C, R, Dynamic> {
+        C: DimSub<Dynamic, Output = Dynamic>,
-
+        DefaultAllocator: Reallocator<N, R, C, R, Dynamic>,
+    {
         self.remove_columns_generic(i, Dynamic::new(n))
     }
 
@@ -248,32 +265,45 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// `.remove_fixed_columns(...)` which have nicer API interfaces.
     #[inline]
     pub fn remove_columns_generic<D>(self, i: usize, nremove: D) -> MatrixMN<N, R, DimDiff<C, D>>
-        where D: Dim,
+    where
-              C: DimSub<D>,
+        D: Dim,
-              DefaultAllocator: Reallocator<N, R, C, R, DimDiff<C, D>> {
+        C: DimSub<D>,
-
+        DefaultAllocator: Reallocator<N, R, C, R, DimDiff<C, D>>,
+    {
         let mut m = self.into_owned();
         let (nrows, ncols) = m.data.shape();
-        assert!(i + nremove.value() <= ncols.value(), "Column index out of range.");
+        assert!(
+            i + nremove.value() <= ncols.value(),
+            "Column index out of range."
+        );
 
         if nremove.value() != 0 && i + nremove.value() < ncols.value() {
             // The first `deleted_i * nrows` are left untouched.
             let copied_value_start = i + nremove.value();
 
             unsafe {
-                let ptr_in  = m.data.ptr().offset((copied_value_start * nrows.value()) as isize);
+                let ptr_in = m.data
+                    .ptr()
+                    .offset((copied_value_start * nrows.value()) as isize);
                 let ptr_out = m.data.ptr_mut().offset((i * nrows.value()) as isize);
 
-                ptr::copy(ptr_in, ptr_out, (ncols.value() - copied_value_start) * nrows.value());
+                ptr::copy(
+                    ptr_in,
+                    ptr_out,
+                    (ncols.value() - copied_value_start) * nrows.value(),
+                );
             }
         }
 
         unsafe {
-            Matrix::from_data(DefaultAllocator::reallocate_copy(nrows, ncols.sub(nremove), m.data))
+            Matrix::from_data(DefaultAllocator::reallocate_copy(
+                nrows,
+                ncols.sub(nremove),
+                m.data,
+            ))
         }
     }
 
-
     /*
      *
      * Row removal.
@@ -282,27 +312,31 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Removes the `i`-th row from this matrix.
     #[inline]
     pub fn remove_row(self, i: usize) -> MatrixMN<N, DimDiff<R, U1>, C>
-        where R: DimSub<U1>,
+    where
-              DefaultAllocator: Reallocator<N, R, C, DimDiff<R, U1>, C> {
+        R: DimSub<U1>,
+        DefaultAllocator: Reallocator<N, R, C, DimDiff<R, U1>, C>,
+    {
         self.remove_fixed_rows::<U1>(i)
     }
 
     /// Removes `D::dim()` consecutive rows from this matrix, starting with the `i`-th (included).
     #[inline]
     pub fn remove_fixed_rows<D>(self, i: usize) -> MatrixMN<N, DimDiff<R, D>, C>
-        where D: DimName,
+    where
-              R: DimSub<D>,
+        D: DimName,
-              DefaultAllocator: Reallocator<N, R, C, DimDiff<R, D>, C> {
+        R: DimSub<D>,
-
+        DefaultAllocator: Reallocator<N, R, C, DimDiff<R, D>, C>,
+    {
         self.remove_rows_generic(i, D::name())
     }
 
     /// Removes `n` consecutive rows from this matrix, starting with the `i`-th (included).
     #[inline]
     pub fn remove_rows(self, i: usize, n: usize) -> MatrixMN<N, Dynamic, C>
-        where R: DimSub<Dynamic, Output = Dynamic>,
+    where
-              DefaultAllocator: Reallocator<N, R, C, Dynamic, C> {
+        R: DimSub<Dynamic, Output = Dynamic>,
-
+        DefaultAllocator: Reallocator<N, R, C, Dynamic, C>,
+    {
         self.remove_rows_generic(i, Dynamic::new(n))
     }
 
@@ -312,21 +346,36 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// which have nicer API interfaces.
     #[inline]
     pub fn remove_rows_generic<D>(self, i: usize, nremove: D) -> MatrixMN<N, DimDiff<R, D>, C>
-        where D: Dim,
+    where
-              R: DimSub<D>,
+        D: Dim,
-              DefaultAllocator: Reallocator<N, R, C, DimDiff<R, D>, C> {
+        R: DimSub<D>,
+        DefaultAllocator: Reallocator<N, R, C, DimDiff<R, D>, C>,
+    {
         let mut m = self.into_owned();
         let (nrows, ncols) = m.data.shape();
-        assert!(i + nremove.value() <= nrows.value(), "Row index out of range.");
+        assert!(
+            i + nremove.value() <= nrows.value(),
+            "Row index out of range."
+        );
 
         if nremove.value() != 0 {
             unsafe {
-                compress_rows(&mut m.data.as_mut_slice(), nrows.value(), ncols.value(), i, nremove.value());
+                compress_rows(
+                    &mut m.data.as_mut_slice(),
+                    nrows.value(),
+                    ncols.value(),
+                    i,
+                    nremove.value(),
+                );
             }
         }
 
         unsafe {
-            Matrix::from_data(DefaultAllocator::reallocate_copy(nrows.sub(nremove), ncols, m.data))
+            Matrix::from_data(DefaultAllocator::reallocate_copy(
+                nrows.sub(nremove),
+                ncols,
+                m.data,
+            ))
         }
     }
 
@@ -338,17 +387,21 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Inserts a column filled with `val` at the `i-th` position.
     #[inline]
     pub fn insert_column(self, i: usize, val: N) -> MatrixMN<N, R, DimSum<C, U1>>
-        where C: DimAdd<U1>,
+    where
-              DefaultAllocator: Reallocator<N, R, C, R, DimSum<C, U1>> {
+        C: DimAdd<U1>,
+        DefaultAllocator: Reallocator<N, R, C, R, DimSum<C, U1>>,
+    {
         self.insert_fixed_columns::<U1>(i, val)
     }
 
     /// Inserts `D::dim()` columns filled with `val` starting at the `i-th` position.
     #[inline]
     pub fn insert_fixed_columns<D>(self, i: usize, val: N) -> MatrixMN<N, R, DimSum<C, D>>
-        where D: DimName,
+    where
-              C: DimAdd<D>,
+        D: DimName,
-              DefaultAllocator: Reallocator<N, R, C, R, DimSum<C, D>> {
+        C: DimAdd<D>,
+        DefaultAllocator: Reallocator<N, R, C, R, DimSum<C, D>>,
+    {
         let mut res = unsafe { self.insert_columns_generic_uninitialized(i, D::name()) };
         res.fixed_columns_mut::<D>(i).fill(val);
         res
@@ -357,8 +410,10 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Inserts `n` columns filled with `val` starting at the `i-th` position.
     #[inline]
     pub fn insert_columns(self, i: usize, n: usize, val: N) -> MatrixMN<N, R, Dynamic>
-        where C: DimAdd<Dynamic, Output = Dynamic>,
+    where
-              DefaultAllocator: Reallocator<N, R, C, R, Dynamic> {
+        C: DimAdd<Dynamic, Output = Dynamic>,
+        DefaultAllocator: Reallocator<N, R, C, R, Dynamic>,
+    {
         let mut res = unsafe { self.insert_columns_generic_uninitialized(i, Dynamic::new(n)) };
         res.columns_mut(i, n).fill(val);
         res
@@ -368,21 +423,31 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     ///
     /// The added column values are not initialized.
     #[inline]
-    pub unsafe fn insert_columns_generic_uninitialized<D>(self, i: usize, ninsert: D)
+    pub unsafe fn insert_columns_generic_uninitialized<D>(
-        -> MatrixMN<N, R, DimSum<C, D>>
+        self,
-        where D: Dim,
+        i: usize,
-              C: DimAdd<D>,
+        ninsert: D,
-              DefaultAllocator: Reallocator<N, R, C, R, DimSum<C, D>> {
+    ) -> MatrixMN<N, R, DimSum<C, D>>
-
+    where
+        D: Dim,
+        C: DimAdd<D>,
+        DefaultAllocator: Reallocator<N, R, C, R, DimSum<C, D>>,
+    {
         let m = self.into_owned();
         let (nrows, ncols) = m.data.shape();
-        let mut res = Matrix::from_data(DefaultAllocator::reallocate_copy(nrows, ncols.add(ninsert), m.data));
+        let mut res = Matrix::from_data(DefaultAllocator::reallocate_copy(
+            nrows,
+            ncols.add(ninsert),
+            m.data,
+        ));
 
         assert!(i <= ncols.value(), "Column insertion index out of range.");
 
         if ninsert.value() != 0 && i != ncols.value() {
-            let ptr_in  = res.data.ptr().offset((i * nrows.value()) as isize);
+            let ptr_in = res.data.ptr().offset((i * nrows.value()) as isize);
-            let ptr_out = res.data.ptr_mut().offset(((i + ninsert.value()) * nrows.value()) as isize);
+            let ptr_out = res.data
+                .ptr_mut()
+                .offset(((i + ninsert.value()) * nrows.value()) as isize);
 
             ptr::copy(ptr_in, ptr_out, (ncols.value() - i) * nrows.value())
         }
@@ -398,17 +463,21 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Inserts a row filled with `val` at the `i-th` position.
     #[inline]
     pub fn insert_row(self, i: usize, val: N) -> MatrixMN<N, DimSum<R, U1>, C>
-        where R: DimAdd<U1>,
+    where
-              DefaultAllocator: Reallocator<N, R, C, DimSum<R, U1>, C> {
+        R: DimAdd<U1>,
+        DefaultAllocator: Reallocator<N, R, C, DimSum<R, U1>, C>,
+    {
         self.insert_fixed_rows::<U1>(i, val)
     }
 
     /// Inserts `D::dim()` rows filled with `val` starting at the `i-th` position.
     #[inline]
     pub fn insert_fixed_rows<D>(self, i: usize, val: N) -> MatrixMN<N, DimSum<R, D>, C>
-        where D: DimName,
+    where
-              R: DimAdd<D>,
+        D: DimName,
-              DefaultAllocator: Reallocator<N, R, C, DimSum<R, D>, C> {
+        R: DimAdd<D>,
+        DefaultAllocator: Reallocator<N, R, C, DimSum<R, D>, C>,
+    {
         let mut res = unsafe { self.insert_rows_generic_uninitialized(i, D::name()) };
         res.fixed_rows_mut::<D>(i).fill(val);
         res
@@ -417,8 +486,10 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Inserts `n` rows filled with `val` starting at the `i-th` position.
     #[inline]
     pub fn insert_rows(self, i: usize, n: usize, val: N) -> MatrixMN<N, Dynamic, C>
-        where R: DimAdd<Dynamic, Output = Dynamic>,
+    where
-              DefaultAllocator: Reallocator<N, R, C, Dynamic, C> {
+        R: DimAdd<Dynamic, Output = Dynamic>,
+        DefaultAllocator: Reallocator<N, R, C, Dynamic, C>,
+    {
         let mut res = unsafe { self.insert_rows_generic_uninitialized(i, Dynamic::new(n)) };
         res.rows_mut(i, n).fill(val);
         res
@@ -430,20 +501,34 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// This is the generic implementation of `.insert_rows(...)` and
     /// `.insert_fixed_rows(...)` which have nicer API interfaces.
     #[inline]
-    pub unsafe fn insert_rows_generic_uninitialized<D>(self, i: usize, ninsert: D)
+    pub unsafe fn insert_rows_generic_uninitialized<D>(
-        -> MatrixMN<N, DimSum<R, D>, C>
+        self,
-        where D: Dim,
+        i: usize,
-              R: DimAdd<D>,
+        ninsert: D,
-              DefaultAllocator: Reallocator<N, R, C, DimSum<R, D>, C> {
+    ) -> MatrixMN<N, DimSum<R, D>, C>
-
+    where
+        D: Dim,
+        R: DimAdd<D>,
+        DefaultAllocator: Reallocator<N, R, C, DimSum<R, D>, C>,
+    {
         let m = self.into_owned();
         let (nrows, ncols) = m.data.shape();
-        let mut res = Matrix::from_data(DefaultAllocator::reallocate_copy(nrows.add(ninsert), ncols, m.data));
+        let mut res = Matrix::from_data(DefaultAllocator::reallocate_copy(
+            nrows.add(ninsert),
+            ncols,
+            m.data,
+        ));
 
         assert!(i <= nrows.value(), "Row insertion index out of range.");
 
         if ninsert.value() != 0 {
-            extend_rows(&mut res.data.as_mut_slice(), nrows.value(), ncols.value(), i, ninsert.value());
+            extend_rows(
+                &mut res.data.as_mut_slice(),
+                nrows.value(),
+                ncols.value(),
+                i,
+                ninsert.value(),
+            );
         }
 
         res
@@ -460,8 +545,9 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// The values are copied such that `self[(i, j)] == result[(i, j)]`. If the result has more
     /// rows and/or columns than `self`, then the extra rows or columns are filled with `val`.
     pub fn resize(self, new_nrows: usize, new_ncols: usize, val: N) -> DMatrix<N>
-        where DefaultAllocator: Reallocator<N, R, C, Dynamic, Dynamic> {
+    where
-
+        DefaultAllocator: Reallocator<N, R, C, Dynamic, Dynamic>,
+    {
         self.resize_generic(Dynamic::new(new_nrows), Dynamic::new(new_ncols), val)
     }
 
@@ -470,8 +556,9 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// The values are copied such that `self[(i, j)] == result[(i, j)]`. If the result has more
     /// rows and/or columns than `self`, then the extra rows or columns are filled with `val`.
     pub fn fixed_resize<R2: DimName, C2: DimName>(self, val: N) -> MatrixMN<N, R2, C2>
-        where DefaultAllocator: Reallocator<N, R, C, R2, C2> {
+    where
-
+        DefaultAllocator: Reallocator<N, R, C, R2, C2>,
+    {
         self.resize_generic(R2::name(), C2::name(), val)
     }
 
@@ -480,9 +567,15 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// The values are copied such that `self[(i, j)] == result[(i, j)]`. If the result has more
     /// rows and/or columns than `self`, then the extra rows or columns are filled with `val`.
     #[inline]
-    pub fn resize_generic<R2: Dim, C2: Dim>(self, new_nrows: R2, new_ncols: C2, val: N) -> MatrixMN<N, R2, C2>
+    pub fn resize_generic<R2: Dim, C2: Dim>(
-        where DefaultAllocator: Reallocator<N, R, C, R2, C2> {
+        self,
-
+        new_nrows: R2,
+        new_ncols: C2,
+        val: N,
+    ) -> MatrixMN<N, R2, C2>
+    where
+        DefaultAllocator: Reallocator<N, R, C, R2, C2>,
+    {
         let (nrows, ncols) = self.shape();
         let mut data = self.data.into_owned();
 
@@ -490,27 +583,46 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
             let res = unsafe { DefaultAllocator::reallocate_copy(new_nrows, new_ncols, data) };
 
             Matrix::from_data(res)
-        }
+        } else {
-        else {
             let mut res;
 
             unsafe {
                 if new_nrows.value() < nrows {
-                    compress_rows(&mut data.as_mut_slice(), nrows, ncols, new_nrows.value(), nrows - new_nrows.value());
+                    compress_rows(
-                    res = Matrix::from_data(DefaultAllocator::reallocate_copy(new_nrows, new_ncols, data));
+                        &mut data.as_mut_slice(),
-                }
+                        nrows,
-                else {
+                        ncols,
-                    res = Matrix::from_data(DefaultAllocator::reallocate_copy(new_nrows, new_ncols, data));
+                        new_nrows.value(),
-                    extend_rows(&mut res.data.as_mut_slice(), nrows, ncols, nrows, new_nrows.value() - nrows);
+                        nrows - new_nrows.value(),
+                    );
+                    res = Matrix::from_data(DefaultAllocator::reallocate_copy(
+                        new_nrows,
+                        new_ncols,
+                        data,
+                    ));
+                } else {
+                    res = Matrix::from_data(DefaultAllocator::reallocate_copy(
+                        new_nrows,
+                        new_ncols,
+                        data,
+                    ));
+                    extend_rows(
+                        &mut res.data.as_mut_slice(),
+                        nrows,
+                        ncols,
+                        nrows,
+                        new_nrows.value() - nrows,
+                    );
                 }
             }
 
             if new_ncols.value() > ncols {
-                res.columns_range_mut(ncols ..).fill(val);
+                res.columns_range_mut(ncols..).fill(val);
             }
 
             if new_nrows.value() > nrows {
-                res.slice_range_mut(nrows .., .. cmp::min(ncols, new_ncols.value())).fill(val);
+                res.slice_range_mut(nrows.., ..cmp::min(ncols, new_ncols.value()))
+                    .fill(val);
             }
 
             res
@@ -518,48 +630,66 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     }
 }
 
-
+unsafe fn compress_rows<N: Scalar>(
-unsafe fn compress_rows<N: Scalar>(data: &mut [N], nrows: usize, ncols: usize, i: usize, nremove: usize) {
+    data: &mut [N],
+    nrows: usize,
+    ncols: usize,
+    i: usize,
+    nremove: usize,
+) {
     let new_nrows = nrows - nremove;
-    let ptr_in    = data.as_ptr();
+    let ptr_in = data.as_ptr();
-    let ptr_out   = data.as_mut_ptr();
+    let ptr_out = data.as_mut_ptr();
 
     let mut curr_i = i;
 
-    for k in 0 .. ncols - 1 {
+    for k in 0..ncols - 1 {
-        ptr::copy(ptr_in.offset((curr_i + (k + 1) * nremove) as isize),
+        ptr::copy(
-                  ptr_out.offset(curr_i as isize),
+            ptr_in.offset((curr_i + (k + 1) * nremove) as isize),
-                  new_nrows);
+            ptr_out.offset(curr_i as isize),
+            new_nrows,
+        );
 
         curr_i += new_nrows;
     }
 
     // Deal with the last column from which less values have to be copied.
     let remaining_len = nrows - i - nremove;
-    ptr::copy(ptr_in.offset((nrows * ncols - remaining_len) as isize),
+    ptr::copy(
-              ptr_out.offset(curr_i as isize),
+        ptr_in.offset((nrows * ncols - remaining_len) as isize),
-              remaining_len);
+        ptr_out.offset(curr_i as isize),
+        remaining_len,
+    );
 }
 
-
+unsafe fn extend_rows<N: Scalar>(
-unsafe fn extend_rows<N: Scalar>(data: &mut [N], nrows: usize, ncols: usize, i: usize, ninsert: usize) {
+    data: &mut [N],
+    nrows: usize,
+    ncols: usize,
+    i: usize,
+    ninsert: usize,
+) {
     let new_nrows = nrows + ninsert;
-    let ptr_in    = data.as_ptr();
+    let ptr_in = data.as_ptr();
-    let ptr_out   = data.as_mut_ptr();
+    let ptr_out = data.as_mut_ptr();
 
     let remaining_len = nrows - i;
     let mut curr_i = new_nrows * ncols - remaining_len;
 
     // Deal with the last column from which less values have to be copied.
-    ptr::copy(ptr_in.offset((nrows * ncols - remaining_len) as isize),
+    ptr::copy(
-              ptr_out.offset(curr_i as isize),
+        ptr_in.offset((nrows * ncols - remaining_len) as isize),
-              remaining_len);
+        ptr_out.offset(curr_i as isize),
+        remaining_len,
+    );
 
-    for k in (0 .. ncols - 1).rev() {
+    for k in (0..ncols - 1).rev() {
         curr_i -= new_nrows;
 
-        ptr::copy(ptr_in.offset((k * nrows + i) as isize),
+        ptr::copy(
-                  ptr_out.offset(curr_i as isize),
+            ptr_in.offset((k * nrows + i) as isize),
-                  nrows);
+            ptr_out.offset(curr_i as isize),
+            nrows,
+        );
     }
 }

src/core/helper.rs

@@ -1,14 +1,17 @@
-#[cfg(feature="arbitrary")]
+#[cfg(feature = "arbitrary")]
 use quickcheck::{Arbitrary, Gen};
 use rand::{Rand, Rng};
 
 /// Simple helper function for rejection sampling
-#[cfg(feature="arbitrary")]
+#[cfg(feature = "arbitrary")]
 #[doc(hidden)]
 #[inline]
 pub fn reject<G: Gen, F: FnMut(&T) -> bool, T: Arbitrary>(g: &mut G, f: F) -> T {
     use std::iter;
-    iter::repeat(()).map(|_| Arbitrary::arbitrary(g)).find(f).unwrap()
+    iter::repeat(())
+        .map(|_| Arbitrary::arbitrary(g))
+        .find(f)
+        .unwrap()
 }
 
 #[doc(hidden)]

src/core/matrix_alga.rs

@@ -1,13 +1,13 @@
-use num::{Zero, One};
+use num::{One, Zero};
 
-use alga::general::{AbstractMagma, AbstractGroupAbelian, AbstractGroup, AbstractLoop,
+use alga::general::{AbstractGroup, AbstractGroupAbelian, AbstractLoop, AbstractMagma,
-                    AbstractMonoid, AbstractQuasigroup, AbstractSemigroup, AbstractModule,
+                    AbstractModule, AbstractMonoid, AbstractQuasigroup, AbstractSemigroup,
-                    Module, Field, RingCommutative, Real, Inverse, Additive, Multiplicative,
+                    Additive, ClosedAdd, ClosedMul, ClosedNeg, Field, Identity, Inverse,
-                    MeetSemilattice, JoinSemilattice, Lattice, Identity,
+                    JoinSemilattice, Lattice, MeetSemilattice, Module, Multiplicative, Real,
-                    ClosedAdd, ClosedNeg, ClosedMul};
+                    RingCommutative};
-use alga::linear::{VectorSpace, NormedSpace, InnerSpace, FiniteDimVectorSpace, FiniteDimInnerSpace};
+use alga::linear::{FiniteDimInnerSpace, FiniteDimVectorSpace, InnerSpace, NormedSpace, VectorSpace};
 
-use core::{DefaultAllocator, Scalar, MatrixMN, MatrixN};
+use core::{DefaultAllocator, MatrixMN, MatrixN, Scalar};
 use core::dimension::{Dim, DimName};
 use core::storage::{Storage, StorageMut};
 use core::allocator::Allocator;
@@ -18,8 +18,10 @@ use core::allocator::Allocator;
  *
  */
 impl<N, R: DimName, C: DimName> Identity<Additive> for MatrixMN<N, R, C>
-    where N: Scalar + Zero,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + Zero,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn identity() -> Self {
         Self::from_element(N::zero())
@@ -27,8 +29,10 @@ impl<N, R: DimName, C: DimName> Identity<Additive> for MatrixMN<N, R, C>
 }
 
 impl<N, R: DimName, C: DimName> AbstractMagma<Additive> for MatrixMN<N, R, C>
-    where N: Scalar + ClosedAdd,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + ClosedAdd,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn operate(&self, other: &Self) -> Self {
         self + other
@@ -36,8 +40,10 @@ impl<N, R: DimName, C: DimName> AbstractMagma<Additive> for MatrixMN<N, R, C>
 }
 
 impl<N, R: DimName, C: DimName> Inverse<Additive> for MatrixMN<N, R, C>
-    where N: Scalar + ClosedNeg,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + ClosedNeg,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn inverse(&self) -> MatrixMN<N, R, C> {
         -self
@@ -58,17 +64,19 @@ macro_rules! inherit_additive_structure(
 );
 
 inherit_additive_structure!(
-    AbstractSemigroup<Additive>    + ClosedAdd,
+    AbstractSemigroup<Additive> + ClosedAdd,
-    AbstractMonoid<Additive>       + Zero + ClosedAdd,
+    AbstractMonoid<Additive> + Zero + ClosedAdd,
-    AbstractQuasigroup<Additive>   + ClosedAdd + ClosedNeg,
+    AbstractQuasigroup<Additive> + ClosedAdd + ClosedNeg,
-    AbstractLoop<Additive>         + Zero + ClosedAdd + ClosedNeg,
+    AbstractLoop<Additive> + Zero + ClosedAdd + ClosedNeg,
-    AbstractGroup<Additive>        + Zero + ClosedAdd + ClosedNeg,
+    AbstractGroup<Additive> + Zero + ClosedAdd + ClosedNeg,
     AbstractGroupAbelian<Additive> + Zero + ClosedAdd + ClosedNeg
 );
 
 impl<N, R: DimName, C: DimName> AbstractModule for MatrixMN<N, R, C>
-    where N: Scalar + RingCommutative,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + RingCommutative,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     type AbstractRing = N;
 
     #[inline]
@@ -78,20 +86,26 @@ impl<N, R: DimName, C: DimName> AbstractModule for MatrixMN<N, R, C>
 }
 
 impl<N, R: DimName, C: DimName> Module for MatrixMN<N, R, C>
-    where N: Scalar + RingCommutative,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + RingCommutative,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     type Ring = N;
 }
 
 impl<N, R: DimName, C: DimName> VectorSpace for MatrixMN<N, R, C>
-    where N: Scalar + Field,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + Field,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     type Field = N;
 }
 
 impl<N, R: DimName, C: DimName> FiniteDimVectorSpace for MatrixMN<N, R, C>
-    where N: Scalar + Field,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + Field,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn dimension() -> usize {
         R::dim() * C::dim()
@@ -102,7 +116,9 @@ impl<N, R: DimName, C: DimName> FiniteDimVectorSpace for MatrixMN<N, R, C>
         assert!(i < Self::dimension(), "Index out of bound.");
 
         let mut res = Self::zero();
-        unsafe { *res.data.get_unchecked_linear_mut(i) = N::one(); }
+        unsafe {
+            *res.data.get_unchecked_linear_mut(i) = N::one();
+        }
 
         res
     }
@@ -124,7 +140,9 @@ impl<N, R: DimName, C: DimName> FiniteDimVectorSpace for MatrixMN<N, R, C>
 }
 
 impl<N: Real, R: DimName, C: DimName> NormedSpace for MatrixMN<N, R, C>
-    where DefaultAllocator: Allocator<N, R, C> {
+where
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn norm_squared(&self) -> N {
         self.norm_squared()
@@ -157,7 +175,9 @@ impl<N: Real, R: DimName, C: DimName> NormedSpace for MatrixMN<N, R, C>
 }
 
 impl<N: Real, R: DimName, C: DimName> InnerSpace for MatrixMN<N, R, C>
-    where DefaultAllocator: Allocator<N, R, C> {
+where
+    DefaultAllocator: Allocator<N, R, C>,
+{
     type Real = N;
 
     #[inline]
@@ -176,16 +196,18 @@ impl<N: Real, R: DimName, C: DimName> InnerSpace for MatrixMN<N, R, C>
 //   − use `x()` instead of `::canonical_basis_element`
 //   − use `::new(x, y, z)` instead of `::from_slice`
 impl<N: Real, R: DimName, C: DimName> FiniteDimInnerSpace for MatrixMN<N, R, C>
-    where DefaultAllocator: Allocator<N, R, C> {
+where
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn orthonormalize(vs: &mut [MatrixMN<N, R, C>]) -> usize {
         let mut nbasis_elements = 0;
 
-        for i in 0 .. vs.len() {
+        for i in 0..vs.len() {
             {
-                let (elt, basis) = vs[.. i + 1].split_last_mut().unwrap();
+                let (elt, basis) = vs[..i + 1].split_last_mut().unwrap();
 
-                for basis_element in &basis[.. nbasis_elements] {
+                for basis_element in &basis[..nbasis_elements] {
                     *elt -= &*basis_element * elt.dot(basis_element)
                 }
             }
@@ -208,22 +230,26 @@ impl<N: Real, R: DimName, C: DimName> FiniteDimInnerSpace for MatrixMN<N, R, C>
 
     #[inline]
     fn orthonormal_subspace_basis<F>(vs: &[Self], mut f: F)
-        where F: FnMut(&Self) -> bool {
+    where
+        F: FnMut(&Self) -> bool,
+    {
         // FIXME: is this necessary?
-        assert!(vs.len() <= Self::dimension(), "The given set of vectors has no chance of being a free family.");
+        assert!(
+            vs.len() <= Self::dimension(),
+            "The given set of vectors has no chance of being a free family."
+        );
 
         match Self::dimension() {
             1 => {
                 if vs.len() == 0 {
                     let _ = f(&Self::canonical_basis_element(0));
                 }
-            },
+            }
             2 => {
                 if vs.len() == 0 {
-                    let _ = f(&Self::canonical_basis_element(0)) &&
+                    let _ = f(&Self::canonical_basis_element(0))
-                            f(&Self::canonical_basis_element(1));
+                        && f(&Self::canonical_basis_element(1));
-                }
+                } else if vs.len() == 1 {
-                else if vs.len() == 1 {
                     let v = &vs[0];
                     let res = Self::from_column_slice(&[-v[1], v[0]]);
 
@@ -231,21 +257,19 @@ impl<N: Real, R: DimName, C: DimName> FiniteDimInnerSpace for MatrixMN<N, R, C>
                 }
 
                 // Otherwise, nothing.
-            },
+            }
             3 => {
                 if vs.len() == 0 {
-                    let _ = f(&Self::canonical_basis_element(0)) &&
+                    let _ = f(&Self::canonical_basis_element(0))
-                            f(&Self::canonical_basis_element(1)) &&
+                        && f(&Self::canonical_basis_element(1))
-                            f(&Self::canonical_basis_element(2));
+                        && f(&Self::canonical_basis_element(2));
-                }
+                } else if vs.len() == 1 {
-                else if vs.len() == 1 {
                     let v = &vs[0];
                     let mut a;
 
                     if v[0].abs() > v[1].abs() {
                         a = Self::from_column_slice(&[v[2], N::zero(), -v[0]]);
-                    }
+                    } else {
-                    else {
                         a = Self::from_column_slice(&[N::zero(), -v[2], v[1]]);
                     };
 
@@ -254,11 +278,10 @@ impl<N: Real, R: DimName, C: DimName> FiniteDimInnerSpace for MatrixMN<N, R, C>
                     if f(&a.cross(v)) {
                         let _ = f(&a);
                     }
-                }
+                } else if vs.len() == 2 {
-                else if vs.len() == 2 {
                     let _ = f(&vs[0].cross(&vs[1]).normalize());
                 }
-            },
+            }
             _ => {
                 // XXX: use a GenericArray instead.
                 let mut known_basis = Vec::new();
@@ -267,15 +290,17 @@ impl<N: Real, R: DimName, C: DimName> FiniteDimInnerSpace for MatrixMN<N, R, C>
                     known_basis.push(v.normalize())
                 }
 
-                for i in 0 .. Self::dimension() - vs.len() {
+                for i in 0..Self::dimension() - vs.len() {
                     let mut elt = Self::canonical_basis_element(i);
 
                     for v in &known_basis {
                         elt -= v * elt.dot(v)
-                    };
+                    }
 
                     if let Some(subsp_elt) = elt.try_normalize(N::zero()) {
-                        if !f(&subsp_elt) { return };
+                        if !f(&subsp_elt) {
+                            return;
+                        };
 
                         known_basis.push(subsp_elt);
                     }
@@ -285,7 +310,6 @@ impl<N: Real, R: DimName, C: DimName> FiniteDimInnerSpace for MatrixMN<N, R, C>
     }
 }
 
-
 /*
  *
  *
@@ -294,8 +318,10 @@ impl<N: Real, R: DimName, C: DimName> FiniteDimInnerSpace for MatrixMN<N, R, C>
  *
  */
 impl<N, D: DimName> Identity<Multiplicative> for MatrixN<N, D>
-    where N: Scalar + Zero + One,
+where
-          DefaultAllocator: Allocator<N, D, D> {
+    N: Scalar + Zero + One,
+    DefaultAllocator: Allocator<N, D, D>,
+{
     #[inline]
     fn identity() -> Self {
         Self::identity()
@@ -303,8 +329,10 @@ impl<N, D: DimName> Identity<Multiplicative> for MatrixN<N, D>
 }
 
 impl<N, D: DimName> AbstractMagma<Multiplicative> for MatrixN<N, D>
-    where N: Scalar + Zero + One + ClosedAdd + ClosedMul,
+where
-          DefaultAllocator: Allocator<N, D, D> {
+    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
+    DefaultAllocator: Allocator<N, D, D>,
+{
     #[inline]
     fn operate(&self, other: &Self) -> Self {
         self * other
@@ -324,15 +352,16 @@ impl_multiplicative_structure!(
     AbstractMonoid<Multiplicative> + One
 );
 
-
 /*
  *
  * Ordering
  *
  */
 impl<N, R: Dim, C: Dim> MeetSemilattice for MatrixMN<N, R, C>
-    where N: Scalar + MeetSemilattice,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + MeetSemilattice,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn meet(&self, other: &Self) -> Self {
         self.zip_map(other, |a, b| a.meet(&b))
@@ -340,29 +369,37 @@ impl<N, R: Dim, C: Dim> MeetSemilattice for MatrixMN<N, R, C>
 }
 
 impl<N, R: Dim, C: Dim> JoinSemilattice for MatrixMN<N, R, C>
-    where N: Scalar + JoinSemilattice,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + JoinSemilattice,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn join(&self, other: &Self) -> Self {
         self.zip_map(other, |a, b| a.join(&b))
     }
 }
 
-
 impl<N, R: Dim, C: Dim> Lattice for MatrixMN<N, R, C>
-    where N: Scalar + Lattice,
+where
-          DefaultAllocator: Allocator<N, R, C> {
+    N: Scalar + Lattice,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     #[inline]
     fn meet_join(&self, other: &Self) -> (Self, Self) {
         let shape = self.data.shape();
-        assert!(shape == other.data.shape(), "Matrix meet/join error: mismatched dimensions.");
+        assert!(
+            shape == other.data.shape(),
+            "Matrix meet/join error: mismatched dimensions."
+        );
 
         let mut mres = unsafe { Self::new_uninitialized_generic(shape.0, shape.1) };
         let mut jres = unsafe { Self::new_uninitialized_generic(shape.0, shape.1) };
 
-        for i in 0 .. shape.0.value() * shape.1.value() {
+        for i in 0..shape.0.value() * shape.1.value() {
             unsafe {
-                let mj = self.data.get_unchecked_linear(i).meet_join(other.data.get_unchecked_linear(i));
+                let mj = self.data
+                    .get_unchecked_linear(i)
+                    .meet_join(other.data.get_unchecked_linear(i));
                 *mres.data.get_unchecked_linear_mut(i) = mj.0;
                 *jres.data.get_unchecked_linear_mut(i) = mj.1;
             }

src/core/matrix_array.rs

@@ -3,11 +3,11 @@ use std::fmt::{self, Debug, Formatter};
 use std::hash::{Hash, Hasher};
 
 #[cfg(feature = "serde-serialize")]
-use serde::{Serialize, Serializer, Deserialize, Deserializer};
+use serde::{Deserialize, Deserializer, Serialize, Serializer};
 #[cfg(feature = "serde-serialize")]
 use serde::ser::SerializeSeq;
 #[cfg(feature = "serde-serialize")]
-use serde::de::{SeqAccess, Visitor, Error};
+use serde::de::{Error, SeqAccess, Visitor};
 #[cfg(feature = "serde-serialize")]
 use std::mem;
 #[cfg(feature = "serde-serialize")]
@@ -21,11 +21,10 @@ use generic_array::{ArrayLength, GenericArray};
 
 use core::Scalar;
 use core::dimension::{DimName, U1};
-use core::storage::{Storage, StorageMut, Owned, ContiguousStorage, ContiguousStorageMut};
+use core::storage::{ContiguousStorage, ContiguousStorageMut, Owned, Storage, StorageMut};
 use core::allocator::Allocator;
 use core::default_allocator::DefaultAllocator;
 
-
 /*
  *
  * Static Storage.
@@ -34,31 +33,35 @@ use core::default_allocator::DefaultAllocator;
 /// A array-based statically sized matrix data storage.
 #[repr(C)]
 pub struct MatrixArray<N, R, C>
-where R: DimName,
+where
-      C: DimName,
+    R: DimName,
-      R::Value: Mul<C::Value>,
+    C: DimName,
-      Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
-
+    Prod<R::Value, C::Value>: ArrayLength<N>,
-    data: GenericArray<N, Prod<R::Value, C::Value>>
+{
+    data: GenericArray<N, Prod<R::Value, C::Value>>,
 }
 
-
 impl<N, R, C> Hash for MatrixArray<N, R, C>
-where N: Hash,
+where
-      R: DimName,
+    N: Hash,
-      C: DimName,
+    R: DimName,
-      R::Value: Mul<C::Value>,
+    C: DimName,
-      Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+{
     fn hash<H: Hasher>(&self, state: &mut H) {
         self.data[..].hash(state)
     }
 }
 
 impl<N, R, C> Deref for MatrixArray<N, R, C>
-where R: DimName,
+where
-      C: DimName,
+    R: DimName,
-      R::Value: Mul<C::Value>,
+    C: DimName,
-      Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+{
     type Target = GenericArray<N, Prod<R::Value, C::Value>>;
 
     #[inline]
@@ -68,10 +71,12 @@ where R: DimName,
 }
 
 impl<N, R, C> DerefMut for MatrixArray<N, R, C>
-where R: DimName,
+where
-      C: DimName,
+    R: DimName,
-      R::Value: Mul<C::Value>,
+    C: DimName,
-      Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+{
     #[inline]
     fn deref_mut(&mut self) -> &mut Self::Target {
         &mut self.data
@@ -79,11 +84,13 @@ where R: DimName,
 }
 
 impl<N, R, C> Debug for MatrixArray<N, R, C>
-where N: Debug,
+where
-      R: DimName,
+    N: Debug,
-      C: DimName,
+    R: DimName,
-      R::Value: Mul<C::Value>,
+    C: DimName,
-      Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+{
     #[inline]
     fn fmt(&self, fmt: &mut Formatter) -> fmt::Result {
         self.data.fmt(fmt)
@@ -91,56 +98,65 @@ where N: Debug,
 }
 
 impl<N, R, C> Copy for MatrixArray<N, R, C>
-    where N: Copy,
+where
-          R: DimName,
+    N: Copy,
-          C: DimName,
+    R: DimName,
-          R::Value: Mul<C::Value>,
+    C: DimName,
-          Prod<R::Value, C::Value>: ArrayLength<N>,
+    R::Value: Mul<C::Value>,
-          GenericArray<N, Prod<R::Value, C::Value>> : Copy
+    Prod<R::Value, C::Value>: ArrayLength<N>,
-{ }
+    GenericArray<N, Prod<R::Value, C::Value>>: Copy,
+{
+}
 
 impl<N, R, C> Clone for MatrixArray<N, R, C>
-    where N: Clone,
+where
-          R: DimName,
+    N: Clone,
-          C: DimName,
+    R: DimName,
-          R::Value: Mul<C::Value>,
+    C: DimName,
-          Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+{
     #[inline]
     fn clone(&self) -> Self {
         MatrixArray {
-            data: self.data.clone()
+            data: self.data.clone(),
         }
     }
 }
 
 impl<N, R, C> Eq for MatrixArray<N, R, C>
-    where N: Eq,
+where
-          R: DimName,
+    N: Eq,
-          C: DimName,
+    R: DimName,
-          R::Value: Mul<C::Value>,
+    C: DimName,
-          Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+{
 }
 
 impl<N, R, C> PartialEq for MatrixArray<N, R, C>
-    where N: PartialEq,
+where
-          R: DimName,
+    N: PartialEq,
-          C: DimName,
+    R: DimName,
-          R::Value: Mul<C::Value>,
+    C: DimName,
-          Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+{
     #[inline]
     fn eq(&self, right: &Self) -> bool {
-        self.data  == right.data
+        self.data == right.data
     }
 }
 
-
 unsafe impl<N, R, C> Storage<N, R, C> for MatrixArray<N, R, C>
-    where N: Scalar,
+where
-          R: DimName,
+    N: Scalar,
-          C: DimName,
+    R: DimName,
-          R::Value: Mul<C::Value>,
+    C: DimName,
-          Prod<R::Value, C::Value>: ArrayLength<N>,
+    R::Value: Mul<C::Value>,
-          DefaultAllocator: Allocator<N, R, C, Buffer = Self> {
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+    DefaultAllocator: Allocator<N, R, C, Buffer = Self>,
+{
     type RStride = U1;
     type CStride = R;
 
@@ -166,13 +182,17 @@ unsafe impl<N, R, C> Storage<N, R, C> for MatrixArray<N, R, C>
 
     #[inline]
     fn into_owned(self) -> Owned<N, R, C>
-        where DefaultAllocator: Allocator<N, R, C> {
+    where
+        DefaultAllocator: Allocator<N, R, C>,
+    {
         self
     }
 
     #[inline]
     fn clone_owned(&self) -> Owned<N, R, C>
-        where DefaultAllocator: Allocator<N, R, C> {
+    where
+        DefaultAllocator: Allocator<N, R, C>,
+    {
         let it = self.iter().cloned();
 
         DefaultAllocator::allocate_from_iterator(self.shape().0, self.shape().1, it)
@@ -184,14 +204,15 @@ unsafe impl<N, R, C> Storage<N, R, C> for MatrixArray<N, R, C>
     }
 }
 
-
 unsafe impl<N, R, C> StorageMut<N, R, C> for MatrixArray<N, R, C>
-    where N: Scalar,
+where
-          R: DimName,
+    N: Scalar,
-          C: DimName,
+    R: DimName,
-          R::Value: Mul<C::Value>,
+    C: DimName,
-          Prod<R::Value, C::Value>: ArrayLength<N>,
+    R::Value: Mul<C::Value>,
-          DefaultAllocator: Allocator<N, R, C, Buffer = Self> {
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+    DefaultAllocator: Allocator<N, R, C, Buffer = Self>,
+{
     #[inline]
     fn ptr_mut(&mut self) -> *mut N {
         self[..].as_mut_ptr()
@@ -204,24 +225,27 @@ unsafe impl<N, R, C> StorageMut<N, R, C> for MatrixArray<N, R, C>
 }
 
 unsafe impl<N, R, C> ContiguousStorage<N, R, C> for MatrixArray<N, R, C>
-    where N: Scalar,
+where
-          R: DimName,
+    N: Scalar,
-          C: DimName,
+    R: DimName,
-          R::Value: Mul<C::Value>,
+    C: DimName,
-          Prod<R::Value, C::Value>: ArrayLength<N>,
+    R::Value: Mul<C::Value>,
-          DefaultAllocator: Allocator<N, R, C, Buffer = Self> {
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+    DefaultAllocator: Allocator<N, R, C, Buffer = Self>,
+{
 }
 
 unsafe impl<N, R, C> ContiguousStorageMut<N, R, C> for MatrixArray<N, R, C>
-    where N: Scalar,
+where
-          R: DimName,
+    N: Scalar,
-          C: DimName,
+    R: DimName,
-          R::Value: Mul<C::Value>,
+    C: DimName,
-          Prod<R::Value, C::Value>: ArrayLength<N>,
+    R::Value: Mul<C::Value>,
-          DefaultAllocator: Allocator<N, R, C, Buffer = Self> {
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+    DefaultAllocator: Allocator<N, R, C, Buffer = Self>,
+{
 }
 
-
 /*
  *
  * Allocation-less serde impls.
@@ -230,56 +254,59 @@ unsafe impl<N, R, C> ContiguousStorageMut<N, R, C> for MatrixArray<N, R, C>
 // XXX: open an issue for GenericArray so that it implements serde traits?
 #[cfg(feature = "serde-serialize")]
 impl<N, R, C> Serialize for MatrixArray<N, R, C>
-where N: Scalar + Serialize,
+where
-      R: DimName,
+    N: Scalar + Serialize,
-      C: DimName,
+    R: DimName,
-      R::Value: Mul<C::Value>,
+    C: DimName,
-      Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
-
+    Prod<R::Value, C::Value>: ArrayLength<N>,
-
+{
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-        where S: Serializer {
+    where
-            let mut serializer = serializer.serialize_seq(Some(R::dim() * C::dim()))?;
+        S: Serializer,
+    {
+        let mut serializer = serializer.serialize_seq(Some(R::dim() * C::dim()))?;
 
-            for e in self.iter() {
+        for e in self.iter() {
-                serializer.serialize_element(e)?;
+            serializer.serialize_element(e)?;
-            }
-
-            serializer.end()
         }
-}
 
+        serializer.end()
+    }
+}
 
 #[cfg(feature = "serde-serialize")]
 impl<'a, N, R, C> Deserialize<'a> for MatrixArray<N, R, C>
-where N: Scalar + Deserialize<'a>,
+where
-      R: DimName,
+    N: Scalar + Deserialize<'a>,
-      C: DimName,
+    R: DimName,
-      R::Value: Mul<C::Value>,
+    C: DimName,
-      Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
-
+    Prod<R::Value, C::Value>: ArrayLength<N>,
-
+{
     fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
-        where D: Deserializer<'a> {
+    where
-            deserializer.deserialize_seq(MatrixArrayVisitor::new())
+        D: Deserializer<'a>,
-        }
+    {
+        deserializer.deserialize_seq(MatrixArrayVisitor::new())
+    }
 }
 
-
 #[cfg(feature = "serde-serialize")]
 /// A visitor that produces a matrix array.
 struct MatrixArrayVisitor<N, R, C> {
-    marker: PhantomData<(N, R, C)>
+    marker: PhantomData<(N, R, C)>,
 }
 
 #[cfg(feature = "serde-serialize")]
 impl<N, R, C> MatrixArrayVisitor<N, R, C>
-where N: Scalar,
+where
-      R: DimName,
+    N: Scalar,
-      C: DimName,
+    R: DimName,
-      R::Value: Mul<C::Value>,
+    C: DimName,
-      Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
-
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+{
     /// Construct a new sequence visitor.
     pub fn new() -> Self {
         MatrixArrayVisitor {
@@ -290,12 +317,13 @@ where N: Scalar,
 
 #[cfg(feature = "serde-serialize")]
 impl<'a, N, R, C> Visitor<'a> for MatrixArrayVisitor<N, R, C>
-where N: Scalar + Deserialize<'a>,
+where
-      R: DimName,
+    N: Scalar + Deserialize<'a>,
-      C: DimName,
+    R: DimName,
-      R::Value: Mul<C::Value>,
+    C: DimName,
-      Prod<R::Value, C::Value>: ArrayLength<N> {
+    R::Value: Mul<C::Value>,
-
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+{
     type Value = MatrixArray<N, R, C>;
 
     fn expecting(&self, formatter: &mut Formatter) -> fmt::Result {
@@ -304,8 +332,9 @@ where N: Scalar + Deserialize<'a>,
 
     #[inline]
     fn visit_seq<V>(self, mut visitor: V) -> Result<MatrixArray<N, R, C>, V::Error>
-        where V: SeqAccess<'a> {
+    where
-
+        V: SeqAccess<'a>,
+    {
         let mut out: Self::Value = unsafe { mem::uninitialized() };
         let mut curr = 0;
 
@@ -316,8 +345,7 @@ where N: Scalar + Deserialize<'a>,
 
         if curr == R::dim() * C::dim() {
             Ok(out)
-        }
+        } else {
-        else {
             Err(V::Error::invalid_length(curr, &self))
         }
     }
@@ -325,11 +353,12 @@ where N: Scalar + Deserialize<'a>,
 
 #[cfg(feature = "abomonation-serialize")]
 impl<N, R, C> Abomonation for MatrixArray<N, R, C>
-    where R: DimName,
+where
-          C: DimName,
+    R: DimName,
-          R::Value: Mul<C::Value>,
+    C: DimName,
-          Prod<R::Value, C::Value>: ArrayLength<N>,
+    R::Value: Mul<C::Value>,
-          N: Abomonation
+    Prod<R::Value, C::Value>: ArrayLength<N>,
+    N: Abomonation,
 {
     unsafe fn entomb(&self, writer: &mut Vec<u8>) {
         for element in self.data.as_slice() {

src/core/matrix_slice.rs

@@ -1,11 +1,11 @@
 use std::marker::PhantomData;
-use std::ops::{Range, RangeFrom, RangeTo, RangeFull};
+use std::ops::{Range, RangeFrom, RangeFull, RangeTo};
 use std::slice;
 
-use core::{Scalar, Matrix};
+use core::{Matrix, Scalar};
 use core::dimension::{Dim, DimName, Dynamic, U1};
 use core::iter::MatrixIter;
-use core::storage::{Storage, StorageMut, Owned};
+use core::storage::{Owned, Storage, StorageMut};
 use core::allocator::Allocator;
 use core::default_allocator::DefaultAllocator;
 
@@ -81,18 +81,18 @@ slice_storage_impl!("A mutable matrix data storage for mutable matrix slice. Onl
     StorageMut as &'a mut S; SliceStorageMut.get_address_unchecked_mut(*mut N as &'a mut N)
 );
 
-
 impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim> Copy
-for SliceStorage<'a, N, R, C, RStride, CStride> { }
+    for SliceStorage<'a, N, R, C, RStride, CStride> {
+}
 
 impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim> Clone
-for SliceStorage<'a, N, R, C, RStride, CStride> {
+    for SliceStorage<'a, N, R, C, RStride, CStride> {
     #[inline]
     fn clone(&self) -> Self {
         SliceStorage {
-            ptr:       self.ptr,
+            ptr: self.ptr,
-            shape:     self.shape,
+            shape: self.shape,
-            strides:   self.strides,
+            strides: self.strides,
             _phantoms: PhantomData,
         }
     }
@@ -183,28 +183,36 @@ unsafe impl<'a, N: Scalar, R: Dim, C: Dim, RStride: Dim, CStride: Dim> StorageMu
         if nrows.value() != 0 && ncols.value() != 0 {
             let sz = self.linear_index(nrows.value() - 1, ncols.value() - 1);
             unsafe { slice::from_raw_parts_mut(self.ptr, sz + 1) }
-        }
+        } else {
-        else {
             unsafe { slice::from_raw_parts_mut(self.ptr, 0) }
         }
     }
 }
 
-
 impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     #[inline]
-    fn assert_slice_index(&self, start: (usize, usize), shape: (usize, usize), steps: (usize, usize)) {
+    fn assert_slice_index(
+        &self,
+        start: (usize, usize),
+        shape: (usize, usize),
+        steps: (usize, usize),
+    ) {
         let my_shape = self.shape();
         // NOTE: we don't do any subtraction to avoid underflow for zero-sized matrices.
         //
         // Terms that would have been negative are moved to the other side of the inequality
         // instead.
-        assert!(start.0 + (steps.0 + 1) * shape.0 <= my_shape.0 + steps.0, "Matrix slicing out of bounds.");
+        assert!(
-        assert!(start.1 + (steps.1 + 1) * shape.1 <= my_shape.1 + steps.1, "Matrix slicing out of bounds.");
+            start.0 + (steps.0 + 1) * shape.0 <= my_shape.0 + steps.0,
+            "Matrix slicing out of bounds."
+        );
+        assert!(
+            start.1 + (steps.1 + 1) * shape.1 <= my_shape.1 + steps.1,
+            "Matrix slicing out of bounds."
+        );
     }
 }
 
-
 macro_rules! matrix_slice_impl(
     ($me: ident: $Me: ty, $MatrixSlice: ident, $SliceStorage: ident, $Storage: ident.$get_addr: ident (), $data: expr;
      $row: ident,
@@ -618,7 +626,6 @@ matrix_slice_impl!(
      rows_range_pair,
      columns_range_pair);
 
-
 matrix_slice_impl!(
      self: &mut Self, MatrixSliceMut, SliceStorageMut, StorageMut.get_address_unchecked_mut(), &mut self.data;
      row_mut,
@@ -646,7 +653,6 @@ matrix_slice_impl!(
      rows_range_pair_mut,
      columns_range_pair_mut);
 
-
 /// A range with a size that may be known at compile-time.
 ///
 /// This may be:
@@ -762,34 +768,41 @@ impl<D: Dim> SliceRange<D> for RangeFull {
     }
 }
 
-
 impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Slices a sub-matrix containing the rows indexed by the range `rows` and the columns indexed
     /// by the range `cols`.
     #[inline]
-    pub fn slice_range<RowRange, ColRange>(&self, rows: RowRange, cols: ColRange)
+    pub fn slice_range<RowRange, ColRange>(
-        -> MatrixSlice<N, RowRange::Size, ColRange::Size, S::RStride, S::CStride>
+        &self,
-        where RowRange: SliceRange<R>,
+        rows: RowRange,
-              ColRange: SliceRange<C> {
+        cols: ColRange,
-
+    ) -> MatrixSlice<N, RowRange::Size, ColRange::Size, S::RStride, S::CStride>
+    where
+        RowRange: SliceRange<R>,
+        ColRange: SliceRange<C>,
+    {
         let (nrows, ncols) = self.data.shape();
-        self.generic_slice((rows.begin(nrows), cols.begin(ncols)),
+        self.generic_slice(
-                           (rows.size(nrows), cols.size(ncols)))
+            (rows.begin(nrows), cols.begin(ncols)),
+            (rows.size(nrows), cols.size(ncols)),
+        )
     }
 
     /// Slice containing all the rows indexed by the range `rows`.
     #[inline]
-    pub fn rows_range<RowRange: SliceRange<R>>(&self, rows: RowRange)
+    pub fn rows_range<RowRange: SliceRange<R>>(
-        -> MatrixSlice<N, RowRange::Size, C, S::RStride, S::CStride> {
+        &self,
-
+        rows: RowRange,
+    ) -> MatrixSlice<N, RowRange::Size, C, S::RStride, S::CStride> {
         self.slice_range(rows, ..)
     }
 
     /// Slice containing all the columns indexed by the range `rows`.
     #[inline]
-    pub fn columns_range<ColRange: SliceRange<C>>(&self, cols: ColRange)
+    pub fn columns_range<ColRange: SliceRange<C>>(
-        -> MatrixSlice<N, R, ColRange::Size, S::RStride, S::CStride> {
+        &self,
-
+        cols: ColRange,
+    ) -> MatrixSlice<N, R, ColRange::Size, S::RStride, S::CStride> {
         self.slice_range(.., cols)
     }
 }
@@ -797,29 +810,37 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
 impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> Matrix<N, R, C, S> {
     /// Slices a mutable sub-matrix containing the rows indexed by the range `rows` and the columns
     /// indexed by the range `cols`.
-    pub fn slice_range_mut<RowRange, ColRange>(&mut self, rows: RowRange, cols: ColRange)
+    pub fn slice_range_mut<RowRange, ColRange>(
-        -> MatrixSliceMut<N, RowRange::Size, ColRange::Size, S::RStride, S::CStride>
+        &mut self,
-        where RowRange: SliceRange<R>,
+        rows: RowRange,
-              ColRange: SliceRange<C> {
+        cols: ColRange,
-
+    ) -> MatrixSliceMut<N, RowRange::Size, ColRange::Size, S::RStride, S::CStride>
+    where
+        RowRange: SliceRange<R>,
+        ColRange: SliceRange<C>,
+    {
         let (nrows, ncols) = self.data.shape();
-        self.generic_slice_mut((rows.begin(nrows), cols.begin(ncols)),
+        self.generic_slice_mut(
-                               (rows.size(nrows), cols.size(ncols)))
+            (rows.begin(nrows), cols.begin(ncols)),
+            (rows.size(nrows), cols.size(ncols)),
+        )
     }
 
     /// Slice containing all the rows indexed by the range `rows`.
     #[inline]
-    pub fn rows_range_mut<RowRange: SliceRange<R>>(&mut self, rows: RowRange)
+    pub fn rows_range_mut<RowRange: SliceRange<R>>(
-        -> MatrixSliceMut<N, RowRange::Size, C, S::RStride, S::CStride> {
+        &mut self,
-
+        rows: RowRange,
+    ) -> MatrixSliceMut<N, RowRange::Size, C, S::RStride, S::CStride> {
         self.slice_range_mut(rows, ..)
     }
 
     /// Slice containing all the columns indexed by the range `cols`.
     #[inline]
-    pub fn columns_range_mut<ColRange: SliceRange<C>>(&mut self, cols: ColRange)
+    pub fn columns_range_mut<ColRange: SliceRange<C>>(
-        -> MatrixSliceMut<N, R, ColRange::Size, S::RStride, S::CStride> {
+        &mut self,
-
+        cols: ColRange,
+    ) -> MatrixSliceMut<N, R, ColRange::Size, S::RStride, S::CStride> {
         self.slice_range_mut(.., cols)
     }
 }

src/core/matrix_vec.rs

@@ -2,7 +2,7 @@ use std::ops::Deref;
 
 use core::Scalar;
 use core::dimension::{Dim, DimName, Dynamic, U1};
-use core::storage::{Storage, StorageMut, Owned, ContiguousStorage, ContiguousStorageMut};
+use core::storage::{ContiguousStorage, ContiguousStorageMut, Owned, Storage, StorageMut};
 use core::allocator::Allocator;
 use core::default_allocator::DefaultAllocator;
 
@@ -19,20 +19,23 @@ use abomonation::Abomonation;
 #[derive(Eq, Debug, Clone, PartialEq)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 pub struct MatrixVec<N, R: Dim, C: Dim> {
-    data:   Vec<N>,
+    data: Vec<N>,
-    nrows:  R,
+    nrows: R,
-    ncols:  C
+    ncols: C,
 }
 
 impl<N, R: Dim, C: Dim> MatrixVec<N, R, C> {
     /// Creates a new dynamic matrix data storage from the given vector and shape.
     #[inline]
     pub fn new(nrows: R, ncols: C, data: Vec<N>) -> MatrixVec<N, R, C> {
-        assert!(nrows.value() * ncols.value() == data.len(), "Data storage buffer dimension mismatch.");
+        assert!(
+            nrows.value() * ncols.value() == data.len(),
+            "Data storage buffer dimension mismatch."
+        );
         MatrixVec {
-            data:   data,
+            data: data,
-            nrows:  nrows,
+            nrows: nrows,
-            ncols:  ncols
+            ncols: ncols,
         }
     }
 
@@ -55,14 +58,13 @@ impl<N, R: Dim, C: Dim> MatrixVec<N, R, C> {
     /// If `sz` is larger than the current size, additional elements are uninitialized.
     /// If `sz` is smaller than the current size, additional elements are trucated.
     #[inline]
-    pub unsafe fn resize(mut self, sz: usize) -> Vec<N>{
+    pub unsafe fn resize(mut self, sz: usize) -> Vec<N> {
         let len = self.len();
 
         if sz < len {
             self.data.set_len(sz);
             self.data.shrink_to_fit();
-        }
+        } else {
-        else {
             self.data.reserve_exact(sz - len);
             self.data.set_len(sz);
         }
@@ -87,7 +89,9 @@ impl<N, R: Dim, C: Dim> Deref for MatrixVec<N, R, C> {
  *
  */
 unsafe impl<N: Scalar, C: Dim> Storage<N, Dynamic, C> for MatrixVec<N, Dynamic, C>
-    where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self> {
+where
+    DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>,
+{
     type RStride = U1;
     type CStride = Dynamic;
 
@@ -113,13 +117,17 @@ unsafe impl<N: Scalar, C: Dim> Storage<N, Dynamic, C> for MatrixVec<N, Dynamic,
 
     #[inline]
     fn into_owned(self) -> Owned<N, Dynamic, C>
-        where DefaultAllocator: Allocator<N, Dynamic, C> {
+    where
+        DefaultAllocator: Allocator<N, Dynamic, C>,
+    {
         self
     }
 
     #[inline]
     fn clone_owned(&self) -> Owned<N, Dynamic, C>
-        where DefaultAllocator: Allocator<N, Dynamic, C> {
+    where
+        DefaultAllocator: Allocator<N, Dynamic, C>,
+    {
         self.clone()
     }
 
@@ -129,9 +137,10 @@ unsafe impl<N: Scalar, C: Dim> Storage<N, Dynamic, C> for MatrixVec<N, Dynamic,
     }
 }
 
-
 unsafe impl<N: Scalar, R: DimName> Storage<N, R, Dynamic> for MatrixVec<N, R, Dynamic>
-    where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self> {
+where
+    DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>,
+{
     type RStride = U1;
     type CStride = R;
 
@@ -157,13 +166,17 @@ unsafe impl<N: Scalar, R: DimName> Storage<N, R, Dynamic> for MatrixVec<N, R, Dy
 
     #[inline]
     fn into_owned(self) -> Owned<N, R, Dynamic>
-        where DefaultAllocator: Allocator<N, R, Dynamic> {
+    where
+        DefaultAllocator: Allocator<N, R, Dynamic>,
+    {
         self
     }
 
     #[inline]
     fn clone_owned(&self) -> Owned<N, R, Dynamic>
-        where DefaultAllocator: Allocator<N, R, Dynamic> {
+    where
+        DefaultAllocator: Allocator<N, R, Dynamic>,
+    {
         self.clone()
     }
 
@@ -173,16 +186,15 @@ unsafe impl<N: Scalar, R: DimName> Storage<N, R, Dynamic> for MatrixVec<N, R, Dy
     }
 }
 
-
-
-
 /*
  *
  * StorageMut, ContiguousStorage.
  *
  */
 unsafe impl<N: Scalar, C: Dim> StorageMut<N, Dynamic, C> for MatrixVec<N, Dynamic, C>
-    where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self> {
+where
+    DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>,
+{
     #[inline]
     fn ptr_mut(&mut self) -> *mut N {
         self.data.as_mut_ptr()
@@ -195,16 +207,21 @@ unsafe impl<N: Scalar, C: Dim> StorageMut<N, Dynamic, C> for MatrixVec<N, Dynami
 }
 
 unsafe impl<N: Scalar, C: Dim> ContiguousStorage<N, Dynamic, C> for MatrixVec<N, Dynamic, C>
-    where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self> {
+where
+    DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>,
+{
 }
 
 unsafe impl<N: Scalar, C: Dim> ContiguousStorageMut<N, Dynamic, C> for MatrixVec<N, Dynamic, C>
-    where DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self> {
+where
+    DefaultAllocator: Allocator<N, Dynamic, C, Buffer = Self>,
+{
 }
 
-
 unsafe impl<N: Scalar, R: DimName> StorageMut<N, R, Dynamic> for MatrixVec<N, R, Dynamic>
-    where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self> {
+where
+    DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>,
+{
     #[inline]
     fn ptr_mut(&mut self) -> *mut N {
         self.data.as_mut_ptr()
@@ -232,9 +249,13 @@ impl<N: Abomonation, R: Dim, C: Dim> Abomonation for MatrixVec<N, R, C> {
 }
 
 unsafe impl<N: Scalar, R: DimName> ContiguousStorage<N, R, Dynamic> for MatrixVec<N, R, Dynamic>
-    where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self> {
+where
+    DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>,
+{
 }
 
 unsafe impl<N: Scalar, R: DimName> ContiguousStorageMut<N, R, Dynamic> for MatrixVec<N, R, Dynamic>
-    where DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self> {
+where
+    DefaultAllocator: Allocator<N, R, Dynamic, Buffer = Self>,
+{
 }

src/core/ops.rs

@@ -1,16 +1,17 @@
 use std::iter;
-use std::ops::{Add, AddAssign, Sub, SubAssign, Mul, MulAssign, Div, DivAssign, Neg,
+use std::ops::{Add, AddAssign, Div, DivAssign, Index, IndexMut, Mul, MulAssign, Neg, Sub,
-               Index, IndexMut};
+               SubAssign};
 use std::cmp::PartialOrd;
-use num::{Zero, One, Signed};
+use num::{One, Signed, Zero};
 
-use alga::general::{ClosedMul, ClosedDiv, ClosedAdd, ClosedSub, ClosedNeg};
+use alga::general::{ClosedAdd, ClosedDiv, ClosedMul, ClosedNeg, ClosedSub};
 
-use core::{DefaultAllocator, Scalar, Matrix, MatrixN, MatrixMN, MatrixSum};
+use core::{DefaultAllocator, Matrix, MatrixMN, MatrixN, MatrixSum, Scalar};
-use core::dimension::{Dim, DimName, DimProd, DimMul};
+use core::dimension::{Dim, DimMul, DimName, DimProd};
-use core::constraint::{ShapeConstraint, SameNumberOfRows, SameNumberOfColumns, AreMultipliable, DimEq};
+use core::constraint::{AreMultipliable, DimEq, SameNumberOfColumns, SameNumberOfRows,
-use core::storage::{Storage, StorageMut, ContiguousStorageMut};
+                       ShapeConstraint};
-use core::allocator::{SameShapeAllocator, Allocator, SameShapeR, SameShapeC};
+use core::storage::{ContiguousStorageMut, Storage, StorageMut};
+use core::allocator::{Allocator, SameShapeAllocator, SameShapeC, SameShapeR};
 
 /*
  *
@@ -27,16 +28,20 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Index<usize> for Matrix<N,
     }
 }
 
-
 impl<N, R: Dim, C: Dim, S> Index<(usize, usize)> for Matrix<N, R, C, S>
-    where N: Scalar,
+where
-          S: Storage<N, R, C> {
+    N: Scalar,
+    S: Storage<N, R, C>,
+{
     type Output = N;
 
     #[inline]
     fn index(&self, ij: (usize, usize)) -> &N {
         let shape = self.shape();
-        assert!(ij.0 < shape.0 && ij.1 < shape.1, "Matrix index out of bounds.");
+        assert!(
+            ij.0 < shape.0 && ij.1 < shape.1,
+            "Matrix index out of bounds."
+        );
 
         unsafe { self.get_unchecked(ij.0, ij.1) }
     }
@@ -52,13 +57,17 @@ impl<N: Scalar, R: Dim, C: Dim, S: StorageMut<N, R, C>> IndexMut<usize> for Matr
 }
 
 impl<N, R: Dim, C: Dim, S> IndexMut<(usize, usize)> for Matrix<N, R, C, S>
-    where N: Scalar,
+where
-          S: StorageMut<N, R, C> {
+    N: Scalar,
-
+    S: StorageMut<N, R, C>,
+{
     #[inline]
     fn index_mut(&mut self, ij: (usize, usize)) -> &mut N {
         let shape = self.shape();
-        assert!(ij.0 < shape.0 && ij.1 < shape.1, "Matrix index out of bounds.");
+        assert!(
+            ij.0 < shape.0 && ij.1 < shape.1,
+            "Matrix index out of bounds."
+        );
 
         unsafe { self.get_unchecked_mut(ij.0, ij.1) }
     }
@@ -70,9 +79,11 @@ impl<N, R: Dim, C: Dim, S> IndexMut<(usize, usize)> for Matrix<N, R, C, S>
  *
  */
 impl<N, R: Dim, C: Dim, S> Neg for Matrix<N, R, C, S>
-    where N: Scalar + ClosedNeg,
+where
-          S: Storage<N, R, C>,
+    N: Scalar + ClosedNeg,
-          DefaultAllocator: Allocator<N, R, C> {
+    S: Storage<N, R, C>,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     type Output = MatrixMN<N, R, C>;
 
     #[inline]
@@ -84,9 +95,11 @@ impl<N, R: Dim, C: Dim, S> Neg for Matrix<N, R, C, S>
 }
 
 impl<'a, N, R: Dim, C: Dim, S> Neg for &'a Matrix<N, R, C, S>
-    where N: Scalar + ClosedNeg,
+where
-          S: Storage<N, R, C>,
+    N: Scalar + ClosedNeg,
-          DefaultAllocator: Allocator<N, R, C> {
+    S: Storage<N, R, C>,
+    DefaultAllocator: Allocator<N, R, C>,
+{
     type Output = MatrixMN<N, R, C>;
 
     #[inline]
@@ -96,8 +109,10 @@ impl<'a, N, R: Dim, C: Dim, S> Neg for &'a Matrix<N, R, C, S>
 }
 
 impl<N, R: Dim, C: Dim, S> Matrix<N, R, C, S>
-    where N: Scalar + ClosedNeg,
+where
-          S: StorageMut<N, R, C> {
+    N: Scalar + ClosedNeg,
+    S: StorageMut<N, R, C>,
+{
     /// Negates `self` in-place.
     #[inline]
     pub fn neg_mut(&mut self) {
@@ -358,8 +373,9 @@ componentwise_binop_impl!(Sub, sub, ClosedSub;
                           sub_to, sub_to_statically_unchecked);
 
 impl<N, R: DimName, C: DimName> iter::Sum for MatrixMN<N, R, C>
-    where N: Scalar + ClosedAdd + Zero,
+where
-          DefaultAllocator: Allocator<N, R, C>
+    N: Scalar + ClosedAdd + Zero,
+    DefaultAllocator: Allocator<N, R, C>,
 {
     fn sum<I: Iterator<Item = MatrixMN<N, R, C>>>(iter: I) -> MatrixMN<N, R, C> {
         iter.fold(Matrix::zero(), |acc, x| acc + x)
@@ -367,15 +383,15 @@ impl<N, R: DimName, C: DimName> iter::Sum for MatrixMN<N, R, C>
 }
 
 impl<'a, N, R: DimName, C: DimName> iter::Sum<&'a MatrixMN<N, R, C>> for MatrixMN<N, R, C>
-    where N: Scalar + ClosedAdd + Zero,
+where
-          DefaultAllocator: Allocator<N, R, C>
+    N: Scalar + ClosedAdd + Zero,
+    DefaultAllocator: Allocator<N, R, C>,
 {
     fn sum<I: Iterator<Item = &'a MatrixMN<N, R, C>>>(iter: I) -> MatrixMN<N, R, C> {
         iter.fold(Matrix::zero(), |acc, x| acc + x)
     }
 }
 
-
 /*
  *
  * Multiplication
@@ -477,29 +493,24 @@ macro_rules! left_scalar_mul_impl(
     )*}
 );
 
-left_scalar_mul_impl!(
+left_scalar_mul_impl!(u8, u16, u32, u64, usize, i8, i16, i32, i64, isize, f32, f64);
-    u8, u16, u32, u64, usize,
-    i8, i16, i32, i64, isize,
-    f32, f64
-);
-
-
 
 // Matrix × Matrix
 impl<'a, 'b, N, R1: Dim, C1: Dim, R2: Dim, C2: Dim, SA, SB> Mul<&'b Matrix<N, R2, C2, SB>>
-for &'a Matrix<N, R1, C1, SA>
+    for &'a Matrix<N, R1, C1, SA>
-    where N:  Scalar + Zero + One + ClosedAdd + ClosedMul,
+where
-          SA: Storage<N, R1, C1>,
+    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
-          SB: Storage<N, R2, C2>,
+    SA: Storage<N, R1, C1>,
-          DefaultAllocator: Allocator<N, R1, C2>,
+    SB: Storage<N, R2, C2>,
-          ShapeConstraint:  AreMultipliable<R1, C1, R2, C2> {
+    DefaultAllocator: Allocator<N, R1, C2>,
+    ShapeConstraint: AreMultipliable<R1, C1, R2, C2>,
+{
     type Output = MatrixMN<N, R1, C2>;
 
     #[inline]
     fn mul(self, rhs: &'b Matrix<N, R2, C2, SB>) -> Self::Output {
-        let mut res = unsafe {
+        let mut res =
-            Matrix::new_uninitialized_generic(self.data.shape().0, rhs.data.shape().1)
+            unsafe { Matrix::new_uninitialized_generic(self.data.shape().0, rhs.data.shape().1) };
-        };
 
         self.mul_to(rhs, &mut res);
         res
@@ -507,12 +518,14 @@ for &'a Matrix<N, R1, C1, SA>
 }
 
 impl<'a, N, R1: Dim, C1: Dim, R2: Dim, C2: Dim, SA, SB> Mul<Matrix<N, R2, C2, SB>>
-for &'a Matrix<N, R1, C1, SA>
+    for &'a Matrix<N, R1, C1, SA>
-    where N:  Scalar + Zero + One + ClosedAdd + ClosedMul,
+where
-          SB: Storage<N, R2, C2>,
+    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
-          SA: Storage<N, R1, C1>,
+    SB: Storage<N, R2, C2>,
-          DefaultAllocator: Allocator<N, R1, C2>,
+    SA: Storage<N, R1, C1>,
-          ShapeConstraint:  AreMultipliable<R1, C1, R2, C2> {
+    DefaultAllocator: Allocator<N, R1, C2>,
+    ShapeConstraint: AreMultipliable<R1, C1, R2, C2>,
+{
     type Output = MatrixMN<N, R1, C2>;
 
     #[inline]
@@ -522,12 +535,14 @@ for &'a Matrix<N, R1, C1, SA>
 }
 
 impl<'b, N, R1: Dim, C1: Dim, R2: Dim, C2: Dim, SA, SB> Mul<&'b Matrix<N, R2, C2, SB>>
-for Matrix<N, R1, C1, SA>
+    for Matrix<N, R1, C1, SA>
-    where N:  Scalar + Zero + One + ClosedAdd + ClosedMul,
+where
-          SB: Storage<N, R2, C2>,
+    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
-          SA: Storage<N, R1, C1>,
+    SB: Storage<N, R2, C2>,
-          DefaultAllocator: Allocator<N, R1, C2>,
+    SA: Storage<N, R1, C1>,
-          ShapeConstraint:  AreMultipliable<R1, C1, R2, C2> {
+    DefaultAllocator: Allocator<N, R1, C2>,
+    ShapeConstraint: AreMultipliable<R1, C1, R2, C2>,
+{
     type Output = MatrixMN<N, R1, C2>;
 
     #[inline]
@@ -537,12 +552,14 @@ for Matrix<N, R1, C1, SA>
 }
 
 impl<N, R1: Dim, C1: Dim, R2: Dim, C2: Dim, SA, SB> Mul<Matrix<N, R2, C2, SB>>
-for Matrix<N, R1, C1, SA>
+    for Matrix<N, R1, C1, SA>
-    where N:  Scalar + Zero + One + ClosedAdd + ClosedMul,
+where
-          SB: Storage<N, R2, C2>,
+    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
-          SA: Storage<N, R1, C1>,
+    SB: Storage<N, R2, C2>,
-          DefaultAllocator: Allocator<N, R1, C2>,
+    SA: Storage<N, R1, C1>,
-          ShapeConstraint:  AreMultipliable<R1, C1, R2, C2> {
+    DefaultAllocator: Allocator<N, R1, C2>,
+    ShapeConstraint: AreMultipliable<R1, C1, R2, C2>,
+{
     type Output = MatrixMN<N, R1, C2>;
 
     #[inline]
@@ -555,12 +572,16 @@ for Matrix<N, R1, C1, SA>
 //    − we can't use `a *= b` when `a` is a mutable slice.
 //    − we can't use `a *= b` when C2 is not equal to C1.
 impl<N, R1, C1, R2, SA, SB> MulAssign<Matrix<N, R2, C1, SB>> for Matrix<N, R1, C1, SA>
-    where R1: Dim, C1: Dim, R2: Dim,
+where
-          N:  Scalar + Zero + One + ClosedAdd + ClosedMul,
+    R1: Dim,
-          SB: Storage<N, R2, C1>,
+    C1: Dim,
-          SA: ContiguousStorageMut<N, R1, C1> + Clone,
+    R2: Dim,
-          ShapeConstraint:  AreMultipliable<R1, C1, R2, C1>,
+    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
-          DefaultAllocator: Allocator<N, R1, C1, Buffer = SA> {
+    SB: Storage<N, R2, C1>,
+    SA: ContiguousStorageMut<N, R1, C1> + Clone,
+    ShapeConstraint: AreMultipliable<R1, C1, R2, C1>,
+    DefaultAllocator: Allocator<N, R1, C1, Buffer = SA>,
+{
     #[inline]
     fn mul_assign(&mut self, rhs: Matrix<N, R2, C1, SB>) {
         *self = &*self * rhs
@@ -568,34 +589,39 @@ impl<N, R1, C1, R2, SA, SB> MulAssign<Matrix<N, R2, C1, SB>> for Matrix<N, R1, C
 }
 
 impl<'b, N, R1, C1, R2, SA, SB> MulAssign<&'b Matrix<N, R2, C1, SB>> for Matrix<N, R1, C1, SA>
-    where R1: Dim, C1: Dim, R2: Dim,
+where
-          N:  Scalar + Zero + One + ClosedAdd + ClosedMul,
+    R1: Dim,
-          SB: Storage<N, R2, C1>,
+    C1: Dim,
-          SA: ContiguousStorageMut<N, R1, C1> + Clone,
+    R2: Dim,
-          ShapeConstraint: AreMultipliable<R1, C1, R2, C1>,
+    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
-          // FIXME: this is too restrictive. See comments for the non-ref version.
+    SB: Storage<N, R2, C1>,
-          DefaultAllocator: Allocator<N, R1, C1, Buffer = SA> {
+    SA: ContiguousStorageMut<N, R1, C1> + Clone,
+    ShapeConstraint: AreMultipliable<R1, C1, R2, C1>,
+    // FIXME: this is too restrictive. See comments for the non-ref version.
+    DefaultAllocator: Allocator<N, R1, C1, Buffer = SA>,
+{
     #[inline]
     fn mul_assign(&mut self, rhs: &'b Matrix<N, R2, C1, SB>) {
         *self = &*self * rhs
     }
 }
 
-
 // Transpose-multiplication.
 impl<N, R1: Dim, C1: Dim, SA> Matrix<N, R1, C1, SA>
-    where N:  Scalar + Zero + One + ClosedAdd + ClosedMul,
+where
-          SA: Storage<N, R1, C1> {
+    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
+    SA: Storage<N, R1, C1>,
+{
     /// Equivalent to `self.transpose() * rhs`.
     #[inline]
     pub fn tr_mul<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<N, R2, C2, SB>) -> MatrixMN<N, C1, C2>
-        where SB: Storage<N, R2, C2>,
+    where
-              DefaultAllocator: Allocator<N, C1, C2>,
+        SB: Storage<N, R2, C2>,
-              ShapeConstraint: SameNumberOfRows<R1, R2> {
+        DefaultAllocator: Allocator<N, C1, C2>,
-
+        ShapeConstraint: SameNumberOfRows<R1, R2>,
-        let mut res = unsafe {
+    {
-            Matrix::new_uninitialized_generic(self.data.shape().1, rhs.data.shape().1)
+        let mut res =
-        };
+            unsafe { Matrix::new_uninitialized_generic(self.data.shape().1, rhs.data.shape().1) };
 
         self.tr_mul_to(rhs, &mut res);
         res
@@ -604,24 +630,30 @@ impl<N, R1: Dim, C1: Dim, SA> Matrix<N, R1, C1, SA>
     /// Equivalent to `self.transpose() * rhs` but stores the result into `out` to avoid
     /// allocations.
     #[inline]
-    pub fn tr_mul_to<R2: Dim, C2: Dim, SB,
+    pub fn tr_mul_to<R2: Dim, C2: Dim, SB, R3: Dim, C3: Dim, SC>(
-                     R3: Dim, C3: Dim, SC>(&self,
+        &self,
-                                           rhs: &Matrix<N, R2, C2, SB>,
+        rhs: &Matrix<N, R2, C2, SB>,
-                                           out: &mut Matrix<N, R3, C3, SC>)
+        out: &mut Matrix<N, R3, C3, SC>,
-        where SB: Storage<N, R2, C2>,
+    ) where
-              SC: StorageMut<N, R3, C3>,
+        SB: Storage<N, R2, C2>,
-              ShapeConstraint: SameNumberOfRows<R1, R2> +
+        SC: StorageMut<N, R3, C3>,
-                               DimEq<C1, R3> +
+        ShapeConstraint: SameNumberOfRows<R1, R2> + DimEq<C1, R3> + DimEq<C2, C3>,
-                               DimEq<C2, C3> {
+    {
         let (nrows1, ncols1) = self.shape();
         let (nrows2, ncols2) = rhs.shape();
         let (nrows3, ncols3) = out.shape();
 
-        assert!(nrows1 == nrows2, "Matrix multiplication dimensions mismatch.");
+        assert!(
-        assert!(nrows3 == ncols1 && ncols3 == ncols2, "Matrix multiplication output dimensions mismatch.");
+            nrows1 == nrows2,
+            "Matrix multiplication dimensions mismatch."
+        );
+        assert!(
+            nrows3 == ncols1 && ncols3 == ncols2,
+            "Matrix multiplication output dimensions mismatch."
+        );
 
-        for i in 0 .. ncols1 {
+        for i in 0..ncols1 {
-            for j in 0 .. ncols2 {
+            for j in 0..ncols2 {
                 let dot = self.column(i).dot(&rhs.column(j));
                 unsafe { *out.get_unchecked_mut(i, j) = dot };
             }
@@ -630,43 +662,49 @@ impl<N, R1: Dim, C1: Dim, SA> Matrix<N, R1, C1, SA>
 
     /// Equivalent to `self * rhs` but stores the result into `out` to avoid allocations.
     #[inline]
-    pub fn mul_to<R2: Dim, C2: Dim, SB,
+    pub fn mul_to<R2: Dim, C2: Dim, SB, R3: Dim, C3: Dim, SC>(
-                  R3: Dim, C3: Dim, SC>(&self,
+        &self,
-                                        rhs: &Matrix<N, R2, C2, SB>,
+        rhs: &Matrix<N, R2, C2, SB>,
-                                        out: &mut Matrix<N, R3, C3, SC>)
+        out: &mut Matrix<N, R3, C3, SC>,
-        where SB: Storage<N, R2, C2>,
+    ) where
-              SC: StorageMut<N, R3, C3>,
+        SB: Storage<N, R2, C2>,
-              ShapeConstraint: SameNumberOfRows<R3, R1>    +
+        SC: StorageMut<N, R3, C3>,
-                               SameNumberOfColumns<C3, C2> +
+        ShapeConstraint: SameNumberOfRows<R3, R1>
-                               AreMultipliable<R1, C1, R2, C2> {
+            + SameNumberOfColumns<C3, C2>
+            + AreMultipliable<R1, C1, R2, C2>,
+    {
         out.gemm(N::one(), self, rhs, N::zero());
     }
 
-
     /// The kronecker product of two matrices (aka. tensor product of the corresponding linear
     /// maps).
-    pub fn kronecker<R2: Dim, C2: Dim, SB>(&self, rhs: &Matrix<N, R2, C2, SB>)
+    pub fn kronecker<R2: Dim, C2: Dim, SB>(
-                                           -> MatrixMN<N, DimProd<R1, R2>, DimProd<C1, C2>>
+        &self,
-        where N:  ClosedMul,
+        rhs: &Matrix<N, R2, C2, SB>,
-              R1: DimMul<R2>,
+    ) -> MatrixMN<N, DimProd<R1, R2>, DimProd<C1, C2>>
-              C1: DimMul<C2>,
+    where
-              SB: Storage<N, R2, C2>,
+        N: ClosedMul,
-              DefaultAllocator: Allocator<N, DimProd<R1, R2>, DimProd<C1, C2>> {
+        R1: DimMul<R2>,
+        C1: DimMul<C2>,
+        SB: Storage<N, R2, C2>,
+        DefaultAllocator: Allocator<N, DimProd<R1, R2>, DimProd<C1, C2>>,
+    {
         let (nrows1, ncols1) = self.data.shape();
         let (nrows2, ncols2) = rhs.data.shape();
 
-        let mut res = unsafe { Matrix::new_uninitialized_generic(nrows1.mul(nrows2), ncols1.mul(ncols2)) };
+        let mut res =
+            unsafe { Matrix::new_uninitialized_generic(nrows1.mul(nrows2), ncols1.mul(ncols2)) };
 
         {
             let mut data_res = res.data.ptr_mut();
 
-            for j1 in 0 .. ncols1.value() {
+            for j1 in 0..ncols1.value() {
-                for j2 in 0 .. ncols2.value() {
+                for j2 in 0..ncols2.value() {
-                    for i1 in 0 .. nrows1.value() {
+                    for i1 in 0..nrows1.value() {
                         unsafe {
                             let coeff = *self.get_unchecked(i1, j1);
 
-                            for i2 in 0 .. nrows2.value() {
+                            for i2 in 0..nrows2.value() {
                                 *data_res = coeff * *rhs.get_unchecked(i2, j2);
                                 data_res = data_res.offset(1);
                             }
@@ -684,7 +722,9 @@ impl<N: Scalar + ClosedAdd, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C,
     /// Adds a scalar to `self`.
     #[inline]
     pub fn add_scalar(&self, rhs: N) -> MatrixMN<N, R, C>
-        where DefaultAllocator: Allocator<N, R, C> {
+    where
+        DefaultAllocator: Allocator<N, R, C>,
+    {
         let mut res = self.clone_owned();
         res.add_scalar_mut(rhs);
         res
@@ -693,17 +733,19 @@ impl<N: Scalar + ClosedAdd, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C,
     /// Adds a scalar to `self` in-place.
     #[inline]
     pub fn add_scalar_mut(&mut self, rhs: N)
-        where S: StorageMut<N, R, C> {
+    where
+        S: StorageMut<N, R, C>,
+    {
         for e in self.iter_mut() {
             *e += rhs
         }
     }
 }
 
-
 impl<N, D: DimName> iter::Product for MatrixN<N, D>
-    where N: Scalar + Zero + One + ClosedMul + ClosedAdd,
+where
-          DefaultAllocator: Allocator<N, D, D>
+    N: Scalar + Zero + One + ClosedMul + ClosedAdd,
+    DefaultAllocator: Allocator<N, D, D>,
 {
     fn product<I: Iterator<Item = MatrixN<N, D>>>(iter: I) -> MatrixN<N, D> {
         iter.fold(Matrix::one(), |acc, x| acc * x)
@@ -711,8 +753,9 @@ impl<N, D: DimName> iter::Product for MatrixN<N, D>
 }
 
 impl<'a, N, D: DimName> iter::Product<&'a MatrixN<N, D>> for MatrixN<N, D>
-    where N: Scalar + Zero + One + ClosedMul + ClosedAdd,
+where
-          DefaultAllocator: Allocator<N, D, D>
+    N: Scalar + Zero + One + ClosedMul + ClosedAdd,
+    DefaultAllocator: Allocator<N, D, D>,
 {
     fn product<I: Iterator<Item = &'a MatrixN<N, D>>>(iter: I) -> MatrixN<N, D> {
         iter.fold(Matrix::one(), |acc, x| acc * x)
@@ -740,7 +783,9 @@ impl<N: Scalar + PartialOrd + Signed, R: Dim, C: Dim, S: Storage<N, R, C>> Matri
     #[inline]
     pub fn amin(&self) -> N {
         let mut it = self.iter();
-        let mut min = it.next().expect("amin: empty matrices not supported.").abs();
+        let mut min = it.next()
+            .expect("amin: empty matrices not supported.")
+            .abs();
 
         for e in it {
             let ae = e.abs();

src/core/properties.rs

@@ -1,15 +1,14 @@
 // Matrix properties checks.
-use num::{Zero, One};
+use num::{One, Zero};
 use approx::ApproxEq;
 
 use alga::general::{ClosedAdd, ClosedMul, Real};
 
-use core::{DefaultAllocator, Scalar, Matrix, SquareMatrix};
+use core::{DefaultAllocator, Matrix, Scalar, SquareMatrix};
 use core::dimension::{Dim, DimMin};
 use core::storage::Storage;
 use core::allocator::Allocator;
 
-
 impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// Indicates if this is a square matrix.
     #[inline]
@@ -32,27 +31,29 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// for i from `0` to `min(R, C)`) are equal one; and that all other elements are zero.
     #[inline]
     pub fn is_identity(&self, eps: N::Epsilon) -> bool
-    where N: Zero + One + ApproxEq,
+    where
-          N::Epsilon: Copy {
+        N: Zero + One + ApproxEq,
+        N::Epsilon: Copy,
+    {
         let (nrows, ncols) = self.shape();
         let d;
 
         if nrows > ncols {
             d = ncols;
 
-            for i in d .. nrows {
+            for i in d..nrows {
-                for j in 0 .. ncols {
+                for j in 0..ncols {
                     if !relative_eq!(self[(i, j)], N::zero(), epsilon = eps) {
                         return false;
                     }
                 }
             }
-        }
+        } else {
-        else { // nrows <= ncols
+            // nrows <= ncols
             d = nrows;
 
-            for i in 0 .. nrows {
+            for i in 0..nrows {
-                for j in d .. ncols {
+                for j in d..ncols {
                     if !relative_eq!(self[(i, j)], N::zero(), epsilon = eps) {
                         return false;
                     }
@@ -61,18 +62,19 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
         }
 
         // Off-diagonal elements of the sub-square matrix.
-        for i in 1 .. d {
+        for i in 1..d {
-            for j in 0 .. i {
+            for j in 0..i {
                 // FIXME: use unsafe indexing.
-                if !relative_eq!(self[(i, j)], N::zero(), epsilon = eps) ||
+                if !relative_eq!(self[(i, j)], N::zero(), epsilon = eps)
-                   !relative_eq!(self[(j, i)], N::zero(), epsilon = eps) {
+                    || !relative_eq!(self[(j, i)], N::zero(), epsilon = eps)
+                {
                     return false;
                 }
             }
         }
 
         // Diagonal elements of the sub-square matrix.
-        for i in 0 .. d {
+        for i in 0..d {
             if !relative_eq!(self[(i, i)], N::one(), epsilon = eps) {
                 return false;
             }
@@ -87,23 +89,28 @@ impl<N: Scalar, R: Dim, C: Dim, S: Storage<N, R, C>> Matrix<N, R, C, S> {
     /// equal to `eps`.
     #[inline]
     pub fn is_orthogonal(&self, eps: N::Epsilon) -> bool
-        where N: Zero + One + ClosedAdd + ClosedMul + ApproxEq,
+    where
-              S: Storage<N, R, C>,
+        N: Zero + One + ClosedAdd + ClosedMul + ApproxEq,
-              N::Epsilon: Copy,
+        S: Storage<N, R, C>,
-              DefaultAllocator: Allocator<N, C, C> {
+        N::Epsilon: Copy,
+        DefaultAllocator: Allocator<N, C, C>,
+    {
         (self.tr_mul(self)).is_identity(eps)
     }
 }
 
-
 impl<N: Real, D: Dim, S: Storage<N, D, D>> SquareMatrix<N, D, S>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
+    DefaultAllocator: Allocator<N, D, D>,
+{
     /// Checks that this matrix is orthogonal and has a determinant equal to 1.
     #[inline]
     pub fn is_special_orthogonal(&self, eps: N) -> bool
-        where D: DimMin<D, Output = D>,
+    where
-              DefaultAllocator: Allocator<(usize, usize), D> {
+        D: DimMin<D, Output = D>,
-            self.is_square() && self.is_orthogonal(eps) && self.determinant() > N::zero()
+        DefaultAllocator: Allocator<(usize, usize), D>,
+    {
+        self.is_square() && self.is_orthogonal(eps) && self.determinant() > N::zero()
     }
 
     /// Returns `true` if this matrix is invertible.

src/core/scalar.rs

@@ -14,4 +14,4 @@ pub trait Scalar: Copy + PartialEq + Debug + Any {
         TypeId::of::<Self>() == TypeId::of::<T>()
     }
 }
-impl<T: Copy + PartialEq + Debug + Any> Scalar for T { }
+impl<T: Copy + PartialEq + Debug + Any> Scalar for T {}

src/core/storage.rs

@@ -6,24 +6,26 @@ use std::mem;
 use core::Scalar;
 use core::default_allocator::DefaultAllocator;
 use core::dimension::{Dim, U1};
-use core::allocator::{Allocator, SameShapeR, SameShapeC};
+use core::allocator::{Allocator, SameShapeC, SameShapeR};
 
 /*
  * Aliases for allocation results.
  */
 /// The data storage for the sum of two matrices with dimensions `(R1, C1)` and `(R2, C2)`.
-pub type SameShapeStorage<N, R1, C1, R2, C2> = <DefaultAllocator as Allocator<N, SameShapeR<R1, R2>, SameShapeC<C1, C2>>>::Buffer;
+pub type SameShapeStorage<N, R1, C1, R2, C2> =
+    <DefaultAllocator as Allocator<N, SameShapeR<R1, R2>, SameShapeC<C1, C2>>>::Buffer;
 
 // FIXME: better name than Owned ?
 /// The owned data storage that can be allocated from `S`.
 pub type Owned<N, R, C = U1> = <DefaultAllocator as Allocator<N, R, C>>::Buffer;
 
 /// The row-stride of the owned data storage for a buffer of dimension `(R, C)`.
-pub type RStride<N, R, C = U1> = <<DefaultAllocator as Allocator<N, R, C>>::Buffer as Storage<N, R, C>>::RStride;
+pub type RStride<N, R, C = U1> =
+    <<DefaultAllocator as Allocator<N, R, C>>::Buffer as Storage<N, R, C>>::RStride;
 
 /// The column-stride of the owned data storage for a buffer of dimension `(R, C)`.
-pub type CStride<N, R, C = U1> = <<DefaultAllocator as Allocator<N, R, C>>::Buffer as Storage<N, R, C>>::CStride;
+pub type CStride<N, R, C = U1> =
-
+    <<DefaultAllocator as Allocator<N, R, C>>::Buffer as Storage<N, R, C>>::CStride;
 
 /// The trait shared by all matrix data storage.
 ///
@@ -103,14 +105,15 @@ pub unsafe trait Storage<N: Scalar, R: Dim, C: Dim = U1>: Debug + Sized {
 
     /// Builds a matrix data storage that does not contain any reference.
     fn into_owned(self) -> Owned<N, R, C>
-        where DefaultAllocator: Allocator<N, R, C>;
+    where
+        DefaultAllocator: Allocator<N, R, C>;
 
     /// Clones this data storage to one that does not contain any reference.
     fn clone_owned(&self) -> Owned<N, R, C>
-        where DefaultAllocator: Allocator<N, R, C>;
+    where
+        DefaultAllocator: Allocator<N, R, C>;
 }
 
-
 /// Trait implemented by matrix data storage that can provide a mutable access to its elements.
 ///
 /// Note that a mutable access does not mean that the matrix owns its data. For example, a mutable
@@ -174,11 +177,15 @@ pub unsafe trait StorageMut<N: Scalar, R: Dim, C: Dim = U1>: Storage<N, R, C> {
 /// The storage requirement means that for any value of `i` in `[0, nrows * ncols[`, the value
 /// `.get_unchecked_linear` returns one of the matrix component. This trait is unsafe because
 /// failing to comply to this may cause Undefined Behaviors.
-pub unsafe trait ContiguousStorage<N: Scalar, R: Dim, C: Dim = U1>: Storage<N, R, C> { }
+pub unsafe trait ContiguousStorage<N: Scalar, R: Dim, C: Dim = U1>
+    : Storage<N, R, C> {
+}
 
 /// A mutable matrix storage that is stored contiguously in memory.
 ///
 /// The storage requirement means that for any value of `i` in `[0, nrows * ncols[`, the value
 /// `.get_unchecked_linear` returns one of the matrix component. This trait is unsafe because
 /// failing to comply to this may cause Undefined Behaviors.
-pub unsafe trait ContiguousStorageMut<N: Scalar, R: Dim, C: Dim = U1>: ContiguousStorage<N, R, C> + StorageMut<N, R, C> { }
+pub unsafe trait ContiguousStorageMut<N: Scalar, R: Dim, C: Dim = U1>
+    : ContiguousStorage<N, R, C> + StorageMut<N, R, C> {
+}

src/core/unit.rs

@@ -1,9 +1,9 @@
 use std::mem;
-use std::ops::{Neg, Deref};
+use std::ops::{Deref, Neg};
 use approx::ApproxEq;
 
 #[cfg(feature = "serde-serialize")]
-use serde::{Serialize, Serializer, Deserialize, Deserializer};
+use serde::{Deserialize, Deserializer, Serialize, Serializer};
 
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
@@ -11,20 +11,20 @@ use abomonation::Abomonation;
 use alga::general::SubsetOf;
 use alga::linear::NormedSpace;
 
-
 /// A wrapper that ensures the undelying algebraic entity has a unit norm.
 ///
 /// Use `.as_ref()` or `.unwrap()` to obtain the undelying value by-reference or by-move.
 #[repr(C)]
 #[derive(Eq, PartialEq, Clone, Hash, Debug, Copy)]
 pub struct Unit<T> {
-    value: T
+    value: T,
 }
 
 #[cfg(feature = "serde-serialize")]
 impl<T: Serialize> Serialize for Unit<T> {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-        where S: Serializer
+    where
+        S: Serializer,
     {
         self.value.serialize(serializer)
     }
@@ -33,7 +33,8 @@ impl<T: Serialize> Serialize for Unit<T> {
 #[cfg(feature = "serde-serialize")]
 impl<'de, T: Deserialize<'de>> Deserialize<'de> for Unit<T> {
     fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
-        where D: Deserializer<'de>
+    where
+        D: Deserializer<'de>,
     {
         T::deserialize(deserializer).map(|x| Unit { value: x })
     }
@@ -84,8 +85,7 @@ impl<T: NormedSpace> Unit<T> {
     pub fn try_new_and_get(mut value: T, min_norm: T::Field) -> Option<(Self, T::Field)> {
         if let Some(n) = value.try_normalize_mut(min_norm) {
             Some((Unit { value: value }, n))
-        }
+        } else {
-        else {
             None
         }
     }
@@ -137,7 +137,9 @@ impl<T> AsRef<T> for Unit<T> {
  *
  */
 impl<T: NormedSpace> SubsetOf<T> for Unit<T>
-where T::Field: ApproxEq {
+where
+    T::Field: ApproxEq,
+{
     #[inline]
     fn to_superset(&self) -> T {
         self.clone().unwrap()
@@ -156,34 +158,33 @@ where T::Field: ApproxEq {
 
 // impl<T: ApproxEq> ApproxEq for Unit<T> {
 //     type Epsilon = T::Epsilon;
-// 
+//
 //     #[inline]
 //     fn default_epsilon() -> Self::Epsilon {
 //         T::default_epsilon()
 //     }
-// 
+//
 //     #[inline]
 //     fn default_max_relative() -> Self::Epsilon {
 //         T::default_max_relative()
 //     }
-// 
+//
 //     #[inline]
 //     fn default_max_ulps() -> u32 {
 //         T::default_max_ulps()
 //     }
-// 
+//
 //     #[inline]
 //     fn relative_eq(&self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon) -> bool {
 //         self.value.relative_eq(&other.value, epsilon, max_relative)
 //     }
-// 
+//
 //     #[inline]
 //     fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
 //         self.value.ulps_eq(&other.value, epsilon, max_ulps)
 //     }
 // }
 
-
 // FIXME:re-enable this impl when spacialization is possible.
 // Currently, it is disabled so that we can have a nice output for the `UnitQuaternion` display.
 /*

src/debug/mod.rs

@@ -1,6 +1,5 @@
 //! Various tools useful for testing/debugging/benchmarking.
 
-
 mod random_orthogonal;
 mod random_sdp;
 

src/debug/random_orthogonal.rs

@@ -13,13 +13,16 @@ use geometry::UnitComplex;
 /// A random orthogonal matrix.
 #[derive(Clone, Debug)]
 pub struct RandomOrthogonal<N: Real, D: Dim = Dynamic>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
-    m: MatrixN<N, D>
+    DefaultAllocator: Allocator<N, D, D>,
+{
+    m: MatrixN<N, D>,
 }
 
-
 impl<N: Real, D: Dim> RandomOrthogonal<N, D>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
+    DefaultAllocator: Allocator<N, D, D>,
+{
     /// Retrieve the generated matrix.
     pub fn unwrap(self) -> MatrixN<N, D> {
         self.m
@@ -30,7 +33,7 @@ impl<N: Real, D: Dim> RandomOrthogonal<N, D>
         let mut res = MatrixN::identity_generic(dim, dim);
 
         // Create an orthogonal matrix by compositing planar 2D rotations.
-        for i in 0 .. dim.value() - 1 {
+        for i in 0..dim.value() - 1 {
             let c = Complex::new(rand(), rand());
             let rot: UnitComplex<N> = UnitComplex::from_complex(c);
             rot.rotate(&mut res.fixed_rows_mut::<U2>(i));
@@ -42,8 +45,10 @@ impl<N: Real, D: Dim> RandomOrthogonal<N, D>
 
 #[cfg(feature = "arbitrary")]
 impl<N: Real + Arbitrary + Send, D: Dim> Arbitrary for RandomOrthogonal<N, D>
-    where DefaultAllocator: Allocator<N, D, D>,
+where
-          Owned<N, D, D>: Clone + Send {
+    DefaultAllocator: Allocator<N, D, D>,
+    Owned<N, D, D>: Clone + Send,
+{
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
         let dim = D::try_to_usize().unwrap_or(g.gen_range(1, 50));
         Self::new(D::from_usize(dim), || N::arbitrary(g))

src/debug/random_sdp.rs

@@ -10,18 +10,19 @@ use core::allocator::Allocator;
 
 use debug::RandomOrthogonal;
 
-
 /// A random, well-conditioned, symmetric definite-positive matrix.
 #[derive(Clone, Debug)]
 pub struct RandomSDP<N: Real, D: Dim = Dynamic>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
-    m: MatrixN<N, D>
+    DefaultAllocator: Allocator<N, D, D>,
+{
+    m: MatrixN<N, D>,
 }
 
-
 impl<N: Real, D: Dim> RandomSDP<N, D>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
-
+    DefaultAllocator: Allocator<N, D, D>,
+{
     /// Retrieve the generated matrix.
     pub fn unwrap(self) -> MatrixN<N, D> {
         self.m
@@ -33,7 +34,7 @@ impl<N: Real, D: Dim> RandomSDP<N, D>
         let mut m = RandomOrthogonal::new(dim, || rand()).unwrap();
         let mt = m.transpose();
 
-        for i in 0 .. dim.value() {
+        for i in 0..dim.value() {
             let mut col = m.column_mut(i);
             let eigenval = N::one() + rand().abs();
             col *= eigenval;
@@ -45,8 +46,10 @@ impl<N: Real, D: Dim> RandomSDP<N, D>
 
 #[cfg(feature = "arbitrary")]
 impl<N: Real + Arbitrary + Send, D: Dim> Arbitrary for RandomSDP<N, D>
-    where DefaultAllocator: Allocator<N, D, D>,
+where
-          Owned<N, D, D>: Clone + Send {
+    DefaultAllocator: Allocator<N, D, D>,
+    Owned<N, D, D>: Clone + Send,
+{
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
         let dim = D::try_to_usize().unwrap_or(g.gen_range(1, 50));
         Self::new(D::from_usize(dim), || N::arbitrary(g))

src/geometry/isometry.rs

@@ -13,45 +13,45 @@ use alga::general::{Real, SubsetOf};
 use alga::linear::Rotation;
 
 use core::{DefaultAllocator, MatrixN};
-use core::dimension::{DimName, DimNameSum, DimNameAdd, U1};
+use core::dimension::{DimName, DimNameAdd, DimNameSum, U1};
 use core::storage::Owned;
 use core::allocator::Allocator;
-use geometry::{Translation, Point};
+use geometry::{Point, Translation};
 
 /// A direct isometry, i.e., a rotation followed by a translation.
 #[repr(C)]
 #[derive(Debug)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(
+           serde(bound(serialize = "R: serde::Serialize,
-        serialize = "R: serde::Serialize,
                      DefaultAllocator: Allocator<N, D>,
                      Owned<N, D>: serde::Serialize")))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(
+           serde(bound(deserialize = "R: serde::Deserialize<'de>,
-        deserialize = "R: serde::Deserialize<'de>,
                        DefaultAllocator: Allocator<N, D>,
                        Owned<N, D>: serde::Deserialize<'de>")))]
 pub struct Isometry<N: Real, D: DimName, R>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     /// The pure rotational part of this isometry.
-    pub rotation:    R,
+    pub rotation: R,
     /// The pure translational part of this isometry.
     pub translation: Translation<N, D>,
 
-
     // One dummy private field just to prevent explicit construction.
     #[cfg_attr(feature = "serde-serialize", serde(skip_serializing, skip_deserializing))]
-    _noconstruct: PhantomData<N>
+    _noconstruct: PhantomData<N>,
 }
 
 #[cfg(feature = "abomonation-serialize")]
 impl<N, D, R> Abomonation for Isometry<N, D, R>
-    where N: Real,
+where
-          D: DimName,
+    N: Real,
-          R: Abomonation,
+    D: DimName,
-          Translation<N, D>: Abomonation,
+    R: Abomonation,
-          DefaultAllocator: Allocator<N, D>
+    Translation<N, D>: Abomonation,
+    DefaultAllocator: Allocator<N, D>,
 {
     unsafe fn entomb(&self, writer: &mut Vec<u8>) {
         self.rotation.entomb(writer);
@@ -64,14 +64,17 @@ impl<N, D, R> Abomonation for Isometry<N, D, R>
     }
 
     unsafe fn exhume<'a, 'b>(&'a mut self, bytes: &'b mut [u8]) -> Option<&'b mut [u8]> {
-        self.rotation.exhume(bytes)
+        self.rotation
+            .exhume(bytes)
             .and_then(|bytes| self.translation.exhume(bytes))
     }
 }
 
 impl<N: Real + hash::Hash, D: DimName + hash::Hash, R: hash::Hash> hash::Hash for Isometry<N, D, R>
-    where DefaultAllocator: Allocator<N, D>,
+where
-          Owned<N, D>: hash::Hash {
+    DefaultAllocator: Allocator<N, D>,
+    Owned<N, D>: hash::Hash,
+{
     fn hash<H: hash::Hasher>(&self, state: &mut H) {
         self.translation.hash(state);
         self.rotation.hash(state);
@@ -79,12 +82,16 @@ impl<N: Real + hash::Hash, D: DimName + hash::Hash, R: hash::Hash> hash::Hash fo
 }
 
 impl<N: Real, D: DimName + Copy, R: Rotation<Point<N, D>> + Copy> Copy for Isometry<N, D, R>
-    where DefaultAllocator: Allocator<N, D>,
+where
-          Owned<N, D>: Copy {
+    DefaultAllocator: Allocator<N, D>,
+    Owned<N, D>: Copy,
+{
 }
 
 impl<N: Real, D: DimName, R: Rotation<Point<N, D>> + Clone> Clone for Isometry<N, D, R>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn clone(&self) -> Self {
         Isometry::from_parts(self.translation.clone(), self.rotation.clone())
@@ -92,15 +99,16 @@ impl<N: Real, D: DimName, R: Rotation<Point<N, D>> + Clone> Clone for Isometry<N
 }
 
 impl<N: Real, D: DimName, R: Rotation<Point<N, D>>> Isometry<N, D, R>
-    where DefaultAllocator: Allocator<N, D> {
+where
-
+    DefaultAllocator: Allocator<N, D>,
+{
     /// Creates a new isometry from its rotational and translational parts.
     #[inline]
     pub fn from_parts(translation: Translation<N, D>, rotation: R) -> Isometry<N, D, R> {
         Isometry {
-            rotation:     rotation,
+            rotation: rotation,
-            translation:  translation,
+            translation: translation,
-            _noconstruct: PhantomData
+            _noconstruct: PhantomData,
         }
     }
 
@@ -129,7 +137,7 @@ impl<N: Real, D: DimName, R: Rotation<Point<N, D>>> Isometry<N, D, R>
     /// Appends to `self` the given rotation in-place.
     #[inline]
     pub fn append_rotation_mut(&mut self, r: &R) {
-        self.rotation           = self.rotation.append_rotation(&r);
+        self.rotation = self.rotation.append_rotation(&r);
         self.translation.vector = r.transform_vector(&self.translation.vector);
     }
 
@@ -156,40 +164,49 @@ impl<N: Real, D: DimName, R: Rotation<Point<N, D>>> Isometry<N, D, R>
 // This is OK since all constructors of the isometry enforce the Rotation bound already (and
 // explicit struct construction is prevented by the dummy ZST field).
 impl<N: Real, D: DimName, R> Isometry<N, D, R>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     /// Converts this isometry into its equivalent homogeneous transformation matrix.
     #[inline]
     pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
-        where D: DimNameAdd<U1>,
+    where
-              R: SubsetOf<MatrixN<N, DimNameSum<D, U1>>>,
+        D: DimNameAdd<U1>,
-              DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>> {
+        R: SubsetOf<MatrixN<N, DimNameSum<D, U1>>>,
+        DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
+    {
         let mut res: MatrixN<N, _> = ::convert_ref(&self.rotation);
-        res.fixed_slice_mut::<D, U1>(0, D::dim()).copy_from(&self.translation.vector);
+        res.fixed_slice_mut::<D, U1>(0, D::dim())
+            .copy_from(&self.translation.vector);
 
         res
     }
 }
 
-
 impl<N: Real, D: DimName, R> Eq for Isometry<N, D, R>
-    where R: Rotation<Point<N, D>> + Eq,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>> + Eq,
+    DefaultAllocator: Allocator<N, D>,
+{
 }
 
 impl<N: Real, D: DimName, R> PartialEq for Isometry<N, D, R>
-    where R: Rotation<Point<N, D>> + PartialEq,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>> + PartialEq,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn eq(&self, right: &Isometry<N, D, R>) -> bool {
-        self.translation == right.translation &&
+        self.translation == right.translation && self.rotation == right.rotation
-        self.rotation    == right.rotation
     }
 }
 
 impl<N: Real, D: DimName, R> ApproxEq for Isometry<N, D, R>
-    where R: Rotation<Point<N, D>> + ApproxEq<Epsilon = N::Epsilon>,
+where
-          DefaultAllocator: Allocator<N, D>,
+    R: Rotation<Point<N, D>> + ApproxEq<Epsilon = N::Epsilon>,
-          N::Epsilon: Copy {
+    DefaultAllocator: Allocator<N, D>,
+    N::Epsilon: Copy,
+{
     type Epsilon = N::Epsilon;
 
     #[inline]
@@ -208,15 +225,23 @@ impl<N: Real, D: DimName, R> ApproxEq for Isometry<N, D, R>
     }
 
     #[inline]
-    fn relative_eq(&self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon) -> bool {
+    fn relative_eq(
-        self.translation.relative_eq(&other.translation, epsilon, max_relative) &&
+        &self,
-        self.rotation.relative_eq(&other.rotation, epsilon, max_relative)
+        other: &Self,
+        epsilon: Self::Epsilon,
+        max_relative: Self::Epsilon,
+    ) -> bool {
+        self.translation
+            .relative_eq(&other.translation, epsilon, max_relative)
+            && self.rotation
+                .relative_eq(&other.rotation, epsilon, max_relative)
     }
 
     #[inline]
     fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
-        self.translation.ulps_eq(&other.translation, epsilon, max_ulps) &&
+        self.translation
-        self.rotation.ulps_eq(&other.rotation, epsilon, max_ulps)
+            .ulps_eq(&other.translation, epsilon, max_ulps)
+            && self.rotation.ulps_eq(&other.rotation, epsilon, max_ulps)
     }
 }
 
@@ -226,9 +251,10 @@ impl<N: Real, D: DimName, R> ApproxEq for Isometry<N, D, R>
  *
  */
 impl<N: Real + fmt::Display, D: DimName, R> fmt::Display for Isometry<N, D, R>
-    where R: fmt::Display,
+where
-          DefaultAllocator: Allocator<N, D> +
+    R: fmt::Display,
-                            Allocator<usize, D> {
+    DefaultAllocator: Allocator<N, D> + Allocator<usize, D>,
+{
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
         let precision = f.precision().unwrap_or(3);
 

src/geometry/isometry_alga.rs

@@ -1,15 +1,15 @@
-use alga::general::{AbstractMagma, AbstractGroup, AbstractLoop, AbstractMonoid, AbstractQuasigroup,
+use alga::general::{AbstractGroup, AbstractLoop, AbstractMagma, AbstractMonoid,
-                    AbstractSemigroup, Real, Inverse, Multiplicative, Identity, Id};
+                    AbstractQuasigroup, AbstractSemigroup, Id, Identity, Inverse, Multiplicative,
-use alga::linear::{Transformation, Similarity, AffineTransformation, DirectIsometry,
+                    Real};
-                   Rotation, ProjectiveTransformation};
+use alga::linear::{AffineTransformation, DirectIsometry, ProjectiveTransformation, Rotation,
+                   Similarity, Transformation};
 use alga::linear::Isometry as AlgaIsometry;
 
 use core::{DefaultAllocator, VectorN};
 use core::dimension::DimName;
 use core::allocator::Allocator;
 
-use geometry::{Isometry, Translation, Point};
+use geometry::{Isometry, Point, Translation};
-
 
 /*
  *
@@ -17,8 +17,10 @@ use geometry::{Isometry, Translation, Point};
  *
  */
 impl<N: Real, D: DimName, R> Identity<Multiplicative> for Isometry<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn identity() -> Self {
         Self::identity()
@@ -26,8 +28,10 @@ impl<N: Real, D: DimName, R> Identity<Multiplicative> for Isometry<N, D, R>
 }
 
 impl<N: Real, D: DimName, R> Inverse<Multiplicative> for Isometry<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn inverse(&self) -> Self {
         self.inverse()
@@ -40,8 +44,10 @@ impl<N: Real, D: DimName, R> Inverse<Multiplicative> for Isometry<N, D, R>
 }
 
 impl<N: Real, D: DimName, R> AbstractMagma<Multiplicative> for Isometry<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn operate(&self, rhs: &Self) -> Self {
         self * rhs
@@ -70,8 +76,10 @@ impl_multiplicative_structures!(
  *
  */
 impl<N: Real, D: DimName, R> Transformation<Point<N, D>> for Isometry<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
         self * pt
@@ -84,11 +92,14 @@ impl<N: Real, D: DimName, R> Transformation<Point<N, D>> for Isometry<N, D, R>
 }
 
 impl<N: Real, D: DimName, R> ProjectiveTransformation<Point<N, D>> for Isometry<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
-        self.rotation.inverse_transform_point(&(pt - &self.translation.vector))
+        self.rotation
+            .inverse_transform_point(&(pt - &self.translation.vector))
     }
 
     #[inline]
@@ -98,15 +109,22 @@ impl<N: Real, D: DimName, R> ProjectiveTransformation<Point<N, D>> for Isometry<
 }
 
 impl<N: Real, D: DimName, R> AffineTransformation<Point<N, D>> for Isometry<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
-    type Rotation          = R;
+    DefaultAllocator: Allocator<N, D>,
+{
+    type Rotation = R;
     type NonUniformScaling = Id;
-    type Translation       = Translation<N, D>;
+    type Translation = Translation<N, D>;
 
     #[inline]
     fn decompose(&self) -> (Translation<N, D>, R, Id, R) {
-        (self.translation.clone(), self.rotation.clone(), Id::new(), R::identity())
+        (
+            self.translation.clone(),
+            self.rotation.clone(),
+            Id::new(),
+            R::identity(),
+        )
     }
 
     #[inline]
@@ -122,7 +140,10 @@ impl<N: Real, D: DimName, R> AffineTransformation<Point<N, D>> for Isometry<N, D
     #[inline]
     fn append_rotation(&self, r: &Self::Rotation) -> Self {
         let shift = r.transform_vector(&self.translation.vector);
-        Isometry::from_parts(Translation::from_vector(shift), r.clone() * self.rotation.clone())
+        Isometry::from_parts(
+            Translation::from_vector(shift),
+            r.clone() * self.rotation.clone(),
+        )
     }
 
     #[inline]
@@ -149,8 +170,10 @@ impl<N: Real, D: DimName, R> AffineTransformation<Point<N, D>> for Isometry<N, D
 }
 
 impl<N: Real, D: DimName, R> Similarity<Point<N, D>> for Isometry<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     type Scaling = Id;
 
     #[inline]

src/geometry/isometry_alias.rs

@@ -1,7 +1,6 @@
 use core::dimension::{U2, U3};
 
-use geometry::{Isometry, Rotation2, Rotation3, UnitQuaternion, UnitComplex};
+use geometry::{Isometry, Rotation2, Rotation3, UnitComplex, UnitQuaternion};
-
 
 /// A 2-dimensional isometry using a unit complex number for its rotational part.
 pub type Isometry2<N> = Isometry<N, U2, UnitComplex<N>>;

src/geometry/isometry_construction.rs

@@ -4,7 +4,7 @@ use quickcheck::{Arbitrary, Gen};
 use core::storage::Owned;
 
 use num::One;
-use rand::{Rng, Rand};
+use rand::{Rand, Rng};
 
 use alga::general::Real;
 use alga::linear::Rotation as AlgaRotation;
@@ -13,12 +13,13 @@ use core::{DefaultAllocator, Vector2, Vector3};
 use core::dimension::{DimName, U2, U3};
 use core::allocator::Allocator;
 
-use geometry::{Point, Translation, Rotation, Isometry, UnitQuaternion, UnitComplex,
+use geometry::{Isometry, Point, Point3, Rotation, Rotation2, Rotation3, Translation, UnitComplex,
-               Point3, Rotation2, Rotation3};
+               UnitQuaternion};
-
 
 impl<N: Real, D: DimName, R: AlgaRotation<Point<N, D>>> Isometry<N, D, R>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     /// Creates a new identity isometry.
     #[inline]
     pub fn identity() -> Self {
@@ -35,7 +36,9 @@ impl<N: Real, D: DimName, R: AlgaRotation<Point<N, D>>> Isometry<N, D, R>
 }
 
 impl<N: Real, D: DimName, R: AlgaRotation<Point<N, D>>> One for Isometry<N, D, R>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     /// Creates a new identity isometry.
     #[inline]
     fn one() -> Self {
@@ -44,8 +47,10 @@ impl<N: Real, D: DimName, R: AlgaRotation<Point<N, D>>> One for Isometry<N, D, R
 }
 
 impl<N: Real + Rand, D: DimName, R> Rand for Isometry<N, D, R>
-    where R: AlgaRotation<Point<N, D>> + Rand,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: AlgaRotation<Point<N, D>> + Rand,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn rand<G: Rng>(rng: &mut G) -> Self {
         Self::from_parts(rng.gen(), rng.gen())
@@ -54,10 +59,12 @@ impl<N: Real + Rand, D: DimName, R> Rand for Isometry<N, D, R>
 
 #[cfg(feature = "arbitrary")]
 impl<N, D: DimName, R> Arbitrary for Isometry<N, D, R>
-    where N: Real + Arbitrary + Send,
+where
-          R: AlgaRotation<Point<N, D>> + Arbitrary + Send,
+    N: Real + Arbitrary + Send,
-          Owned<N, D>: Send,
+    R: AlgaRotation<Point<N, D>> + Arbitrary + Send,
-          DefaultAllocator: Allocator<N, D> {
+    Owned<N, D>: Send,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn arbitrary<G: Gen>(rng: &mut G) -> Self {
         Self::from_parts(Arbitrary::arbitrary(rng), Arbitrary::arbitrary(rng))
@@ -75,7 +82,10 @@ impl<N: Real> Isometry<N, U2, Rotation2<N>> {
     /// Creates a new isometry from a translation and a rotation angle.
     #[inline]
     pub fn new(translation: Vector2<N>, angle: N) -> Self {
-        Self::from_parts(Translation::from_vector(translation), Rotation::<N, U2>::new(angle))
+        Self::from_parts(
+            Translation::from_vector(translation),
+            Rotation::<N, U2>::new(angle),
+        )
     }
 }
 
@@ -83,7 +93,10 @@ impl<N: Real> Isometry<N, U2, UnitComplex<N>> {
     /// Creates a new isometry from a translation and a rotation angle.
     #[inline]
     pub fn new(translation: Vector2<N>, angle: N) -> Self {
-        Self::from_parts(Translation::from_vector(translation), UnitComplex::from_angle(angle))
+        Self::from_parts(
+            Translation::from_vector(translation),
+            UnitComplex::from_angle(angle),
+        )
     }
 }
 

src/geometry/isometry_conversion.rs

@@ -2,10 +2,10 @@ use alga::general::{Real, SubsetOf, SupersetOf};
 use alga::linear::Rotation;
 
 use core::{DefaultAllocator, MatrixN};
-use core::dimension::{DimName, DimNameAdd, DimNameSum, DimMin, U1};
+use core::dimension::{DimMin, DimName, DimNameAdd, DimNameSum, U1};
 use core::allocator::Allocator;
 
-use geometry::{Point, Translation, Isometry, Similarity, Transform, SuperTCategoryOf, TAffine};
+use geometry::{Isometry, Point, Similarity, SuperTCategoryOf, TAffine, Transform, Translation};
 
 /*
  * This file provides the following conversions:
@@ -17,57 +17,50 @@ use geometry::{Point, Translation, Isometry, Similarity, Transform, SuperTCatego
  * Isometry -> Matrix (homogeneous)
  */
 
-
 impl<N1, N2, D: DimName, R1, R2> SubsetOf<Isometry<N2, D, R2>> for Isometry<N1, D, R1>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          R1: Rotation<Point<N1, D>> + SubsetOf<R2>,
+    N2: Real + SupersetOf<N1>,
-          R2: Rotation<Point<N2, D>>,
+    R1: Rotation<Point<N1, D>> + SubsetOf<R2>,
-          DefaultAllocator: Allocator<N1, D> +
+    R2: Rotation<Point<N2, D>>,
-                            Allocator<N2, D> {
+    DefaultAllocator: Allocator<N1, D> + Allocator<N2, D>,
+{
     #[inline]
     fn to_superset(&self) -> Isometry<N2, D, R2> {
-        Isometry::from_parts(
+        Isometry::from_parts(self.translation.to_superset(), self.rotation.to_superset())
-            self.translation.to_superset(),
-            self.rotation.to_superset()
-        )
     }
 
     #[inline]
     fn is_in_subset(iso: &Isometry<N2, D, R2>) -> bool {
-        ::is_convertible::<_, Translation<N1, D>>(&iso.translation) &&
+        ::is_convertible::<_, Translation<N1, D>>(&iso.translation)
-        ::is_convertible::<_, R1>(&iso.rotation)
+            && ::is_convertible::<_, R1>(&iso.rotation)
     }
 
     #[inline]
     unsafe fn from_superset_unchecked(iso: &Isometry<N2, D, R2>) -> Self {
         Isometry::from_parts(
             iso.translation.to_subset_unchecked(),
-            iso.rotation.to_subset_unchecked()
+            iso.rotation.to_subset_unchecked(),
         )
     }
 }
 
-
 impl<N1, N2, D: DimName, R1, R2> SubsetOf<Similarity<N2, D, R2>> for Isometry<N1, D, R1>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          R1: Rotation<Point<N1, D>> + SubsetOf<R2>,
+    N2: Real + SupersetOf<N1>,
-          R2: Rotation<Point<N2, D>>,
+    R1: Rotation<Point<N1, D>> + SubsetOf<R2>,
-          DefaultAllocator: Allocator<N1, D> +
+    R2: Rotation<Point<N2, D>>,
-                            Allocator<N2, D> {
+    DefaultAllocator: Allocator<N1, D> + Allocator<N2, D>,
+{
     #[inline]
     fn to_superset(&self) -> Similarity<N2, D, R2> {
-        Similarity::from_isometry(
+        Similarity::from_isometry(self.to_superset(), N2::one())
-            self.to_superset(),
-            N2::one()
-        )
     }
 
     #[inline]
     fn is_in_subset(sim: &Similarity<N2, D, R2>) -> bool {
-        ::is_convertible::<_, Isometry<N1, D, R1>>(&sim.isometry) &&
+        ::is_convertible::<_, Isometry<N1, D, R1>>(&sim.isometry) && sim.scaling() == N2::one()
-        sim.scaling() == N2::one()
     }
 
     #[inline]
@@ -76,24 +69,24 @@ impl<N1, N2, D: DimName, R1, R2> SubsetOf<Similarity<N2, D, R2>> for Isometry<N1
     }
 }
 
-
 impl<N1, N2, D, R, C> SubsetOf<Transform<N2, D, C>> for Isometry<N1, D, R>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          C:  SuperTCategoryOf<TAffine>,
+    N2: Real + SupersetOf<N1>,
-          R: Rotation<Point<N1, D>> +
+    C: SuperTCategoryOf<TAffine>,
-             SubsetOf<MatrixN<N1, DimNameSum<D, U1>>> +
+    R: Rotation<Point<N1, D>>
-             SubsetOf<MatrixN<N2, DimNameSum<D, U1>>>,
+        + SubsetOf<MatrixN<N1, DimNameSum<D, U1>>>
-          D: DimNameAdd<U1> +
+        + SubsetOf<MatrixN<N2, DimNameSum<D, U1>>>,
-             DimMin<D, Output = D>, // needed by .is_special_orthogonal()
+    D: DimNameAdd<U1> + DimMin<D, Output = D>, // needed by .is_special_orthogonal()
-          DefaultAllocator: Allocator<N1, D>     +
+    DefaultAllocator: Allocator<N1, D>
-                            Allocator<N1, D, D>  +                                // needed by R
+        + Allocator<N1, D, D>
-                            Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>> + // needed by: .to_homogeneous()
+        + Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>>
-                            Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>> + // needed by R
+        + Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>>
-                            Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>> +
+        + Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>>
-                            Allocator<(usize, usize), D> + // needed by .is_special_orthogonal()
+        + Allocator<(usize, usize), D>
-                            Allocator<N2, D, D> +
+        + Allocator<N2, D, D>
-                            Allocator<N2, D>    {
+        + Allocator<N2, D>,
+{
     #[inline]
     fn to_superset(&self) -> Transform<N2, D, C> {
         Transform::from_matrix_unchecked(self.to_homogeneous().to_superset())
@@ -110,23 +103,23 @@ impl<N1, N2, D, R, C> SubsetOf<Transform<N2, D, C>> for Isometry<N1, D, R>
     }
 }
 
-
 impl<N1, N2, D, R> SubsetOf<MatrixN<N2, DimNameSum<D, U1>>> for Isometry<N1, D, R>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          R: Rotation<Point<N1, D>> +
+    N2: Real + SupersetOf<N1>,
-             SubsetOf<MatrixN<N1, DimNameSum<D, U1>>> +
+    R: Rotation<Point<N1, D>>
-             SubsetOf<MatrixN<N2, DimNameSum<D, U1>>>,
+        + SubsetOf<MatrixN<N1, DimNameSum<D, U1>>>
-          D: DimNameAdd<U1> +
+        + SubsetOf<MatrixN<N2, DimNameSum<D, U1>>>,
-             DimMin<D, Output = D>, // needed by .is_special_orthogonal()
+    D: DimNameAdd<U1> + DimMin<D, Output = D>, // needed by .is_special_orthogonal()
-          DefaultAllocator: Allocator<N1, D>     +
+    DefaultAllocator: Allocator<N1, D>
-                            Allocator<N1, D, D>  +                                // needed by R
+        + Allocator<N1, D, D>
-                            Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>> + // needed by: .to_homogeneous()
+        + Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>>
-                            Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>> + // needed by R
+        + Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>>
-                            Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>> +
+        + Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>>
-                            Allocator<(usize, usize), D> + // needed by .is_special_orthogonal()
+        + Allocator<(usize, usize), D>
-                            Allocator<N2, D, D> +
+        + Allocator<N2, D, D>
-                            Allocator<N2, D>    {
+        + Allocator<N2, D>,
+{
     #[inline]
     fn to_superset(&self) -> MatrixN<N2, DimNameSum<D, U1>> {
         self.to_homogeneous().to_superset()
@@ -134,7 +127,7 @@ impl<N1, N2, D, R> SubsetOf<MatrixN<N2, DimNameSum<D, U1>>> for Isometry<N1, D,
 
     #[inline]
     fn is_in_subset(m: &MatrixN<N2, DimNameSum<D, U1>>) -> bool {
-        let rot    = m.fixed_slice::<D, D>(0, 0);
+        let rot = m.fixed_slice::<D, D>(0, 0);
         let bottom = m.fixed_slice::<U1, D>(D::dim(), 0);
 
         // Scalar types agree.
@@ -142,8 +135,7 @@ impl<N1, N2, D, R> SubsetOf<MatrixN<N2, DimNameSum<D, U1>>> for Isometry<N1, D,
         // The block part is a rotation.
         rot.is_special_orthogonal(N2::default_epsilon() * ::convert(100.0)) &&
         // The bottom row is (0, 0, ..., 1)
-        bottom.iter().all(|e| e.is_zero()) &&
+        bottom.iter().all(|e| e.is_zero()) && m[(D::dim(), D::dim())] == N2::one()
-        m[(D::dim(), D::dim())] == N2::one()
     }
 
     #[inline]

src/geometry/isometry_ops.rs

@@ -1,13 +1,13 @@
-use std::ops::{Mul, MulAssign, Div, DivAssign};
+use std::ops::{Div, DivAssign, Mul, MulAssign};
 
 use alga::general::Real;
 use alga::linear::Rotation as AlgaRotation;
 
-use core::{DefaultAllocator, VectorN, Unit};
+use core::{DefaultAllocator, Unit, VectorN};
 use core::dimension::{DimName, U1, U3, U4};
 use core::allocator::Allocator;
 
-use geometry::{Point, Rotation, Isometry, Translation, UnitQuaternion};
+use geometry::{Isometry, Point, Rotation, Translation, UnitQuaternion};
 
 // FIXME: there are several cloning of rotations that we could probably get rid of (but we didn't
 // yet because that would require to add a bound like `where for<'a, 'b> &'a R: Mul<&'b R, Output = R>`
@@ -60,7 +60,6 @@ use geometry::{Point, Rotation, Isometry, Translation, UnitQuaternion};
  *
  */
 
-
 macro_rules! isometry_binop_impl(
     ($Op: ident, $op: ident;
      $lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
@@ -148,7 +147,6 @@ isometry_binop_impl_all!(
     };
 );
 
-
 isometry_binop_impl_all!(
     Div, div;
     self: Isometry<N, D, R>, rhs: Isometry<N, D, R>, Output = Isometry<N, D, R>;
@@ -158,7 +156,6 @@ isometry_binop_impl_all!(
     [ref ref] => self * rhs.inverse();
 );
 
-
 // Isometry ×= Translation
 isometry_binop_assign_impl_all!(
     MulAssign, mul_assign;
@@ -207,7 +204,6 @@ isometry_binop_assign_impl_all!(
     [ref] => *self *= rhs.inverse();
 );
 
-
 // Isometry × R
 // Isometry ÷ R
 isometry_binop_impl_all!(
@@ -219,7 +215,6 @@ isometry_binop_impl_all!(
     [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
 );
 
-
 isometry_binop_impl_all!(
     Div, div;
     self: Isometry<N, D, R>, rhs: R, Output = Isometry<N, D, R>;
@@ -229,7 +224,6 @@ isometry_binop_impl_all!(
     [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
 );
 
-
 // Isometry × Point
 isometry_binop_impl_all!(
     Mul, mul;
@@ -240,7 +234,6 @@ isometry_binop_impl_all!(
     [ref ref] => &self.translation * self.rotation.transform_point(right);
 );
 
-
 // Isometry × Vector
 isometry_binop_impl_all!(
     Mul, mul;
@@ -265,7 +258,6 @@ isometry_binop_impl_all!(
     [ref ref] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
 );
 
-
 // Isometry × Translation
 isometry_binop_impl_all!(
     Mul, mul;
@@ -289,7 +281,6 @@ isometry_binop_impl_all!(
     [ref ref] => Isometry::from_parts(self * &right.translation, right.rotation.clone());
 );
 
-
 // Translation × R
 isometry_binop_impl_all!(
     Mul, mul;
@@ -300,9 +291,6 @@ isometry_binop_impl_all!(
     [ref ref] => Isometry::from_parts(self.clone(), right.clone());
 );
 
-
-
-
 macro_rules! isometry_from_composition_impl(
     ($Op: ident, $op: ident;
      ($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(for $Dims: ident: $DimsBound: ident),*;
@@ -356,7 +344,6 @@ macro_rules! isometry_from_composition_impl_all(
     }
 );
 
-
 // Rotation × Translation
 isometry_from_composition_impl_all!(
     Mul, mul;
@@ -368,7 +355,6 @@ isometry_from_composition_impl_all!(
     [ref ref] => Isometry::from_parts(Translation::from_vector(self * &right.vector),  self.clone());
 );
 
-
 // UnitQuaternion × Translation
 isometry_from_composition_impl_all!(
     Mul, mul;
@@ -409,7 +395,6 @@ isometry_from_composition_impl_all!(
     [ref ref] => self * right.inverse();
 );
 
-
 // UnitQuaternion × Isometry
 isometry_from_composition_impl_all!(
     Mul, mul;
@@ -425,7 +410,6 @@ isometry_from_composition_impl_all!(
     };
 );
 
-
 // UnitQuaternion ÷ Isometry
 isometry_from_composition_impl_all!(
     Div, div;

src/geometry/op_macros.rs

@@ -34,7 +34,6 @@ macro_rules! md_impl(
     }
 );
 
-
 /// Macro for the implementation of multiplication and division.
 /// Implements all the argument reference combinations.
 macro_rules! md_impl_all(
@@ -83,7 +82,6 @@ macro_rules! md_impl_all(
     }
 );
 
-
 /// Macro for the implementation of assignement-multiplication and assignement-division.
 macro_rules! md_assign_impl(
     (

src/geometry/orthographic.rs

@@ -1,4 +1,4 @@
-#[cfg(feature="arbitrary")]
+#[cfg(feature = "arbitrary")]
 use quickcheck::{Arbitrary, Gen};
 use rand::{Rand, Rng};
 #[cfg(feature = "serde-serialize")]
@@ -16,10 +16,10 @@ use geometry::Point3;
 
 /// A 3D orthographic projection stored as an homogeneous 4x4 matrix.
 pub struct Orthographic3<N: Real> {
-    matrix: Matrix4<N>
+    matrix: Matrix4<N>,
 }
 
-impl<N: Real> Copy for Orthographic3<N> { }
+impl<N: Real> Copy for Orthographic3<N> {}
 
 impl<N: Real> Clone for Orthographic3<N> {
     #[inline]
@@ -44,28 +44,41 @@ impl<N: Real> PartialEq for Orthographic3<N> {
 #[cfg(feature = "serde-serialize")]
 impl<N: Real + serde::Serialize> serde::Serialize for Orthographic3<N> {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-        where S: serde::Serializer {
+    where
-            self.matrix.serialize(serializer)
+        S: serde::Serializer,
-        }
+    {
+        self.matrix.serialize(serializer)
+    }
 }
 
 #[cfg(feature = "serde-serialize")]
 impl<'a, N: Real + serde::Deserialize<'a>> serde::Deserialize<'a> for Orthographic3<N> {
     fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
-        where Des: serde::Deserializer<'a> {
+    where
-            let matrix = Matrix4::<N>::deserialize(deserializer)?;
+        Des: serde::Deserializer<'a>,
+    {
+        let matrix = Matrix4::<N>::deserialize(deserializer)?;
 
-            Ok(Orthographic3::from_matrix_unchecked(matrix))
+        Ok(Orthographic3::from_matrix_unchecked(matrix))
-        }
+    }
 }
 
 impl<N: Real> Orthographic3<N> {
     /// Creates a new orthographic projection matrix.
     #[inline]
     pub fn new(left: N, right: N, bottom: N, top: N, znear: N, zfar: N) -> Self {
-        assert!(left < right, "The left corner must be farther than the right corner.");
+        assert!(
-        assert!(bottom < top, "The top corner must be higher than the bottom corner.");
+            left < right,
-        assert!(znear < zfar, "The far plane must be farther than the near plane.");
+            "The left corner must be farther than the right corner."
+        );
+        assert!(
+            bottom < top,
+            "The top corner must be higher than the bottom corner."
+        );
+        assert!(
+            znear < zfar,
+            "The far plane must be farther than the near plane."
+        );
 
         let matrix = Matrix4::<N>::identity();
         let mut res = Self::from_matrix_unchecked(matrix);
@@ -83,22 +96,33 @@ impl<N: Real> Orthographic3<N> {
     /// projection.
     #[inline]
     pub fn from_matrix_unchecked(matrix: Matrix4<N>) -> Self {
-        Orthographic3 {
+        Orthographic3 { matrix: matrix }
-            matrix: matrix
-        }
     }
 
     /// Creates a new orthographic projection matrix from an aspect ratio and the vertical field of view.
     #[inline]
     pub fn from_fov(aspect: N, vfov: N, znear: N, zfar: N) -> Self {
-        assert!(znear < zfar, "The far plane must be farther than the near plane.");
+        assert!(
-        assert!(!relative_eq!(aspect, N::zero()), "The apsect ratio must not be zero.");
+            znear < zfar,
+            "The far plane must be farther than the near plane."
+        );
+        assert!(
+            !relative_eq!(aspect, N::zero()),
+            "The apsect ratio must not be zero."
+        );
 
         let half: N = ::convert(0.5);
-        let width  = zfar * (vfov * half).tan();
+        let width = zfar * (vfov * half).tan();
         let height = width / aspect;
 
-        Self::new(-width * half, width * half, -height * half, height * half, znear, zfar)
+        Self::new(
+            -width * half,
+            width * half,
+            -height * half,
+            height * half,
+            znear,
+            zfar,
+        )
     }
 
     /// Retrieves the inverse of the underlying homogeneous matrix.
@@ -114,9 +138,9 @@ impl<N: Real> Orthographic3<N> {
         res[(1, 1)] = inv_m22;
         res[(2, 2)] = inv_m33;
 
-        res[(0, 3)] = -self.matrix[(0, 3)] * inv_m11; 
+        res[(0, 3)] = -self.matrix[(0, 3)] * inv_m11;
-        res[(1, 3)] = -self.matrix[(1, 3)] * inv_m22; 
+        res[(1, 3)] = -self.matrix[(1, 3)] * inv_m22;
-        res[(2, 3)] = -self.matrix[(2, 3)] * inv_m33; 
+        res[(2, 3)] = -self.matrix[(2, 3)] * inv_m33;
 
         res
     }
@@ -182,18 +206,17 @@ impl<N: Real> Orthographic3<N> {
         Point3::new(
             self.matrix[(0, 0)] * p[0] + self.matrix[(0, 3)],
             self.matrix[(1, 1)] * p[1] + self.matrix[(1, 3)],
-            self.matrix[(2, 2)] * p[2] + self.matrix[(2, 3)]
+            self.matrix[(2, 2)] * p[2] + self.matrix[(2, 3)],
         )
     }
 
     /// Un-projects a point. Faster than multiplication by the underlying matrix inverse.
     #[inline]
     pub fn unproject_point(&self, p: &Point3<N>) -> Point3<N> {
-
         Point3::new(
             (p[0] - self.matrix[(0, 3)]) / self.matrix[(0, 0)],
             (p[1] - self.matrix[(1, 3)]) / self.matrix[(1, 1)],
-            (p[2] - self.matrix[(2, 3)]) / self.matrix[(2, 2)]
+            (p[2] - self.matrix[(2, 3)]) / self.matrix[(2, 2)],
         )
     }
 
@@ -201,12 +224,13 @@ impl<N: Real> Orthographic3<N> {
     /// Projects a vector. Faster than matrix multiplication.
     #[inline]
     pub fn project_vector<SB>(&self, p: &Vector<N, U3, SB>) -> Vector3<N>
-        where SB: Storage<N, U3> {
+    where
-
+        SB: Storage<N, U3>,
+    {
         Vector3::new(
             self.matrix[(0, 0)] * p[0],
             self.matrix[(1, 1)] * p[1],
-            self.matrix[(2, 2)] * p[2]
+            self.matrix[(2, 2)] * p[2],
         )
     }
 
@@ -255,7 +279,10 @@ impl<N: Real> Orthographic3<N> {
     /// Sets the view cuboid coordinates along the `x` axis.
     #[inline]
     pub fn set_left_and_right(&mut self, left: N, right: N) {
-        assert!(left < right, "The left corner must be farther than the right corner.");
+        assert!(
+            left < right,
+            "The left corner must be farther than the right corner."
+        );
         self.matrix[(0, 0)] = ::convert::<_, N>(2.0) / (right - left);
         self.matrix[(0, 3)] = -(right + left) / (right - left);
     }
@@ -263,7 +290,10 @@ impl<N: Real> Orthographic3<N> {
     /// Sets the view cuboid coordinates along the `y` axis.
     #[inline]
     pub fn set_bottom_and_top(&mut self, bottom: N, top: N) {
-        assert!(bottom < top, "The top corner must be higher than the bottom corner.");
+        assert!(
+            bottom < top,
+            "The top corner must be higher than the bottom corner."
+        );
         self.matrix[(1, 1)] = ::convert::<_, N>(2.0) / (top - bottom);
         self.matrix[(1, 3)] = -(top + bottom) / (top - bottom);
     }
@@ -271,7 +301,10 @@ impl<N: Real> Orthographic3<N> {
     /// Sets the near and far plane offsets of the view cuboid.
     #[inline]
     pub fn set_znear_and_zfar(&mut self, znear: N, zfar: N) {
-        assert!(!relative_eq!(zfar - znear, N::zero()), "The near-plane and far-plane must not be superimposed.");
+        assert!(
+            !relative_eq!(zfar - znear, N::zero()),
+            "The near-plane and far-plane must not be superimposed."
+        );
         self.matrix[(2, 2)] = -::convert::<_, N>(2.0) / (zfar - znear);
         self.matrix[(2, 3)] = -(zfar + znear) / (zfar - znear);
     }
@@ -279,27 +312,29 @@ impl<N: Real> Orthographic3<N> {
 
 impl<N: Real + Rand> Rand for Orthographic3<N> {
     fn rand<R: Rng>(r: &mut R) -> Self {
-        let left   = Rand::rand(r);
+        let left = Rand::rand(r);
-        let right  = helper::reject_rand(r, |x: &N| *x > left);
+        let right = helper::reject_rand(r, |x: &N| *x > left);
         let bottom = Rand::rand(r);
-        let top    = helper::reject_rand(r, |x: &N| *x > bottom);
+        let top = helper::reject_rand(r, |x: &N| *x > bottom);
-        let znear  = Rand::rand(r);
+        let znear = Rand::rand(r);
-        let zfar   = helper::reject_rand(r, |x: &N| *x > znear);
+        let zfar = helper::reject_rand(r, |x: &N| *x > znear);
 
         Self::new(left, right, bottom, top, znear, zfar)
     }
 }
 
-#[cfg(feature="arbitrary")]
+#[cfg(feature = "arbitrary")]
 impl<N: Real + Arbitrary> Arbitrary for Orthographic3<N>
-    where Matrix4<N>: Send {
+where
+    Matrix4<N>: Send,
+{
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
-        let left   = Arbitrary::arbitrary(g);
+        let left = Arbitrary::arbitrary(g);
-        let right  = helper::reject(g, |x: &N| *x > left);
+        let right = helper::reject(g, |x: &N| *x > left);
         let bottom = Arbitrary::arbitrary(g);
-        let top    = helper::reject(g, |x: &N| *x > bottom);
+        let top = helper::reject(g, |x: &N| *x > bottom);
-        let znear  = Arbitrary::arbitrary(g);
+        let znear = Arbitrary::arbitrary(g);
-        let zfar   = helper::reject(g, |x: &N| *x > znear);
+        let zfar = helper::reject(g, |x: &N| *x > znear);
 
         Self::new(left, right, bottom, top, znear, zfar)
     }

src/geometry/perspective.rs

@@ -1,4 +1,4 @@
-#[cfg(feature="arbitrary")]
+#[cfg(feature = "arbitrary")]
 use quickcheck::{Arbitrary, Gen};
 use rand::{Rand, Rng};
 
@@ -8,7 +8,7 @@ use std::fmt;
 
 use alga::general::Real;
 
-use core::{Scalar, Matrix4, Vector, Vector3};
+use core::{Matrix4, Scalar, Vector, Vector3};
 use core::dimension::U3;
 use core::storage::Storage;
 use core::helper;
@@ -17,10 +17,10 @@ use geometry::Point3;
 
 /// A 3D perspective projection stored as an homogeneous 4x4 matrix.
 pub struct Perspective3<N: Scalar> {
-    matrix: Matrix4<N>
+    matrix: Matrix4<N>,
 }
 
-impl<N: Real> Copy for Perspective3<N> { }
+impl<N: Real> Copy for Perspective3<N> {}
 
 impl<N: Real> Clone for Perspective3<N> {
     #[inline]
@@ -45,26 +45,36 @@ impl<N: Real> PartialEq for Perspective3<N> {
 #[cfg(feature = "serde-serialize")]
 impl<N: Real + serde::Serialize> serde::Serialize for Perspective3<N> {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-        where S: serde::Serializer {
+    where
-            self.matrix.serialize(serializer)
+        S: serde::Serializer,
-        }
+    {
+        self.matrix.serialize(serializer)
+    }
 }
 
 #[cfg(feature = "serde-serialize")]
 impl<'a, N: Real + serde::Deserialize<'a>> serde::Deserialize<'a> for Perspective3<N> {
     fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
-        where Des: serde::Deserializer<'a> {
+    where
-            let matrix = Matrix4::<N>::deserialize(deserializer)?;
+        Des: serde::Deserializer<'a>,
+    {
+        let matrix = Matrix4::<N>::deserialize(deserializer)?;
 
-            Ok(Perspective3::from_matrix_unchecked(matrix))
+        Ok(Perspective3::from_matrix_unchecked(matrix))
-        }
+    }
 }
 
 impl<N: Real> Perspective3<N> {
     /// Creates a new perspective matrix from the aspect ratio, y field of view, and near/far planes.
     pub fn new(aspect: N, fovy: N, znear: N, zfar: N) -> Self {
-        assert!(!relative_eq!(zfar - znear, N::zero()), "The near-plane and far-plane must not be superimposed.");
+        assert!(
-        assert!(!relative_eq!(aspect, N::zero()), "The apsect ratio must not be zero.");
+            !relative_eq!(zfar - znear, N::zero()),
+            "The near-plane and far-plane must not be superimposed."
+        );
+        assert!(
+            !relative_eq!(aspect, N::zero()),
+            "The apsect ratio must not be zero."
+        );
 
         let matrix = Matrix4::identity();
         let mut res = Perspective3::from_matrix_unchecked(matrix);
@@ -79,16 +89,13 @@ impl<N: Real> Perspective3<N> {
         res
     }
 
-
     /// Wraps the given matrix to interpret it as a 3D perspective matrix.
     ///
     /// It is not checked whether or not the given matrix actually represents an orthographic
     /// projection.
     #[inline]
     pub fn from_matrix_unchecked(matrix: Matrix4<N>) -> Self {
-        Perspective3 {
+        Perspective3 { matrix: matrix }
-            matrix: matrix
-        }
     }
 
     /// Retrieves the inverse of the underlying homogeneous matrix.
@@ -158,17 +165,15 @@ impl<N: Real> Perspective3<N> {
 
     // FIXME: add a method to retrieve znear and zfar simultaneously?
 
-
-
     // FIXME: when we get specialization, specialize the Mul impl instead.
     /// Projects a point. Faster than matrix multiplication.
     #[inline]
     pub fn project_point(&self, p: &Point3<N>) -> Point3<N> {
         let inverse_denom = -N::one() / p[2];
         Point3::new(
-             self.matrix[(0, 0)] * p[0] * inverse_denom,
+            self.matrix[(0, 0)] * p[0] * inverse_denom,
-             self.matrix[(1, 1)] * p[1] * inverse_denom,
+            self.matrix[(1, 1)] * p[1] * inverse_denom,
-            (self.matrix[(2, 2)] * p[2] + self.matrix[(2, 3)]) * inverse_denom
+            (self.matrix[(2, 2)] * p[2] + self.matrix[(2, 3)]) * inverse_denom,
         )
     }
 
@@ -180,7 +185,7 @@ impl<N: Real> Perspective3<N> {
         Point3::new(
             p[0] * inverse_denom / self.matrix[(0, 0)],
             p[1] * inverse_denom / self.matrix[(1, 1)],
-            -inverse_denom
+            -inverse_denom,
         )
     }
 
@@ -188,13 +193,14 @@ impl<N: Real> Perspective3<N> {
     /// Projects a vector. Faster than matrix multiplication.
     #[inline]
     pub fn project_vector<SB>(&self, p: &Vector<N, U3, SB>) -> Vector3<N>
-        where SB: Storage<N, U3> {
+    where
-
+        SB: Storage<N, U3>,
+    {
         let inverse_denom = -N::one() / p[2];
         Vector3::new(
             self.matrix[(0, 0)] * p[0] * inverse_denom,
             self.matrix[(1, 1)] * p[1] * inverse_denom,
-            self.matrix[(2, 2)]
+            self.matrix[(2, 2)],
         )
     }
 
@@ -202,14 +208,17 @@ impl<N: Real> Perspective3<N> {
     /// frustrum.
     #[inline]
     pub fn set_aspect(&mut self, aspect: N) {
-        assert!(!relative_eq!(aspect, N::zero()), "The aspect ratio must not be zero.");
+        assert!(
+            !relative_eq!(aspect, N::zero()),
+            "The aspect ratio must not be zero."
+        );
         self.matrix[(0, 0)] = self.matrix[(1, 1)] / aspect;
     }
 
     /// Updates this perspective with a new y field of view of the view frustrum.
     #[inline]
     pub fn set_fovy(&mut self, fovy: N) {
-        let old_m22  = self.matrix[(1, 1)];
+        let old_m22 = self.matrix[(1, 1)];
         self.matrix[(1, 1)] = N::one() / (fovy / ::convert(2.0)).tan();
         self.matrix[(0, 0)] = self.matrix[(0, 0)] * (self.matrix[(1, 1)] / old_m22);
     }
@@ -238,19 +247,19 @@ impl<N: Real> Perspective3<N> {
 
 impl<N: Real + Rand> Rand for Perspective3<N> {
     fn rand<R: Rng>(r: &mut R) -> Self {
-        let znear  = Rand::rand(r);
+        let znear = Rand::rand(r);
-        let zfar   = helper::reject_rand(r, |&x: &N| !(x - znear).is_zero());
+        let zfar = helper::reject_rand(r, |&x: &N| !(x - znear).is_zero());
         let aspect = helper::reject_rand(r, |&x: &N| !x.is_zero());
 
         Self::new(aspect, Rand::rand(r), znear, zfar)
     }
 }
 
-#[cfg(feature="arbitrary")]
+#[cfg(feature = "arbitrary")]
 impl<N: Real + Arbitrary> Arbitrary for Perspective3<N> {
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
-        let znear  = Arbitrary::arbitrary(g);
+        let znear = Arbitrary::arbitrary(g);
-        let zfar   = helper::reject(g, |&x: &N| !(x - znear).is_zero());
+        let zfar = helper::reject(g, |&x: &N| !(x - znear).is_zero());
         let aspect = helper::reject(g, |&x: &N| !x.is_zero());
 
         Self::new(aspect, Arbitrary::arbitrary(g), znear, zfar)

src/geometry/point.rs

@@ -12,33 +12,42 @@ use abomonation::Abomonation;
 
 use core::{DefaultAllocator, Scalar, VectorN};
 use core::iter::{MatrixIter, MatrixIterMut};
-use core::dimension::{DimName, DimNameSum, DimNameAdd, U1};
+use core::dimension::{DimName, DimNameAdd, DimNameSum, U1};
 use core::allocator::Allocator;
 
 /// A point in a n-dimensional euclidean space.
 #[repr(C)]
 #[derive(Debug)]
 pub struct Point<N: Scalar, D: DimName>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     /// The coordinates of this point, i.e., the shift from the origin.
-    pub coords: VectorN<N, D>
+    pub coords: VectorN<N, D>,
 }
 
 impl<N: Scalar + hash::Hash, D: DimName + hash::Hash> hash::Hash for Point<N, D>
-    where DefaultAllocator: Allocator<N, D>,
+where
-          <DefaultAllocator as Allocator<N, D>>::Buffer: hash::Hash {
+    DefaultAllocator: Allocator<N, D>,
+    <DefaultAllocator as Allocator<N, D>>::Buffer: hash::Hash,
+{
     fn hash<H: hash::Hasher>(&self, state: &mut H) {
         self.coords.hash(state)
     }
 }
 
 impl<N: Scalar, D: DimName> Copy for Point<N, D>
-    where DefaultAllocator: Allocator<N, D>,
+where
-          <DefaultAllocator as Allocator<N, D>>::Buffer: Copy { }
+    DefaultAllocator: Allocator<N, D>,
+    <DefaultAllocator as Allocator<N, D>>::Buffer: Copy,
+{
+}
 
 impl<N: Scalar, D: DimName> Clone for Point<N, D>
-    where DefaultAllocator: Allocator<N, D>,
+where
-          <DefaultAllocator as Allocator<N, D>>::Buffer: Clone {
+    DefaultAllocator: Allocator<N, D>,
+    <DefaultAllocator as Allocator<N, D>>::Buffer: Clone,
+{
     #[inline]
     fn clone(&self) -> Self {
         Point::from_coordinates(self.coords.clone())
@@ -47,35 +56,41 @@ impl<N: Scalar, D: DimName> Clone for Point<N, D>
 
 #[cfg(feature = "serde-serialize")]
 impl<N: Scalar, D: DimName> serde::Serialize for Point<N, D>
-where DefaultAllocator: Allocator<N, D>,
+where
-      <DefaultAllocator as Allocator<N, D>>::Buffer: serde::Serialize {
+    DefaultAllocator: Allocator<N, D>,
-
+    <DefaultAllocator as Allocator<N, D>>::Buffer: serde::Serialize,
+{
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-        where S: serde::Serializer {
+    where
-            self.coords.serialize(serializer)
+        S: serde::Serializer,
-        }
+    {
+        self.coords.serialize(serializer)
+    }
 }
 
 #[cfg(feature = "serde-serialize")]
 impl<'a, N: Scalar, D: DimName> serde::Deserialize<'a> for Point<N, D>
-where DefaultAllocator: Allocator<N, D>,
+where
-      <DefaultAllocator as Allocator<N, D>>::Buffer: serde::Deserialize<'a> {
+    DefaultAllocator: Allocator<N, D>,
-
+    <DefaultAllocator as Allocator<N, D>>::Buffer: serde::Deserialize<'a>,
+{
     fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
-        where Des: serde::Deserializer<'a> {
+    where
-            let coords = VectorN::<N, D>::deserialize(deserializer)?;
+        Des: serde::Deserializer<'a>,
+    {
+        let coords = VectorN::<N, D>::deserialize(deserializer)?;
 
-            Ok(Point::from_coordinates(coords))
+        Ok(Point::from_coordinates(coords))
-        }
+    }
 }
 
-
 #[cfg(feature = "abomonation-serialize")]
 impl<N, D> Abomonation for Point<N, D>
-    where N: Scalar,
+where
-          D: DimName,
+    N: Scalar,
-          VectorN<N, D>: Abomonation,
+    D: DimName,
-          DefaultAllocator: Allocator<N, D>
+    VectorN<N, D>: Abomonation,
+    DefaultAllocator: Allocator<N, D>,
 {
     unsafe fn entomb(&self, writer: &mut Vec<u8>) {
         self.coords.entomb(writer)
@@ -91,8 +106,9 @@ impl<N, D> Abomonation for Point<N, D>
 }
 
 impl<N: Scalar, D: DimName> Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
-
+    DefaultAllocator: Allocator<N, D>,
+{
     /// Clones this point into one that owns its data.
     #[inline]
     pub fn clone(&self) -> Point<N, D> {
@@ -103,13 +119,12 @@ impl<N: Scalar, D: DimName> Point<N, D>
     /// end of it.
     #[inline]
     pub fn to_homogeneous(&self) -> VectorN<N, DimNameSum<D, U1>>
-        where N: One,
+    where
-              D: DimNameAdd<U1>,
+        N: One,
-              DefaultAllocator: Allocator<N, DimNameSum<D, U1>> {
+        D: DimNameAdd<U1>,
-
+        DefaultAllocator: Allocator<N, DimNameSum<D, U1>>,
-        let mut res = unsafe {
+    {
-            VectorN::<_, DimNameSum<D, U1>>::new_uninitialized()
+        let mut res = unsafe { VectorN::<_, DimNameSum<D, U1>>::new_uninitialized() };
-        };
         res.fixed_slice_mut::<D, U1>(0, 0).copy_from(&self.coords);
         res[(D::dim(), 0)] = N::one();
 
@@ -119,9 +134,7 @@ impl<N: Scalar, D: DimName> Point<N, D>
     /// Creates a new point with the given coordinates.
     #[inline]
     pub fn from_coordinates(coords: VectorN<N, D>) -> Point<N, D> {
-        Point {
+        Point { coords: coords }
-            coords: coords
-        }
     }
 
     /// The dimension of this point.
@@ -151,7 +164,9 @@ impl<N: Scalar, D: DimName> Point<N, D>
 
     /// Mutably iterates through this point coordinates.
     #[inline]
-    pub fn iter_mut(&mut self) -> MatrixIterMut<N, D, U1, <DefaultAllocator as Allocator<N, D>>::Buffer> {
+    pub fn iter_mut(
+        &mut self,
+    ) -> MatrixIterMut<N, D, U1, <DefaultAllocator as Allocator<N, D>>::Buffer> {
         self.coords.iter_mut()
     }
 
@@ -169,8 +184,10 @@ impl<N: Scalar, D: DimName> Point<N, D>
 }
 
 impl<N: Scalar + ApproxEq, D: DimName> ApproxEq for Point<N, D>
-    where DefaultAllocator: Allocator<N, D>,
+where
-          N::Epsilon: Copy {
+    DefaultAllocator: Allocator<N, D>,
+    N::Epsilon: Copy,
+{
     type Epsilon = N::Epsilon;
 
     #[inline]
@@ -189,8 +206,14 @@ impl<N: Scalar + ApproxEq, D: DimName> ApproxEq for Point<N, D>
     }
 
     #[inline]
-    fn relative_eq(&self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon) -> bool {
+    fn relative_eq(
-        self.coords.relative_eq(&other.coords, epsilon, max_relative)
+        &self,
+        other: &Self,
+        epsilon: Self::Epsilon,
+        max_relative: Self::Epsilon,
+    ) -> bool {
+        self.coords
+            .relative_eq(&other.coords, epsilon, max_relative)
     }
 
     #[inline]
@@ -200,10 +223,15 @@ impl<N: Scalar + ApproxEq, D: DimName> ApproxEq for Point<N, D>
 }
 
 impl<N: Scalar + Eq, D: DimName> Eq for Point<N, D>
-    where DefaultAllocator: Allocator<N, D> { }
+where
+    DefaultAllocator: Allocator<N, D>,
+{
+}
 
 impl<N: Scalar, D: DimName> PartialEq for Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn eq(&self, right: &Self) -> bool {
         self.coords == right.coords
@@ -211,7 +239,9 @@ impl<N: Scalar, D: DimName> PartialEq for Point<N, D>
 }
 
 impl<N: Scalar + PartialOrd, D: DimName> PartialOrd for Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
         self.coords.partial_cmp(&other.coords)
@@ -244,7 +274,9 @@ impl<N: Scalar + PartialOrd, D: DimName> PartialOrd for Point<N, D>
  *
  */
 impl<N: Scalar + fmt::Display, D: DimName> fmt::Display for Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
         try!(write!(f, "{{"));
 

src/geometry/point_alga.rs

@@ -1,4 +1,4 @@
-use alga::general::{Field, Real, MeetSemilattice, JoinSemilattice, Lattice};
+use alga::general::{Field, JoinSemilattice, Lattice, MeetSemilattice, Real};
 use alga::linear::{AffineSpace, EuclideanSpace};
 
 use core::{DefaultAllocator, Scalar, VectorN};
@@ -7,17 +7,20 @@ use core::allocator::Allocator;
 
 use geometry::Point;
 
-
 impl<N: Scalar + Field, D: DimName> AffineSpace for Point<N, D>
-    where N: Scalar + Field,
+where
-          DefaultAllocator: Allocator<N, D> {
+    N: Scalar + Field,
+    DefaultAllocator: Allocator<N, D>,
+{
     type Translation = VectorN<N, D>;
 }
 
 impl<N: Real, D: DimName> EuclideanSpace for Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     type Coordinates = VectorN<N, D>;
-    type Real        = N;
+    type Real = N;
 
     #[inline]
     fn origin() -> Self {
@@ -46,8 +49,10 @@ impl<N: Real, D: DimName> EuclideanSpace for Point<N, D>
  *
  */
 impl<N, D: DimName> MeetSemilattice for Point<N, D>
-    where N: Scalar + MeetSemilattice,
+where
-          DefaultAllocator: Allocator<N, D> {
+    N: Scalar + MeetSemilattice,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn meet(&self, other: &Self) -> Self {
         Point::from_coordinates(self.coords.meet(&other.coords))
@@ -55,18 +60,21 @@ impl<N, D: DimName> MeetSemilattice for Point<N, D>
 }
 
 impl<N, D: DimName> JoinSemilattice for Point<N, D>
-    where N: Scalar + JoinSemilattice,
+where
-          DefaultAllocator: Allocator<N, D> {
+    N: Scalar + JoinSemilattice,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn join(&self, other: &Self) -> Self {
         Point::from_coordinates(self.coords.join(&other.coords))
     }
 }
 
-
 impl<N, D: DimName> Lattice for Point<N, D>
-    where N: Scalar + Lattice,
+where
-          DefaultAllocator: Allocator<N, D> {
+    N: Scalar + Lattice,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn meet_join(&self, other: &Self) -> (Self, Self) {
         let (meet, join) = self.coords.meet_join(&other.coords);

src/geometry/point_construction.rs

@@ -2,7 +2,7 @@
 use quickcheck::{Arbitrary, Gen};
 
 use rand::{Rand, Rng};
-use num::{Zero, One, Bounded};
+use num::{Bounded, One, Zero};
 
 use alga::general::ClosedDiv;
 use core::{DefaultAllocator, Scalar, VectorN};
@@ -12,7 +12,9 @@ use core::dimension::{DimName, DimNameAdd, DimNameSum, U1, U2, U3, U4, U5, U6};
 use geometry::Point;
 
 impl<N: Scalar, D: DimName> Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     /// Creates a new point with uninitialized coordinates.
     #[inline]
     pub unsafe fn new_uninitialized() -> Self {
@@ -22,7 +24,9 @@ impl<N: Scalar, D: DimName> Point<N, D>
     /// Creates a new point with all coordinates equal to zero.
     #[inline]
     pub fn origin() -> Self
-        where N: Zero {
+    where
+        N: Zero,
+    {
         Self::from_coordinates(VectorN::from_element(N::zero()))
     }
 
@@ -32,28 +36,29 @@ impl<N: Scalar, D: DimName> Point<N, D>
     /// divided by the last component of `v`. Returns `None` if this divisor is zero.
     #[inline]
     pub fn from_homogeneous(v: VectorN<N, DimNameSum<D, U1>>) -> Option<Self>
-        where N: Scalar + Zero + One + ClosedDiv,
+    where
-              D: DimNameAdd<U1>,
+        N: Scalar + Zero + One + ClosedDiv,
-              DefaultAllocator: Allocator<N, DimNameSum<D, U1>> {
+        D: DimNameAdd<U1>,
-
+        DefaultAllocator: Allocator<N, DimNameSum<D, U1>>,
+    {
         if !v[D::dim()].is_zero() {
-            let coords =  v.fixed_slice::<D, U1>(0, 0) / v[D::dim()];
+            let coords = v.fixed_slice::<D, U1>(0, 0) / v[D::dim()];
             Some(Self::from_coordinates(coords))
-        }
+        } else {
-        else {
             None
         }
     }
 }
 
-
 /*
  *
  * Traits that buid points.
  *
  */
 impl<N: Scalar + Bounded, D: DimName> Bounded for Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn max_value() -> Self {
         Self::from_coordinates(VectorN::max_value())
@@ -66,17 +71,21 @@ impl<N: Scalar + Bounded, D: DimName> Bounded for Point<N, D>
 }
 
 impl<N: Scalar + Rand, D: DimName> Rand for Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn rand<G: Rng>(rng: &mut G) -> Self {
         Point::from_coordinates(rng.gen())
     }
 }
 
-#[cfg(feature="arbitrary")]
+#[cfg(feature = "arbitrary")]
 impl<N: Scalar + Arbitrary + Send, D: DimName> Arbitrary for Point<N, D>
-    where DefaultAllocator: Allocator<N, D>,
+where
-          <DefaultAllocator as Allocator<N, D>>::Buffer: Send {
+    DefaultAllocator: Allocator<N, D>,
+    <DefaultAllocator as Allocator<N, D>>::Buffer: Send,
+{
     #[inline]
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
         Point::from_coordinates(VectorN::arbitrary(g))

src/geometry/point_conversion.rs

@@ -1,8 +1,8 @@
 use num::{One, Zero};
-use alga::general::{SubsetOf, SupersetOf, ClosedDiv};
+use alga::general::{ClosedDiv, SubsetOf, SupersetOf};
 
-use core::{DefaultAllocator, Scalar, Matrix, VectorN};
+use core::{DefaultAllocator, Matrix, Scalar, VectorN};
-use core::dimension::{DimName, DimNameSum, DimNameAdd, U1};
+use core::dimension::{DimName, DimNameAdd, DimNameSum, U1};
 use core::allocator::Allocator;
 
 use geometry::Point;
@@ -16,11 +16,12 @@ use geometry::Point;
  */
 
 impl<N1, N2, D> SubsetOf<Point<N2, D>> for Point<N1, D>
-    where D: DimName,
+where
-          N1: Scalar,
+    D: DimName,
-          N2: Scalar + SupersetOf<N1>,
+    N1: Scalar,
-          DefaultAllocator: Allocator<N2, D> +
+    N2: Scalar + SupersetOf<N1>,
-                            Allocator<N1, D> {
+    DefaultAllocator: Allocator<N2, D> + Allocator<N1, D>,
+{
     #[inline]
     fn to_superset(&self) -> Point<N2, D> {
         Point::from_coordinates(self.coords.to_superset())
@@ -39,15 +40,16 @@ impl<N1, N2, D> SubsetOf<Point<N2, D>> for Point<N1, D>
     }
 }
 
-
 impl<N1, N2, D> SubsetOf<VectorN<N2, DimNameSum<D, U1>>> for Point<N1, D>
-    where D:  DimNameAdd<U1>,
+where
-          N1: Scalar,
+    D: DimNameAdd<U1>,
-          N2: Scalar + Zero + One + ClosedDiv + SupersetOf<N1>,
+    N1: Scalar,
-          DefaultAllocator: Allocator<N1, D>                 +
+    N2: Scalar + Zero + One + ClosedDiv + SupersetOf<N1>,
-                            Allocator<N1, DimNameSum<D, U1>> +
+    DefaultAllocator: Allocator<N1, D>
-                            Allocator<N2, DimNameSum<D, U1>> +
+        + Allocator<N1, DimNameSum<D, U1>>
-                            Allocator<N2, D> {
+        + Allocator<N2, DimNameSum<D, U1>>
+        + Allocator<N2, D>,
+{
     #[inline]
     fn to_superset(&self) -> VectorN<N2, DimNameSum<D, U1>> {
         let p: Point<N2, D> = self.to_superset();
@@ -56,13 +58,12 @@ impl<N1, N2, D> SubsetOf<VectorN<N2, DimNameSum<D, U1>>> for Point<N1, D>
 
     #[inline]
     fn is_in_subset(v: &VectorN<N2, DimNameSum<D, U1>>) -> bool {
-        ::is_convertible::<_, VectorN<N1, DimNameSum<D, U1>>>(v) &&
+        ::is_convertible::<_, VectorN<N1, DimNameSum<D, U1>>>(v) && !v[D::dim()].is_zero()
-        !v[D::dim()].is_zero()
     }
 
     #[inline]
     unsafe fn from_superset_unchecked(v: &VectorN<N2, DimNameSum<D, U1>>) -> Self {
-        let coords =  v.fixed_slice::<D, U1>(0, 0) / v[D::dim()];
+        let coords = v.fixed_slice::<D, U1>(0, 0) / v[D::dim()];
         Self::from_coordinates(::convert_unchecked(coords))
     }
 }

src/geometry/point_ops.rs

@@ -1,24 +1,26 @@
-use std::ops::{Neg, Add, AddAssign, Sub, SubAssign, Mul, MulAssign, Div, DivAssign, Index, IndexMut};
+use std::ops::{Add, AddAssign, Div, DivAssign, Index, IndexMut, Mul, MulAssign, Neg, Sub,
-use num::{Zero, One};
+               SubAssign};
+use num::{One, Zero};
 
-use alga::general::{ClosedNeg, ClosedAdd, ClosedSub, ClosedMul, ClosedDiv};
+use alga::general::{ClosedAdd, ClosedDiv, ClosedMul, ClosedNeg, ClosedSub};
 
-use core::{DefaultAllocator, Scalar, Vector, Matrix, VectorSum};
+use core::{DefaultAllocator, Matrix, Scalar, Vector, VectorSum};
 use core::dimension::{Dim, DimName, U1};
-use core::constraint::{ShapeConstraint, SameNumberOfRows, SameNumberOfColumns, AreMultipliable};
+use core::constraint::{AreMultipliable, SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
 use core::storage::Storage;
-use core::allocator::{SameShapeAllocator, Allocator};
+use core::allocator::{Allocator, SameShapeAllocator};
 
 use geometry::Point;
 
-
 /*
  *
  * Indexing.
  *
  */
 impl<N: Scalar, D: DimName> Index<usize> for Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     type Output = N;
 
     #[inline]
@@ -28,7 +30,9 @@ impl<N: Scalar, D: DimName> Index<usize> for Point<N, D>
 }
 
 impl<N: Scalar, D: DimName> IndexMut<usize> for Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn index_mut(&mut self, i: usize) -> &mut Self::Output {
         &mut self.coords[i]
@@ -41,7 +45,9 @@ impl<N: Scalar, D: DimName> IndexMut<usize> for Point<N, D>
  *
  */
 impl<N: Scalar + ClosedNeg, D: DimName> Neg for Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     type Output = Point<N, D>;
 
     #[inline]
@@ -51,7 +57,9 @@ impl<N: Scalar + ClosedNeg, D: DimName> Neg for Point<N, D>
 }
 
 impl<'a, N: Scalar + ClosedNeg, D: DimName> Neg for &'a Point<N, D>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     type Output = Point<N, D>;
 
     #[inline]
@@ -108,7 +116,6 @@ add_sub_impl!(Sub, sub, ClosedSub;
     self: Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
     Self::Output::from_coordinates(self.coords - right); );
 
-
 // Point + Vector
 add_sub_impl!(Add, add, ClosedAdd;
     (D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
@@ -130,7 +137,6 @@ add_sub_impl!(Add, add, ClosedAdd;
     self: Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
     Self::Output::from_coordinates(self.coords + right); );
 
-
 // XXX: replace by the shared macro: add_sub_assign_impl
 macro_rules! op_assign_impl(
     ($($TraitAssign: ident, $method_assign: ident, $bound: ident);* $(;)*) => {$(
@@ -165,7 +171,6 @@ op_assign_impl!(
     SubAssign, sub_assign, ClosedSub;
 );
 
-
 /*
  *
  * Matrix × Point
@@ -182,8 +187,6 @@ md_impl_all!(
     [ref ref] => Point::from_coordinates(self * &right.coords);
 );
 
-
-
 /*
  *
  * Point ×/÷ Scalar
@@ -249,8 +252,4 @@ macro_rules! left_scalar_mul_impl(
     )*}
 );
 
-left_scalar_mul_impl!(
+left_scalar_mul_impl!(u8, u16, u32, u64, usize, i8, i16, i32, i64, isize, f32, f64);
-    u8, u16, u32, u64, usize,
-    i8, i16, i32, i64, isize,
-    f32, f64
-);

src/geometry/quaternion.rs

@@ -13,9 +13,9 @@ use abomonation::Abomonation;
 
 use alga::general::Real;
 
-use core::{Unit, Vector3, Vector4, MatrixSlice, MatrixSliceMut, MatrixN, Matrix3};
+use core::{Matrix3, MatrixN, MatrixSlice, MatrixSliceMut, Unit, Vector3, Vector4};
 use core::dimension::{U1, U3, U4};
-use core::storage::{RStride, CStride};
+use core::storage::{CStride, RStride};
 
 use geometry::Rotation;
 
@@ -25,12 +25,13 @@ use geometry::Rotation;
 #[derive(Debug)]
 pub struct Quaternion<N: Real> {
     /// This quaternion as a 4D vector of coordinates in the `[ x, y, z, w ]` storage order.
-    pub coords: Vector4<N>
+    pub coords: Vector4<N>,
 }
 
 #[cfg(feature = "abomonation-serialize")]
 impl<N: Real> Abomonation for Quaternion<N>
-    where Vector4<N>: Abomonation
+where
+    Vector4<N>: Abomonation,
 {
     unsafe fn entomb(&self, writer: &mut Vec<u8>) {
         self.coords.entomb(writer)
@@ -45,7 +46,7 @@ impl<N: Real> Abomonation for Quaternion<N>
     }
 }
 
-impl<N: Real + Eq> Eq for Quaternion<N> { }
+impl<N: Real + Eq> Eq for Quaternion<N> {}
 
 impl<N: Real> PartialEq for Quaternion<N> {
     fn eq(&self, rhs: &Self) -> bool {
@@ -61,7 +62,7 @@ impl<N: Real + hash::Hash> hash::Hash for Quaternion<N> {
     }
 }
 
-impl<N: Real> Copy for Quaternion<N> { }
+impl<N: Real> Copy for Quaternion<N> {}
 
 impl<N: Real> Clone for Quaternion<N> {
     #[inline]
@@ -72,24 +73,30 @@ impl<N: Real> Clone for Quaternion<N> {
 
 #[cfg(feature = "serde-serialize")]
 impl<N: Real> serde::Serialize for Quaternion<N>
-where Owned<N, U4>: serde::Serialize {
+where
-
+    Owned<N, U4>: serde::Serialize,
+{
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-        where S: serde::Serializer {
+    where
-            self.coords.serialize(serializer)
+        S: serde::Serializer,
-        }
+    {
+        self.coords.serialize(serializer)
+    }
 }
 
 #[cfg(feature = "serde-serialize")]
 impl<'a, N: Real> serde::Deserialize<'a> for Quaternion<N>
-where Owned<N, U4>: serde::Deserialize<'a> {
+where
-
+    Owned<N, U4>: serde::Deserialize<'a>,
+{
     fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
-        where Des: serde::Deserializer<'a> {
+    where
-            let coords = Vector4::<N>::deserialize(deserializer)?;
+        Des: serde::Deserializer<'a>,
+    {
+        let coords = Vector4::<N>::deserialize(deserializer)?;
 
-            Ok(Quaternion::from_vector(coords))
+        Ok(Quaternion::from_vector(coords))
-        }
+    }
 }
 
 impl<N: Real> Quaternion<N> {
@@ -116,7 +123,12 @@ impl<N: Real> Quaternion<N> {
     /// Compute the conjugate of this quaternion.
     #[inline]
     pub fn conjugate(&self) -> Quaternion<N> {
-        let v = Vector4::new(-self.coords[0], -self.coords[1], -self.coords[2], self.coords[3]);
+        let v = Vector4::new(
+            -self.coords[0],
+            -self.coords[1],
+            -self.coords[2],
+            self.coords[3],
+        );
         Quaternion::from_vector(v)
     }
 
@@ -127,8 +139,7 @@ impl<N: Real> Quaternion<N> {
 
         if res.try_inverse_mut() {
             Some(res)
-        }
+        } else {
-        else {
             None
         }
     }
@@ -179,12 +190,10 @@ impl<N: Real> Quaternion<N> {
                 let angle = q.angle() / ::convert(2.0f64);
 
                 (n, angle, Some(axis))
-            }
+            } else {
-            else {
                 (n, N::zero(), None)
             }
-        }
+        } else {
-        else {
             (N::zero(), N::zero(), None)
         }
     }
@@ -192,15 +201,14 @@ impl<N: Real> Quaternion<N> {
     /// Compute the exponential of a quaternion.
     #[inline]
     pub fn exp(&self) -> Quaternion<N> {
-        let v  = self.vector();
+        let v = self.vector();
         let nn = v.norm_squared();
 
         if relative_eq!(nn, N::zero()) {
             Quaternion::identity()
-        }
+        } else {
-        else {
             let w_exp = self.scalar().exp();
-            let n  = nn.sqrt();
+            let n = nn.sqrt();
             let nv = v * (w_exp * n.sin() / n);
 
             Quaternion::from_parts(n.cos(), nv)
@@ -214,7 +222,7 @@ impl<N: Real> Quaternion<N> {
         let v = self.vector();
         let s = self.scalar();
 
-        Quaternion::from_parts(n.ln(), v.normalize() *  (s / n).acos())
+        Quaternion::from_parts(n.ln(), v.normalize() * (s / n).acos())
     }
 
     /// Raise the quaternion to a given floating power.
@@ -231,7 +239,9 @@ impl<N: Real> Quaternion<N> {
 
     /// The mutable vector part `(i, j, k)` of this quaternion.
     #[inline]
-    pub fn vector_mut(&mut self) -> MatrixSliceMut<N, U3, U1, RStride<N, U4, U1>, CStride<N, U4, U1>> {
+    pub fn vector_mut(
+        &mut self,
+    ) -> MatrixSliceMut<N, U3, U1, RStride<N, U4, U1>, CStride<N, U4, U1>> {
         self.coords.fixed_rows_mut::<U3>(0)
     }
 
@@ -250,8 +260,7 @@ impl<N: Real> Quaternion<N> {
 
         if relative_eq!(&norm_squared, &N::zero()) {
             false
-        }
+        } else {
-        else {
             self.conjugate_mut();
             self.coords /= norm_squared;
 
@@ -285,7 +294,12 @@ impl<N: Real + ApproxEq<Epsilon = N>> ApproxEq for Quaternion<N> {
     }
 
     #[inline]
-    fn relative_eq(&self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon) -> bool {
+    fn relative_eq(
+        &self,
+        other: &Self,
+        epsilon: Self::Epsilon,
+        max_relative: Self::Epsilon,
+    ) -> bool {
         self.as_vector().relative_eq(other.as_vector(), epsilon, max_relative) ||
         // Account for the double-covering of S², i.e. q = -q
        self.as_vector().iter().zip(other.as_vector().iter()).all(|(a, b)| a.relative_eq(&-*b, epsilon, max_relative))
@@ -299,17 +313,19 @@ impl<N: Real + ApproxEq<Epsilon = N>> ApproxEq for Quaternion<N> {
     }
 }
 
-
 impl<N: Real + fmt::Display> fmt::Display for Quaternion<N> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "Quaternion {} − ({}, {}, {})", self[3], self[0], self[1], self[2])
+        write!(
+            f,
+            "Quaternion {} − ({}, {}, {})",
+            self[3], self[0], self[1], self[2]
+        )
     }
 }
 
 /// A unit quaternions. May be used to represent a rotation.
 pub type UnitQuaternion<N> = Unit<Quaternion<N>>;
 
-
 impl<N: Real> UnitQuaternion<N> {
     /// Moves this unit quaternion into one that owns its data.
     #[inline]
@@ -333,8 +349,7 @@ impl<N: Real> UnitQuaternion<N> {
         // Handle innacuracies that make break `.acos`.
         if w >= N::one() {
             N::zero()
-        }
+        } else {
-        else {
             w.acos() * ::convert(2.0f64)
         }
     }
@@ -399,7 +414,8 @@ impl<N: Real> UnitQuaternion<N> {
     pub fn slerp(&self, other: &UnitQuaternion<N>, t: N) -> UnitQuaternion<N> {
         self.try_slerp(other, t, N::zero()).expect(
             "Unable to perform a spherical quaternion interpolation when they \
-             are 180 degree apart (the result is not unique).")
+             are 180 degree apart (the result is not unique).",
+        )
     }
 
     /// Computes the spherical linear interpolation between two unit quaternions or returns `None`
@@ -413,25 +429,28 @@ impl<N: Real> UnitQuaternion<N> {
     /// * `epsilon`: the value below which the sinus of the angle separating both quaternion
     /// must be to return `None`.
     #[inline]
-    pub fn try_slerp(&self, other: &UnitQuaternion<N>, t: N, epsilon: N) -> Option<UnitQuaternion<N>> {
+    pub fn try_slerp(
-
+        &self,
+        other: &UnitQuaternion<N>,
+        t: N,
+        epsilon: N,
+    ) -> Option<UnitQuaternion<N>> {
         let c_hang = self.coords.dot(&other.coords);
 
         // self == other
         if c_hang.abs() >= N::one() {
-            return Some(*self)
+            return Some(*self);
         }
 
-        let hang   = c_hang.acos();
+        let hang = c_hang.acos();
         let s_hang = (N::one() - c_hang * c_hang).sqrt();
 
         // FIXME: what if s_hang is 0.0 ? The result is not well-defined.
         if relative_eq!(s_hang, N::zero(), epsilon = epsilon) {
             None
-        }
+        } else {
-        else {
             let ta = ((N::one() - t) * hang).sin() / s_hang;
-            let tb = (t * hang).sin() / s_hang; 
+            let tb = (t * hang).sin() / s_hang;
             let res = self.as_ref() * ta + other.as_ref() * tb;
 
             Some(UnitQuaternion::new_unchecked(res))
@@ -453,25 +472,21 @@ impl<N: Real> UnitQuaternion<N> {
     /// The rotation axis of this unit quaternion or `None` if the rotation is zero.
     #[inline]
     pub fn axis(&self) -> Option<Unit<Vector3<N>>> {
-        let v =
+        let v = if self.quaternion().scalar() >= N::zero() {
-            if self.quaternion().scalar() >= N::zero() {
+            self.as_ref().vector().clone_owned()
-                self.as_ref().vector().clone_owned()
+        } else {
-            }
+            -self.as_ref().vector()
-            else {
+        };
-                -self.as_ref().vector()
-            };
 
         Unit::try_new(v, N::zero())
     }
 
-
     /// The rotation axis of this unit quaternion multiplied by the rotation agle.
     #[inline]
     pub fn scaled_axis(&self) -> Vector3<N> {
         if let Some(axis) = self.axis() {
             axis.unwrap() * self.angle()
-        }
+        } else {
-        else {
             Vector3::zero()
         }
     }
@@ -493,8 +508,7 @@ impl<N: Real> UnitQuaternion<N> {
     pub fn ln(&self) -> Quaternion<N> {
         if let Some(v) = self.axis() {
             Quaternion::from_parts(N::zero(), v.unwrap() * self.angle())
-        }
+        } else {
-        else {
             Quaternion::zero()
         }
     }
@@ -507,8 +521,7 @@ impl<N: Real> UnitQuaternion<N> {
     pub fn powf(&self, n: N) -> UnitQuaternion<N> {
         if let Some(v) = self.axis() {
             UnitQuaternion::from_axis_angle(&v, self.angle() * n)
-        }
+        } else {
-        else {
             UnitQuaternion::identity()
         }
     }
@@ -532,13 +545,17 @@ impl<N: Real> UnitQuaternion<N> {
         let jk = j * k * ::convert(2.0f64);
         let wi = w * i * ::convert(2.0f64);
 
-        Rotation::from_matrix_unchecked(
+        Rotation::from_matrix_unchecked(Matrix3::new(
-            Matrix3::new(
+            ww + ii - jj - kk,
-                ww + ii - jj - kk, ij - wk,           wj + ik,
+            ij - wk,
-                wk + ij,           ww - ii + jj - kk, jk - wi,
+            wj + ik,
-                ik - wj,           wi + jk,           ww - ii - jj + kk
+            wk + ij,
-            )
+            ww - ii + jj - kk,
-        )
+            jk - wi,
+            ik - wj,
+            wi + jk,
+            ww - ii - jj + kk,
+        ))
     }
 
     /// Converts this unit quaternion into its equivalent Euler angles.
@@ -556,15 +573,24 @@ impl<N: Real> UnitQuaternion<N> {
     }
 }
 
-
 impl<N: Real + fmt::Display> fmt::Display for UnitQuaternion<N> {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
         if let Some(axis) = self.axis() {
             let axis = axis.unwrap();
-            write!(f, "UnitQuaternion angle: {} − axis: ({}, {}, {})", self.angle(), axis[0], axis[1], axis[2])
+            write!(
-        }
+                f,
-        else {
+                "UnitQuaternion angle: {} − axis: ({}, {}, {})",
-            write!(f, "UnitQuaternion angle: {} − axis: (undefined)", self.angle())
+                self.angle(),
+                axis[0],
+                axis[1],
+                axis[2]
+            )
+        } else {
+            write!(
+                f,
+                "UnitQuaternion angle: {} − axis: (undefined)",
+                self.angle()
+            )
         }
     }
 }
@@ -588,8 +614,14 @@ impl<N: Real + ApproxEq<Epsilon = N>> ApproxEq for UnitQuaternion<N> {
     }
 
     #[inline]
-    fn relative_eq(&self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon) -> bool {
+    fn relative_eq(
-        self.as_ref().relative_eq(other.as_ref(), epsilon, max_relative)
+        &self,
+        other: &Self,
+        epsilon: Self::Epsilon,
+        max_relative: Self::Epsilon,
+    ) -> bool {
+        self.as_ref()
+            .relative_eq(other.as_ref(), epsilon, max_relative)
     }
 
     #[inline]

src/geometry/quaternion_alga.rs

@@ -1,16 +1,15 @@
 use num::Zero;
 
-use alga::general::{AbstractMagma, AbstractGroup, AbstractGroupAbelian, AbstractLoop,
+use alga::general::{AbstractGroup, AbstractGroupAbelian, AbstractLoop, AbstractMagma,
-                    AbstractMonoid, AbstractQuasigroup, AbstractSemigroup, AbstractModule,
+                    AbstractModule, AbstractMonoid, AbstractQuasigroup, AbstractSemigroup,
-                    Module, Real, Inverse, Multiplicative, Additive, Identity, Id};
+                    Additive, Id, Identity, Inverse, Module, Multiplicative, Real};
-use alga::linear::{Transformation, AffineTransformation, Similarity, Isometry, DirectIsometry,
+use alga::linear::{AffineTransformation, DirectIsometry, FiniteDimVectorSpace, Isometry,
-                   OrthogonalTransformation, VectorSpace, FiniteDimVectorSpace, NormedSpace,
+                   NormedSpace, OrthogonalTransformation, ProjectiveTransformation, Rotation,
-                   Rotation, ProjectiveTransformation};
+                   Similarity, Transformation, VectorSpace};
 
 use core::{Vector3, Vector4};
 use geometry::{Point3, Quaternion, UnitQuaternion};
 
-
 impl<N: Real> Identity<Multiplicative> for Quaternion<N> {
     #[inline]
     fn identity() -> Self {
@@ -65,7 +64,6 @@ impl_structures!(
     AbstractGroupAbelian<Additive>
 );
 
-
 /*
  *
  * Vector space.
@@ -141,8 +139,7 @@ impl<N: Real> NormedSpace for Quaternion<N> {
     fn try_normalize(&self, min_norm: N) -> Option<Self> {
         if let Some(v) = self.coords.try_normalize(min_norm) {
             Some(Self::from_vector(v))
-        }
+        } else {
-        else {
             None
         }
     }
@@ -220,9 +217,9 @@ impl<N: Real> ProjectiveTransformation<Point3<N>> for UnitQuaternion<N> {
 }
 
 impl<N: Real> AffineTransformation<Point3<N>> for UnitQuaternion<N> {
-    type Rotation          = Self;
+    type Rotation = Self;
     type NonUniformScaling = Id;
-    type Translation       = Id;
+    type Translation = Id;
 
     #[inline]
     fn decompose(&self) -> (Id, Self, Id, Self) {
@@ -261,7 +258,7 @@ impl<N: Real> AffineTransformation<Point3<N>> for UnitQuaternion<N> {
 }
 
 impl<N: Real> Similarity<Point3<N>> for UnitQuaternion<N> {
-    type Scaling  = Id;
+    type Scaling = Id;
 
     #[inline]
     fn translation(&self) -> Id {
@@ -287,8 +284,6 @@ macro_rules! marker_impl(
 
 marker_impl!(Isometry, DirectIsometry, OrthogonalTransformation);
 
-
-
 impl<N: Real> Rotation<Point3<N>> for UnitQuaternion<N> {
     #[inline]
     fn powf(&self, n: N) -> Option<Self> {

src/geometry/quaternion_construction.rs

@@ -6,24 +6,22 @@ use core::storage::Owned;
 use core::dimension::U4;
 
 use rand::{Rand, Rng};
-use num::{Zero, One};
+use num::{One, Zero};
 
 use alga::general::Real;
 
-use core::{Unit, Vector, Vector4, Vector3};
+use core::{Unit, Vector, Vector3, Vector4};
 use core::storage::Storage;
 use core::dimension::U3;
 
-use geometry::{Quaternion, UnitQuaternion, Rotation};
+use geometry::{Quaternion, Rotation, UnitQuaternion};
 
 impl<N: Real> Quaternion<N> {
     /// Creates a quaternion from a 4D vector. The quaternion scalar part corresponds to the `w`
     /// vector component.
     #[inline]
     pub fn from_vector(vector: Vector4<N>) -> Self {
-        Quaternion {
+        Quaternion { coords: vector }
-            coords: vector
-        }
     }
 
     /// Creates a new quaternion from its individual components. Note that the arguments order does
@@ -43,8 +41,9 @@ impl<N: Real> Quaternion<N> {
     #[inline]
     // FIXME: take a reference to `vector`?
     pub fn from_parts<SB>(scalar: N, vector: Vector<N, U3, SB>) -> Self
-        where SB: Storage<N, U3> {
+    where
-
+        SB: Storage<N, U3>,
+    {
         Self::new(scalar, vector[0], vector[1], vector[2])
     }
 
@@ -53,7 +52,9 @@ impl<N: Real> Quaternion<N> {
     /// Note that `axis` is assumed to be a unit vector.
     // FIXME: take a reference to `axis`?
     pub fn from_polar_decomposition<SB>(scale: N, theta: N, axis: Unit<Vector<N, U3, SB>>) -> Self
-        where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         let rot = UnitQuaternion::<N>::from_axis_angle(&axis, theta * ::convert(2.0f64));
 
         rot.unwrap() * scale
@@ -92,13 +93,19 @@ impl<N: Real + Rand> Rand for Quaternion<N> {
     }
 }
 
-#[cfg(feature="arbitrary")]
+#[cfg(feature = "arbitrary")]
 impl<N: Real + Arbitrary> Arbitrary for Quaternion<N>
-    where Owned<N, U4>: Send {
+where
+    Owned<N, U4>: Send,
+{
     #[inline]
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
-        Quaternion::new(N::arbitrary(g), N::arbitrary(g),
+        Quaternion::new(
-                            N::arbitrary(g), N::arbitrary(g))
+            N::arbitrary(g),
+            N::arbitrary(g),
+            N::arbitrary(g),
+            N::arbitrary(g),
+        )
     }
 }
 
@@ -113,7 +120,9 @@ impl<N: Real> UnitQuaternion<N> {
     /// (the rotation angle).
     #[inline]
     pub fn from_axis_angle<SB>(axis: &Unit<Vector<N, U3, SB>>, angle: N) -> Self
-        where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         let (sang, cang) = (angle / ::convert(2.0f64)).sin_cos();
 
         let q = Quaternion::from_parts(cang, axis.as_ref() * sang);
@@ -133,15 +142,16 @@ impl<N: Real> UnitQuaternion<N> {
     /// The primitive rotations are applied in order: 1 roll − 2 pitch − 3 yaw.
     #[inline]
     pub fn from_euler_angles(roll: N, pitch: N, yaw: N) -> Self {
-        let (sr, cr) = (roll  * ::convert(0.5f64)).sin_cos();
+        let (sr, cr) = (roll * ::convert(0.5f64)).sin_cos();
         let (sp, cp) = (pitch * ::convert(0.5f64)).sin_cos();
-        let (sy, cy) = (yaw   * ::convert(0.5f64)).sin_cos();
+        let (sy, cy) = (yaw * ::convert(0.5f64)).sin_cos();
 
         let q = Quaternion::new(
-                    cr * cp * cy + sr * sp * sy,
+            cr * cp * cy + sr * sp * sy,
-                    sr * cp * cy - cr * sp * sy,
+            sr * cp * cy - cr * sp * sy,
-                    cr * sp * cy + sr * cp * sy,
+            cr * sp * cy + sr * cp * sy,
-                    cr * cp * sy - sr * sp * cy);
+            cr * cp * sy - sr * sp * cy,
+        );
 
         Self::new_unchecked(q)
     }
@@ -157,32 +167,40 @@ impl<N: Real> UnitQuaternion<N> {
         let _0_25: N = ::convert(0.25);
 
         if tr > N::zero() {
-          let denom = (tr + N::one()).sqrt() * ::convert(2.0);
+            let denom = (tr + N::one()).sqrt() * ::convert(2.0);
-          res = Quaternion::new(_0_25 * denom,
+            res = Quaternion::new(
-                                    (rotmat[(2, 1)] - rotmat[(1, 2)]) / denom,
+                _0_25 * denom,
-                                    (rotmat[(0, 2)] - rotmat[(2, 0)]) / denom,
+                (rotmat[(2, 1)] - rotmat[(1, 2)]) / denom,
-                                    (rotmat[(1, 0)] - rotmat[(0, 1)]) / denom);
+                (rotmat[(0, 2)] - rotmat[(2, 0)]) / denom,
-        }
+                (rotmat[(1, 0)] - rotmat[(0, 1)]) / denom,
-        else if rotmat[(0, 0)] > rotmat[(1, 1)] && rotmat[(0, 0)] > rotmat[(2, 2)] {
+            );
-          let denom = (N::one() + rotmat[(0, 0)] - rotmat[(1, 1)] - rotmat[(2, 2)]).sqrt() * ::convert(2.0);
+        } else if rotmat[(0, 0)] > rotmat[(1, 1)] && rotmat[(0, 0)] > rotmat[(2, 2)] {
-          res = Quaternion::new((rotmat[(2, 1)] - rotmat[(1, 2)]) / denom,
+            let denom = (N::one() + rotmat[(0, 0)] - rotmat[(1, 1)] - rotmat[(2, 2)]).sqrt()
-                                    _0_25 * denom,
+                * ::convert(2.0);
-                                    (rotmat[(0, 1)] + rotmat[(1, 0)]) / denom,
+            res = Quaternion::new(
-                                    (rotmat[(0, 2)] + rotmat[(2, 0)]) / denom);
+                (rotmat[(2, 1)] - rotmat[(1, 2)]) / denom,
-        }
+                _0_25 * denom,
-        else if rotmat[(1, 1)] > rotmat[(2, 2)] {
+                (rotmat[(0, 1)] + rotmat[(1, 0)]) / denom,
-          let denom = (N::one() + rotmat[(1, 1)] - rotmat[(0, 0)] - rotmat[(2, 2)]).sqrt() * ::convert(2.0);
+                (rotmat[(0, 2)] + rotmat[(2, 0)]) / denom,
-          res = Quaternion::new((rotmat[(0, 2)] - rotmat[(2, 0)]) / denom,
+            );
-                                    (rotmat[(0, 1)] + rotmat[(1, 0)]) / denom,
+        } else if rotmat[(1, 1)] > rotmat[(2, 2)] {
-                                    _0_25 * denom,
+            let denom = (N::one() + rotmat[(1, 1)] - rotmat[(0, 0)] - rotmat[(2, 2)]).sqrt()
-                                    (rotmat[(1, 2)] + rotmat[(2, 1)]) / denom);
+                * ::convert(2.0);
-        }
+            res = Quaternion::new(
-        else {
+                (rotmat[(0, 2)] - rotmat[(2, 0)]) / denom,
-          let denom = (N::one() + rotmat[(2, 2)] - rotmat[(0, 0)] - rotmat[(1, 1)]).sqrt() * ::convert(2.0);
+                (rotmat[(0, 1)] + rotmat[(1, 0)]) / denom,
-          res = Quaternion::new((rotmat[(1, 0)] - rotmat[(0, 1)]) / denom,
+                _0_25 * denom,
-                                    (rotmat[(0, 2)] + rotmat[(2, 0)]) / denom,
+                (rotmat[(1, 2)] + rotmat[(2, 1)]) / denom,
-                                    (rotmat[(1, 2)] + rotmat[(2, 1)]) / denom,
+            );
-                                    _0_25 * denom);
+        } else {
+            let denom = (N::one() + rotmat[(2, 2)] - rotmat[(0, 0)] - rotmat[(1, 1)]).sqrt()
+                * ::convert(2.0);
+            res = Quaternion::new(
+                (rotmat[(1, 0)] - rotmat[(0, 1)]) / denom,
+                (rotmat[(0, 2)] + rotmat[(2, 0)]) / denom,
+                (rotmat[(1, 2)] + rotmat[(2, 1)]) / denom,
+                _0_25 * denom,
+            );
         }
 
         Self::new_unchecked(res)
@@ -192,26 +210,32 @@ impl<N: Real> UnitQuaternion<N> {
     /// direction.
     #[inline]
     pub fn rotation_between<SB, SC>(a: &Vector<N, U3, SB>, b: &Vector<N, U3, SC>) -> Option<Self>
-        where SB: Storage<N, U3>,
+    where
-              SC: Storage<N, U3> {
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
         Self::scaled_rotation_between(a, b, N::one())
     }
 
     /// The smallest rotation needed to make `a` and `b` collinear and point toward the same
     /// direction, raised to the power `s`.
     #[inline]
-    pub fn scaled_rotation_between<SB, SC>(a: &Vector<N, U3, SB>,
+    pub fn scaled_rotation_between<SB, SC>(
-                                           b: &Vector<N, U3, SC>,
+        a: &Vector<N, U3, SB>,
-                                           s: N)
+        b: &Vector<N, U3, SC>,
-                                           -> Option<Self>
+        s: N,
-        where SB: Storage<N, U3>,
+    ) -> Option<Self>
-              SC: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
         // FIXME: code duplication with Rotation.
-        if let (Some(na), Some(nb)) = (Unit::try_new(a.clone_owned(), N::zero()),
+        if let (Some(na), Some(nb)) = (
-                                       Unit::try_new(b.clone_owned(), N::zero())) {
+            Unit::try_new(a.clone_owned(), N::zero()),
+            Unit::try_new(b.clone_owned(), N::zero()),
+        ) {
             Self::scaled_rotation_between_axis(&na, &nb, s)
-        }
+        } else {
-        else {
             Some(Self::identity())
         }
     }
@@ -219,22 +243,29 @@ impl<N: Real> UnitQuaternion<N> {
     /// The unit quaternion needed to make `a` and `b` be collinear and point toward the same
     /// direction.
     #[inline]
-    pub fn rotation_between_axis<SB, SC>(a: &Unit<Vector<N, U3, SB>>, b: &Unit<Vector<N, U3, SC>>) -> Option<Self>
+    pub fn rotation_between_axis<SB, SC>(
-        where SB: Storage<N, U3>,
+        a: &Unit<Vector<N, U3, SB>>,
-              SC: Storage<N, U3> {
+        b: &Unit<Vector<N, U3, SC>>,
+    ) -> Option<Self>
+    where
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
         Self::scaled_rotation_between_axis(a, b, N::one())
     }
 
     /// The smallest rotation needed to make `a` and `b` collinear and point toward the same
     /// direction, raised to the power `s`.
     #[inline]
-    pub fn scaled_rotation_between_axis<SB, SC>(na: &Unit<Vector<N, U3, SB>>,
+    pub fn scaled_rotation_between_axis<SB, SC>(
-                                                nb: &Unit<Vector<N, U3, SC>>,
+        na: &Unit<Vector<N, U3, SB>>,
-                                                s:  N)
+        nb: &Unit<Vector<N, U3, SC>>,
-                                                -> Option<Self>
+        s: N,
-        where SB: Storage<N, U3>,
+    ) -> Option<Self>
-              SC: Storage<N, U3> {
+    where
-
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
         // FIXME: code duplication with Rotation.
         let c = na.cross(&nb);
 
@@ -243,29 +274,24 @@ impl<N: Real> UnitQuaternion<N> {
 
             // The cosinus may be out of [-1, 1] because of innacuracies.
             if cos <= -N::one() {
-                return None
+                return None;
+            } else if cos >= N::one() {
+                return Some(Self::identity());
+            } else {
+                return Some(Self::from_axis_angle(&axis, cos.acos() * s));
             }
-            else if cos >= N::one() {
+        } else if na.dot(&nb) < N::zero() {
-                return Some(Self::identity())
-            }
-            else {
-                return Some(Self::from_axis_angle(&axis, cos.acos() * s))
-            }
-        }
-        else if na.dot(&nb) < N::zero() {
             // PI
             //
             // The rotation axis is undefined but the angle not zero. This is not a
             // simple rotation.
             return None;
-        }
+        } else {
-        else {
             // Zero
             Some(Self::identity())
         }
     }
 
-
     /// Creates an unit quaternion that corresponds to the local frame of an observer standing at the
     /// origin and looking toward `dir`.
     ///
@@ -278,12 +304,13 @@ impl<N: Real> UnitQuaternion<N> {
     ///   to `dir`. Non-collinearity is not checked.
     #[inline]
     pub fn new_observer_frame<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
-    where SB: Storage<N, U3>,
+    where
-          SC: Storage<N, U3> {
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
         Self::from_rotation_matrix(&Rotation::<N, U3>::new_observer_frame(dir, up))
     }
 
-
     /// Builds a right-handed look-at view matrix without translation.
     ///
     /// This conforms to the common notion of right handed look-at matrix from the computer
@@ -296,8 +323,10 @@ impl<N: Real> UnitQuaternion<N> {
     ///   requirement of this parameter is to not be collinear to `target - eye`.
     #[inline]
     pub fn look_at_rh<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
-    where SB: Storage<N, U3>,
+    where
-          SC: Storage<N, U3> {
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
         Self::new_observer_frame(&-dir, up).inverse()
     }
 
@@ -313,9 +342,11 @@ impl<N: Real> UnitQuaternion<N> {
     ///   requirement of this parameter is to not be collinear to `target - eye`.
     #[inline]
     pub fn look_at_lh<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
-    where SB: Storage<N, U3>,
+    where
-          SC: Storage<N, U3> {
+        SB: Storage<N, U3>,
-            Self::new_observer_frame(dir, up).inverse()
+        SC: Storage<N, U3>,
+    {
+        Self::new_observer_frame(dir, up).inverse()
     }
 
     /// Creates a new unit quaternion rotation from a rotation axis scaled by the rotation angle.
@@ -323,7 +354,9 @@ impl<N: Real> UnitQuaternion<N> {
     /// If `axisangle` is zero, this returns the indentity rotation.
     #[inline]
     pub fn new<SB>(axisangle: Vector<N, U3, SB>) -> Self
-        where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         let two: N = ::convert(2.0f64);
         let q = Quaternion::<N>::from_parts(N::zero(), axisangle / two).exp();
         Self::new_unchecked(q)
@@ -335,7 +368,9 @@ impl<N: Real> UnitQuaternion<N> {
     /// Same as `Self::new(axisangle)`.
     #[inline]
     pub fn from_scaled_axis<SB>(axisangle: Vector<N, U3, SB>) -> Self
-        where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         Self::new(axisangle)
     }
 }
@@ -355,14 +390,15 @@ impl<N: Real + Rand> Rand for UnitQuaternion<N> {
     }
 }
 
-#[cfg(feature="arbitrary")]
+#[cfg(feature = "arbitrary")]
 impl<N: Real + Arbitrary> Arbitrary for UnitQuaternion<N>
-    where Owned<N, U4>: Send,
+where
-          Owned<N, U3>: Send {
+    Owned<N, U4>: Send,
+    Owned<N, U3>: Send,
+{
     #[inline]
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
         let axisangle = Vector3::arbitrary(g);
         UnitQuaternion::from_scaled_axis(axisangle)
-
     }
 }

src/geometry/quaternion_conversion.rs

@@ -1,16 +1,15 @@
 use num::Zero;
 
-use alga::general::{SubsetOf, SupersetOf, Real};
+use alga::general::{Real, SubsetOf, SupersetOf};
 use alga::linear::Rotation as AlgaRotation;
 
 #[cfg(feature = "mint")]
 use mint;
 
-use core::{Vector4, Matrix4};
+use core::{Matrix4, Vector4};
 use core::dimension::U3;
-use geometry::{Quaternion, UnitQuaternion, Rotation, Isometry, Similarity,
+use geometry::{Isometry, Point3, Quaternion, Rotation, Rotation3, Similarity, SuperTCategoryOf,
-               Transform, SuperTCategoryOf, TAffine, Translation,
+               TAffine, Transform, Translation, UnitQuaternion};
-               Rotation3, Point3};
 
 /*
  * This file provides the following conversions:
@@ -32,8 +31,10 @@ use geometry::{Quaternion, UnitQuaternion, Rotation, Isometry, Similarity,
  */
 
 impl<N1, N2> SubsetOf<Quaternion<N2>> for Quaternion<N1>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1> {
+    N1: Real,
+    N2: Real + SupersetOf<N1>,
+{
     #[inline]
     fn to_superset(&self) -> Quaternion<N2> {
         Quaternion::from_vector(self.coords.to_superset())
@@ -51,8 +52,10 @@ impl<N1, N2> SubsetOf<Quaternion<N2>> for Quaternion<N1>
 }
 
 impl<N1, N2> SubsetOf<UnitQuaternion<N2>> for UnitQuaternion<N1>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1> {
+    N1: Real,
+    N2: Real + SupersetOf<N1>,
+{
     #[inline]
     fn to_superset(&self) -> UnitQuaternion<N2> {
         UnitQuaternion::new_unchecked(self.as_ref().to_superset())
@@ -70,8 +73,10 @@ impl<N1, N2> SubsetOf<UnitQuaternion<N2>> for UnitQuaternion<N1>
 }
 
 impl<N1, N2> SubsetOf<Rotation<N2, U3>> for UnitQuaternion<N1>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1> {
+    N1: Real,
+    N2: Real + SupersetOf<N1>,
+{
     #[inline]
     fn to_superset(&self) -> Rotation3<N2> {
         let q: UnitQuaternion<N2> = self.to_superset();
@@ -90,11 +95,12 @@ impl<N1, N2> SubsetOf<Rotation<N2, U3>> for UnitQuaternion<N1>
     }
 }
 
-
 impl<N1, N2, R> SubsetOf<Isometry<N2, U3, R>> for UnitQuaternion<N1>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          R:  AlgaRotation<Point3<N2>> + SupersetOf<UnitQuaternion<N1>> {
+    N2: Real + SupersetOf<N1>,
+    R: AlgaRotation<Point3<N2>> + SupersetOf<UnitQuaternion<N1>>,
+{
     #[inline]
     fn to_superset(&self) -> Isometry<N2, U3, R> {
         Isometry::from_parts(Translation::identity(), ::convert_ref(self))
@@ -111,11 +117,12 @@ impl<N1, N2, R> SubsetOf<Isometry<N2, U3, R>> for UnitQuaternion<N1>
     }
 }
 
-
 impl<N1, N2, R> SubsetOf<Similarity<N2, U3, R>> for UnitQuaternion<N1>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          R:  AlgaRotation<Point3<N2>> + SupersetOf<UnitQuaternion<N1>> {
+    N2: Real + SupersetOf<N1>,
+    R: AlgaRotation<Point3<N2>> + SupersetOf<UnitQuaternion<N1>>,
+{
     #[inline]
     fn to_superset(&self) -> Similarity<N2, U3, R> {
         Similarity::from_isometry(::convert_ref(self), N2::one())
@@ -123,8 +130,7 @@ impl<N1, N2, R> SubsetOf<Similarity<N2, U3, R>> for UnitQuaternion<N1>
 
     #[inline]
     fn is_in_subset(sim: &Similarity<N2, U3, R>) -> bool {
-        sim.isometry.translation.vector.is_zero() &&
+        sim.isometry.translation.vector.is_zero() && sim.scaling() == N2::one()
-        sim.scaling() == N2::one()
     }
 
     #[inline]
@@ -133,11 +139,12 @@ impl<N1, N2, R> SubsetOf<Similarity<N2, U3, R>> for UnitQuaternion<N1>
     }
 }
 
-
 impl<N1, N2, C> SubsetOf<Transform<N2, U3, C>> for UnitQuaternion<N1>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          C:  SuperTCategoryOf<TAffine> {
+    N2: Real + SupersetOf<N1>,
+    C: SuperTCategoryOf<TAffine>,
+{
     #[inline]
     fn to_superset(&self) -> Transform<N2, U3, C> {
         Transform::from_matrix_unchecked(self.to_homogeneous().to_superset())
@@ -154,7 +161,6 @@ impl<N1, N2, C> SubsetOf<Transform<N2, U3, C>> for UnitQuaternion<N1>
     }
 }
 
-
 impl<N1: Real, N2: Real + SupersetOf<N1>> SubsetOf<Matrix4<N2>> for UnitQuaternion<N1> {
     #[inline]
     fn to_superset(&self) -> Matrix4<N2> {

src/geometry/quaternion_coordinates.rs

@@ -7,7 +7,6 @@ use core::coordinates::IJKW;
 
 use geometry::Quaternion;
 
-
 impl<N: Real> Deref for Quaternion<N> {
     type Target = IJKW<N>;
 

src/geometry/quaternion_ops.rs

@@ -50,16 +50,17 @@
  *
  */
 
-use std::ops::{Index, IndexMut, Neg, Add, AddAssign, Mul, MulAssign, Sub, SubAssign, Div, DivAssign};
+use std::ops::{Add, AddAssign, Div, DivAssign, Index, IndexMut, Mul, MulAssign, Neg, Sub,
+               SubAssign};
 
 use alga::general::Real;
 
-use core::{DefaultAllocator, Vector, Vector3, Unit};
+use core::{DefaultAllocator, Unit, Vector, Vector3};
 use core::storage::Storage;
 use core::allocator::Allocator;
 use core::dimension::{U1, U3, U4};
 
-use geometry::{Quaternion, UnitQuaternion, Point3, Rotation};
+use geometry::{Point3, Quaternion, Rotation, UnitQuaternion};
 
 impl<N: Real> Index<usize> for Quaternion<N> {
     type Output = N;
@@ -96,7 +97,6 @@ macro_rules! quaternion_op_impl(
     }
 );
 
-
 // Quaternion + Quaternion
 quaternion_op_impl!(
     Add, add;
@@ -126,7 +126,6 @@ quaternion_op_impl!(
     Quaternion::from_vector(self.coords + rhs.coords);
     );
 
-
 // Quaternion - Quaternion
 quaternion_op_impl!(
     Sub, sub;
@@ -156,7 +155,6 @@ quaternion_op_impl!(
     Quaternion::from_vector(self.coords - rhs.coords);
     );
 
-
 // Quaternion × Quaternion
 quaternion_op_impl!(
     Mul, mul;
@@ -489,8 +487,6 @@ quaternion_op_impl!(
     Unit::new_unchecked(self * rhs.unwrap());
     );
 
-
-
 macro_rules! scalar_op_impl(
     ($($Op: ident, $op: ident, $OpAssign: ident, $op_assign: ident);* $(;)*) => {$(
         impl<N: Real> $Op<N> for Quaternion<N> {
@@ -599,7 +595,6 @@ quaternion_op_impl!(
     self: Quaternion<N>, rhs: Quaternion<N>;
     self.coords += rhs.coords; );
 
-
 // Quaternion -= Quaternion
 quaternion_op_impl!(
     SubAssign, sub_assign;

src/geometry/reflection.rs

@@ -1,6 +1,6 @@
 use alga::general::Real;
-use core::{DefaultAllocator, Scalar, Unit, Matrix, Vector};
+use core::{DefaultAllocator, Matrix, Scalar, Unit, Vector};
-use core::constraint::{ShapeConstraint, SameNumberOfRows, DimEq, AreMultipliable};
+use core::constraint::{AreMultipliable, DimEq, SameNumberOfRows, ShapeConstraint};
 use core::allocator::Allocator;
 use dimension::{Dim, DimName, U1};
 use storage::{Storage, StorageMut};
@@ -9,8 +9,8 @@ use geometry::Point;
 
 /// A reflection wrt. a plane.
 pub struct Reflection<N: Scalar, D: Dim, S: Storage<N, D>> {
-    axis:  Vector<N, D, S>,
+    axis: Vector<N, D, S>,
-    bias:  N
+    bias: N,
 }
 
 impl<N: Real, D: Dim, S: Storage<N, D>> Reflection<N, D, S> {
@@ -19,14 +19,22 @@ impl<N: Real, D: Dim, S: Storage<N, D>> Reflection<N, D, S> {
     /// The bias is the position of the plane on the axis. In particular, a bias equal to zero
     /// represents a plane that passes through the origin.
     pub fn new(axis: Unit<Vector<N, D, S>>, bias: N) -> Reflection<N, D, S> {
-        Reflection { axis: axis.unwrap(), bias: bias }
+        Reflection {
+            axis: axis.unwrap(),
+            bias: bias,
+        }
     }
 
     /// Creates a new reflection wrt. the plane orthogonal to the given axis and that contains the
     /// point `pt`.
-    pub fn new_containing_point(axis: Unit<Vector<N, D, S>>, pt: &Point<N, D>) -> Reflection<N, D, S>
+    pub fn new_containing_point(
-        where D: DimName,
+        axis: Unit<Vector<N, D, S>>,
-              DefaultAllocator: Allocator<N, D> {
+        pt: &Point<N, D>,
+    ) -> Reflection<N, D, S>
+    where
+        D: DimName,
+        DefaultAllocator: Allocator<N, D>,
+    {
         let bias = pt.coords.dot(axis.as_ref());
         Self::new(axis, bias)
     }
@@ -39,27 +47,30 @@ impl<N: Real, D: Dim, S: Storage<N, D>> Reflection<N, D, S> {
     // FIXME: naming convension: reflect_to, reflect_assign ?
     /// Applies the reflection to the columns of `rhs`.
     pub fn reflect<R2: Dim, C2: Dim, S2>(&self, rhs: &mut Matrix<N, R2, C2, S2>)
-        where S2: StorageMut<N, R2, C2>,
+    where
-              ShapeConstraint: SameNumberOfRows<R2, D> {
+        S2: StorageMut<N, R2, C2>,
-
+        ShapeConstraint: SameNumberOfRows<R2, D>,
-        for i in 0 .. rhs.ncols() {
+    {
+        for i in 0..rhs.ncols() {
             // NOTE: we borrow the column twice here. First it is borrowed immutably for the
             // dot product, and then mutably. Somehow, this allows significantly
             // better optimizations of the dot product from the compiler.
             let m_two: N = ::convert(-2.0f64);
-            let factor  = (rhs.column(i).dot(&self.axis) - self.bias) * m_two;
+            let factor = (rhs.column(i).dot(&self.axis) - self.bias) * m_two;
             rhs.column_mut(i).axpy(factor, &self.axis, N::one());
         }
     }
 
     /// Applies the reflection to the rows of `rhs`.
-    pub fn reflect_rows<R2: Dim, C2: Dim, S2, S3>(&self,
+    pub fn reflect_rows<R2: Dim, C2: Dim, S2, S3>(
-                                                  rhs:  &mut Matrix<N, R2, C2, S2>,
+        &self,
-                                                  work: &mut Vector<N, R2, S3>)
+        rhs: &mut Matrix<N, R2, C2, S2>,
-        where S2: StorageMut<N, R2, C2>,
+        work: &mut Vector<N, R2, S3>,
-              S3: StorageMut<N, R2>,
+    ) where
-              ShapeConstraint: DimEq<C2, D> + AreMultipliable<R2, C2, D, U1> {
+        S2: StorageMut<N, R2, C2>,
-
+        S3: StorageMut<N, R2>,
+        ShapeConstraint: DimEq<C2, D> + AreMultipliable<R2, C2, D, U1>,
+    {
         rhs.mul_to(&self.axis, work);
 
         if !self.bias.is_zero() {

src/geometry/rotation.rs

@@ -1,4 +1,4 @@
-use num::{Zero, One};
+use num::{One, Zero};
 use std::hash;
 use std::fmt;
 use approx::ApproxEq;
@@ -14,34 +14,42 @@ use abomonation::Abomonation;
 
 use alga::general::Real;
 
-use core::{DefaultAllocator, Scalar, MatrixN};
+use core::{DefaultAllocator, MatrixN, Scalar};
-use core::dimension::{DimName, DimNameSum, DimNameAdd, U1};
+use core::dimension::{DimName, DimNameAdd, DimNameSum, U1};
 use core::allocator::Allocator;
 
-
 /// A rotation matrix.
 #[repr(C)]
 #[derive(Debug)]
 pub struct Rotation<N: Scalar, D: DimName>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
-    matrix: MatrixN<N, D>
+    DefaultAllocator: Allocator<N, D, D>,
+{
+    matrix: MatrixN<N, D>,
 }
 
 impl<N: Scalar + hash::Hash, D: DimName + hash::Hash> hash::Hash for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D>,
+where
-          <DefaultAllocator as Allocator<N, D, D>>::Buffer: hash::Hash {
+    DefaultAllocator: Allocator<N, D, D>,
+    <DefaultAllocator as Allocator<N, D, D>>::Buffer: hash::Hash,
+{
     fn hash<H: hash::Hasher>(&self, state: &mut H) {
         self.matrix.hash(state)
     }
 }
 
 impl<N: Scalar, D: DimName> Copy for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D>,
+where
-          <DefaultAllocator as Allocator<N, D, D>>::Buffer: Copy { }
+    DefaultAllocator: Allocator<N, D, D>,
+    <DefaultAllocator as Allocator<N, D, D>>::Buffer: Copy,
+{
+}
 
 impl<N: Scalar, D: DimName> Clone for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D>,
+where
-          <DefaultAllocator as Allocator<N, D, D>>::Buffer: Clone {
+    DefaultAllocator: Allocator<N, D, D>,
+    <DefaultAllocator as Allocator<N, D, D>>::Buffer: Clone,
+{
     #[inline]
     fn clone(&self) -> Self {
         Rotation::from_matrix_unchecked(self.matrix.clone())
@@ -50,10 +58,11 @@ impl<N: Scalar, D: DimName> Clone for Rotation<N, D>
 
 #[cfg(feature = "abomonation-serialize")]
 impl<N, D> Abomonation for Rotation<N, D>
-    where N: Scalar,
+where
-          D: DimName,
+    N: Scalar,
-          MatrixN<N, D>: Abomonation,
+    D: DimName,
-          DefaultAllocator: Allocator<N, D, D>
+    MatrixN<N, D>: Abomonation,
+    DefaultAllocator: Allocator<N, D, D>,
 {
     unsafe fn entomb(&self, writer: &mut Vec<u8>) {
         self.matrix.entomb(writer)
@@ -70,30 +79,38 @@ impl<N, D> Abomonation for Rotation<N, D>
 
 #[cfg(feature = "serde-serialize")]
 impl<N: Scalar, D: DimName> serde::Serialize for Rotation<N, D>
-where DefaultAllocator: Allocator<N, D, D>,
+where
-      Owned<N, D, D>: serde::Serialize {
+    DefaultAllocator: Allocator<N, D, D>,
-
+    Owned<N, D, D>: serde::Serialize,
+{
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
-        where S: serde::Serializer {
+    where
-            self.matrix.serialize(serializer)
+        S: serde::Serializer,
-        }
+    {
+        self.matrix.serialize(serializer)
+    }
 }
 
 #[cfg(feature = "serde-serialize")]
 impl<'a, N: Scalar, D: DimName> serde::Deserialize<'a> for Rotation<N, D>
-where DefaultAllocator: Allocator<N, D, D>,
+where
-      Owned<N, D, D>: serde::Deserialize<'a> {
+    DefaultAllocator: Allocator<N, D, D>,
-
+    Owned<N, D, D>: serde::Deserialize<'a>,
+{
     fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
-        where Des: serde::Deserializer<'a> {
+    where
-            let matrix = MatrixN::<N, D>::deserialize(deserializer)?;
+        Des: serde::Deserializer<'a>,
+    {
+        let matrix = MatrixN::<N, D>::deserialize(deserializer)?;
 
-            Ok(Rotation::from_matrix_unchecked(matrix))
+        Ok(Rotation::from_matrix_unchecked(matrix))
-        }
+    }
 }
 
 impl<N: Scalar, D: DimName> Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
+    DefaultAllocator: Allocator<N, D, D>,
+{
     /// A reference to the underlying matrix representation of this rotation.
     #[inline]
     pub fn matrix(&self) -> &MatrixN<N, D> {
@@ -119,9 +136,11 @@ impl<N: Scalar, D: DimName> Rotation<N, D>
     /// Converts this rotation into its equivalent homogeneous transformation matrix.
     #[inline]
     pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
-        where N: Zero + One,
+    where
-              D: DimNameAdd<U1>,
+        N: Zero + One,
-              DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>> {
+        D: DimNameAdd<U1>,
+        DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
+    {
         let mut res = MatrixN::<N, DimNameSum<D, U1>>::identity();
         res.fixed_slice_mut::<D, D>(0, 0).copy_from(&self.matrix);
 
@@ -133,11 +152,12 @@ impl<N: Scalar, D: DimName> Rotation<N, D>
     /// The matrix squareness is checked but not its orthonormality.
     #[inline]
     pub fn from_matrix_unchecked(matrix: MatrixN<N, D>) -> Rotation<N, D> {
-        assert!(matrix.is_square(), "Unable to create a rotation from a non-square matrix.");
+        assert!(
+            matrix.is_square(),
+            "Unable to create a rotation from a non-square matrix."
+        );
 
-        Rotation {
+        Rotation { matrix: matrix }
-            matrix: matrix
-        }
     }
 
     /// Transposes `self`.
@@ -166,10 +186,15 @@ impl<N: Scalar, D: DimName> Rotation<N, D>
 }
 
 impl<N: Scalar + Eq, D: DimName> Eq for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> { }
+where
+    DefaultAllocator: Allocator<N, D, D>,
+{
+}
 
 impl<N: Scalar + PartialEq, D: DimName> PartialEq for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
+    DefaultAllocator: Allocator<N, D, D>,
+{
     #[inline]
     fn eq(&self, right: &Rotation<N, D>) -> bool {
         self.matrix == right.matrix
@@ -177,9 +202,11 @@ impl<N: Scalar + PartialEq, D: DimName> PartialEq for Rotation<N, D>
 }
 
 impl<N, D: DimName> ApproxEq for Rotation<N, D>
-    where N: Scalar + ApproxEq,
+where
-          DefaultAllocator: Allocator<N, D, D>,
+    N: Scalar + ApproxEq,
-          N::Epsilon: Copy {
+    DefaultAllocator: Allocator<N, D, D>,
+    N::Epsilon: Copy,
+{
     type Epsilon = N::Epsilon;
 
     #[inline]
@@ -198,8 +225,14 @@ impl<N, D: DimName> ApproxEq for Rotation<N, D>
     }
 
     #[inline]
-    fn relative_eq(&self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon) -> bool {
+    fn relative_eq(
-        self.matrix.relative_eq(&other.matrix, epsilon, max_relative)
+        &self,
+        other: &Self,
+        epsilon: Self::Epsilon,
+        max_relative: Self::Epsilon,
+    ) -> bool {
+        self.matrix
+            .relative_eq(&other.matrix, epsilon, max_relative)
     }
 
     #[inline]
@@ -214,9 +247,10 @@ impl<N, D: DimName> ApproxEq for Rotation<N, D>
  *
  */
 impl<N, D: DimName> fmt::Display for Rotation<N, D>
-    where N: Real + fmt::Display,
+where
-          DefaultAllocator: Allocator<N, D, D> +
+    N: Real + fmt::Display,
-                            Allocator<usize, D, D> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<usize, D, D>,
+{
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
         let precision = f.precision().unwrap_or(3);
 

src/geometry/rotation_alga.rs

@@ -1,15 +1,14 @@
-use alga::general::{AbstractMagma, AbstractGroup, AbstractLoop, AbstractMonoid, AbstractQuasigroup,
+use alga::general::{AbstractGroup, AbstractLoop, AbstractMagma, AbstractMonoid,
-                    AbstractSemigroup, Real, Inverse, Multiplicative, Identity, Id};
+                    AbstractQuasigroup, AbstractSemigroup, Id, Identity, Inverse, Multiplicative,
-use alga::linear::{self, Transformation, Similarity, AffineTransformation, Isometry,
+                    Real};
-                   DirectIsometry, OrthogonalTransformation, ProjectiveTransformation};
+use alga::linear::{self, AffineTransformation, DirectIsometry, Isometry, OrthogonalTransformation,
+                   ProjectiveTransformation, Similarity, Transformation};
 
 use core::{DefaultAllocator, VectorN};
 use core::dimension::DimName;
 use core::allocator::Allocator;
 
-use geometry::{Rotation, Point};
+use geometry::{Point, Rotation};
-
-
 
 /*
  *
@@ -17,7 +16,9 @@ use geometry::{Rotation, Point};
  *
  */
 impl<N: Real, D: DimName> Identity<Multiplicative> for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
+    DefaultAllocator: Allocator<N, D, D>,
+{
     #[inline]
     fn identity() -> Self {
         Self::identity()
@@ -25,7 +26,9 @@ impl<N: Real, D: DimName> Identity<Multiplicative> for Rotation<N, D>
 }
 
 impl<N: Real, D: DimName> Inverse<Multiplicative> for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
+    DefaultAllocator: Allocator<N, D, D>,
+{
     #[inline]
     fn inverse(&self) -> Self {
         self.transpose()
@@ -38,7 +41,9 @@ impl<N: Real, D: DimName> Inverse<Multiplicative> for Rotation<N, D>
 }
 
 impl<N: Real, D: DimName> AbstractMagma<Multiplicative> for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
+    DefaultAllocator: Allocator<N, D, D>,
+{
     #[inline]
     fn operate(&self, rhs: &Self) -> Self {
         self * rhs
@@ -66,8 +71,9 @@ impl_multiplicative_structures!(
  *
  */
 impl<N: Real, D: DimName> Transformation<Point<N, D>> for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, D> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+{
     #[inline]
     fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
         self * pt
@@ -80,8 +86,9 @@ impl<N: Real, D: DimName> Transformation<Point<N, D>> for Rotation<N, D>
 }
 
 impl<N: Real, D: DimName> ProjectiveTransformation<Point<N, D>> for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, D> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+{
     #[inline]
     fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
         Point::from_coordinates(self.inverse_transform_vector(&pt.coords))
@@ -94,11 +101,12 @@ impl<N: Real, D: DimName> ProjectiveTransformation<Point<N, D>> for Rotation<N,
 }
 
 impl<N: Real, D: DimName> AffineTransformation<Point<N, D>> for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, D> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
-    type Rotation          = Self;
+{
+    type Rotation = Self;
     type NonUniformScaling = Id;
-    type Translation       = Id;
+    type Translation = Id;
 
     #[inline]
     fn decompose(&self) -> (Id, Self, Id, Self) {
@@ -136,11 +144,11 @@ impl<N: Real, D: DimName> AffineTransformation<Point<N, D>> for Rotation<N, D>
     }
 }
 
-
 impl<N: Real, D: DimName> Similarity<Point<N, D>> for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, D> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
-    type Scaling  = Id;
+{
+    type Scaling = Id;
 
     #[inline]
     fn translation(&self) -> Id {
@@ -168,11 +176,11 @@ macro_rules! marker_impl(
 
 marker_impl!(Isometry, DirectIsometry, OrthogonalTransformation);
 
-
 /// Subgroups of the n-dimensional rotation group `SO(n)`.
 impl<N: Real, D: DimName> linear::Rotation<Point<N, D>> for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> +
+where
-                            Allocator<N, D> {
+    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
+{
     #[inline]
     fn powf(&self, _: N) -> Option<Self> {
         // XXX: Add the general case.
@@ -270,5 +278,3 @@ impl<N: Real> SquareMatrix for Rotation<N> {
 
 impl<N: Real> InversibleSquareMatrix for Rotation<N> { }
 */
-
-

src/geometry/rotation_construction.rs

@@ -1,4 +1,4 @@
-use num::{Zero, One};
+use num::{One, Zero};
 
 use alga::general::{ClosedAdd, ClosedMul};
 
@@ -9,8 +9,10 @@ use core::allocator::Allocator;
 use geometry::Rotation;
 
 impl<N, D: DimName> Rotation<N, D>
-    where N: Scalar + Zero + One,
+where
-          DefaultAllocator: Allocator<N, D, D> {
+    N: Scalar + Zero + One,
+    DefaultAllocator: Allocator<N, D, D>,
+{
     /// Creates a new square identity rotation of the given `dimension`.
     #[inline]
     pub fn identity() -> Rotation<N, D> {
@@ -19,8 +21,10 @@ impl<N, D: DimName> Rotation<N, D>
 }
 
 impl<N, D: DimName> One for Rotation<N, D>
-    where N: Scalar + Zero + One + ClosedAdd + ClosedMul,
+where
-          DefaultAllocator: Allocator<N, D, D> {
+    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
+    DefaultAllocator: Allocator<N, D, D>,
+{
     #[inline]
     fn one() -> Self {
         Self::identity()

src/geometry/rotation_conversion.rs

@@ -7,12 +7,11 @@ use alga::linear::Rotation as AlgaRotation;
 use mint;
 
 use core::{DefaultAllocator, MatrixN};
-use core::dimension::{DimName, DimNameSum, DimNameAdd, DimMin, U1};
+use core::dimension::{DimMin, DimName, DimNameAdd, DimNameSum, U1};
 use core::allocator::Allocator;
 
-use geometry::{Point, Translation, Rotation, UnitQuaternion, UnitComplex, Isometry,
+use geometry::{Isometry, Point, Rotation, Rotation2, Rotation3, Similarity, SuperTCategoryOf,
-               Similarity, Transform, SuperTCategoryOf, TAffine,
+               TAffine, Transform, Translation, UnitComplex, UnitQuaternion};
-               Rotation2, Rotation3};
 
 /*
  * This file provides the following conversions:
@@ -29,12 +28,12 @@ use geometry::{Point, Translation, Rotation, UnitQuaternion, UnitComplex, Isomet
 
 */
 
-
 impl<N1, N2, D: DimName> SubsetOf<Rotation<N2, D>> for Rotation<N1, D>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          DefaultAllocator: Allocator<N1, D, D> +
+    N2: Real + SupersetOf<N1>,
-                            Allocator<N2, D, D> {
+    DefaultAllocator: Allocator<N1, D, D> + Allocator<N2, D, D>,
+{
     #[inline]
     fn to_superset(&self) -> Rotation<N2, D> {
         Rotation::from_matrix_unchecked(self.matrix().to_superset())
@@ -51,10 +50,11 @@ impl<N1, N2, D: DimName> SubsetOf<Rotation<N2, D>> for Rotation<N1, D>
     }
 }
 
-
 impl<N1, N2> SubsetOf<UnitQuaternion<N2>> for Rotation3<N1>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1> {
+    N1: Real,
+    N2: Real + SupersetOf<N1>,
+{
     #[inline]
     fn to_superset(&self) -> UnitQuaternion<N2> {
         let q = UnitQuaternion::<N1>::from_rotation_matrix(self);
@@ -74,8 +74,10 @@ impl<N1, N2> SubsetOf<UnitQuaternion<N2>> for Rotation3<N1>
 }
 
 impl<N1, N2> SubsetOf<UnitComplex<N2>> for Rotation2<N1>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1> {
+    N1: Real,
+    N2: Real + SupersetOf<N1>,
+{
     #[inline]
     fn to_superset(&self) -> UnitComplex<N2> {
         let q = UnitComplex::<N1>::from_rotation_matrix(self);
@@ -94,14 +96,13 @@ impl<N1, N2> SubsetOf<UnitComplex<N2>> for Rotation2<N1>
     }
 }
 
-
-
 impl<N1, N2, D: DimName, R> SubsetOf<Isometry<N2, D, R>> for Rotation<N1, D>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          R:  AlgaRotation<Point<N2, D>> + SupersetOf<Rotation<N1, D>>,
+    N2: Real + SupersetOf<N1>,
-          DefaultAllocator: Allocator<N1, D, D> +
+    R: AlgaRotation<Point<N2, D>> + SupersetOf<Rotation<N1, D>>,
-                            Allocator<N2, D> {
+    DefaultAllocator: Allocator<N1, D, D> + Allocator<N2, D>,
+{
     #[inline]
     fn to_superset(&self) -> Isometry<N2, D, R> {
         Isometry::from_parts(Translation::identity(), ::convert_ref(self))
@@ -118,13 +119,13 @@ impl<N1, N2, D: DimName, R> SubsetOf<Isometry<N2, D, R>> for Rotation<N1, D>
     }
 }
 
-
 impl<N1, N2, D: DimName, R> SubsetOf<Similarity<N2, D, R>> for Rotation<N1, D>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          R:  AlgaRotation<Point<N2, D>> + SupersetOf<Rotation<N1, D>>,
+    N2: Real + SupersetOf<N1>,
-          DefaultAllocator: Allocator<N1, D, D> +
+    R: AlgaRotation<Point<N2, D>> + SupersetOf<Rotation<N1, D>>,
-                            Allocator<N2, D> {
+    DefaultAllocator: Allocator<N1, D, D> + Allocator<N2, D>,
+{
     #[inline]
     fn to_superset(&self) -> Similarity<N2, D, R> {
         Similarity::from_parts(Translation::identity(), ::convert_ref(self), N2::one())
@@ -132,8 +133,7 @@ impl<N1, N2, D: DimName, R> SubsetOf<Similarity<N2, D, R>> for Rotation<N1, D>
 
     #[inline]
     fn is_in_subset(sim: &Similarity<N2, D, R>) -> bool {
-        sim.isometry.translation.vector.is_zero() &&
+        sim.isometry.translation.vector.is_zero() && sim.scaling() == N2::one()
-        sim.scaling() == N2::one()
     }
 
     #[inline]
@@ -142,18 +142,19 @@ impl<N1, N2, D: DimName, R> SubsetOf<Similarity<N2, D, R>> for Rotation<N1, D>
     }
 }
 
-
 impl<N1, N2, D, C> SubsetOf<Transform<N2, D, C>> for Rotation<N1, D>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          C:  SuperTCategoryOf<TAffine>,
+    N2: Real + SupersetOf<N1>,
-          D:  DimNameAdd<U1> +
+    C: SuperTCategoryOf<TAffine>,
-              DimMin<D, Output = D>, // needed by .is_special_orthogonal()
+    D: DimNameAdd<U1> + DimMin<D, Output = D>, // needed by .is_special_orthogonal()
-          DefaultAllocator: Allocator<N1, D, D> +
+    DefaultAllocator: Allocator<N1, D, D>
-                            Allocator<N2, D, D> +
+        + Allocator<N2, D, D>
-                            Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>> +
+        + Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>>
-                            Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>> +
+        + Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>>
-                            Allocator<(usize, usize), D> { // needed by .is_special_orthogonal()
+        + Allocator<(usize, usize), D>,
+{
+    // needed by .is_special_orthogonal()
     #[inline]
     fn to_superset(&self) -> Transform<N2, D, C> {
         Transform::from_matrix_unchecked(self.to_homogeneous().to_superset())
@@ -170,17 +171,18 @@ impl<N1, N2, D, C> SubsetOf<Transform<N2, D, C>> for Rotation<N1, D>
     }
 }
 
-
 impl<N1, N2, D> SubsetOf<MatrixN<N2, DimNameSum<D, U1>>> for Rotation<N1, D>
-    where N1: Real,
+where
-          N2: Real + SupersetOf<N1>,
+    N1: Real,
-          D:  DimNameAdd<U1> +
+    N2: Real + SupersetOf<N1>,
-              DimMin<D, Output = D>, // needed by .is_special_orthogonal()
+    D: DimNameAdd<U1> + DimMin<D, Output = D>, // needed by .is_special_orthogonal()
-          DefaultAllocator: Allocator<N1, D, D> +
+    DefaultAllocator: Allocator<N1, D, D>
-                            Allocator<N2, D, D> +
+        + Allocator<N2, D, D>
-                            Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>> +
+        + Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>>
-                            Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>> +
+        + Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>>
-                            Allocator<(usize, usize), D> { // needed by .is_special_orthogonal()
+        + Allocator<(usize, usize), D>,
+{
+    // needed by .is_special_orthogonal()
     #[inline]
     fn to_superset(&self) -> MatrixN<N2, DimNameSum<D, U1>> {
         self.to_homogeneous().to_superset()
@@ -188,7 +190,7 @@ impl<N1, N2, D> SubsetOf<MatrixN<N2, DimNameSum<D, U1>>> for Rotation<N1, D>
 
     #[inline]
     fn is_in_subset(m: &MatrixN<N2, DimNameSum<D, U1>>) -> bool {
-        let rot    = m.fixed_slice::<D, D>(0, 0);
+        let rot = m.fixed_slice::<D, D>(0, 0);
         let bottom = m.fixed_slice::<U1, D>(D::dim(), 0);
 
         // Scalar types agree.
@@ -196,8 +198,7 @@ impl<N1, N2, D> SubsetOf<MatrixN<N2, DimNameSum<D, U1>>> for Rotation<N1, D>
         // The block part is a rotation.
         rot.is_special_orthogonal(N2::default_epsilon() * ::convert(100.0)) &&
         // The bottom row is (0, 0, ..., 1)
-        bottom.iter().all(|e| e.is_zero()) &&
+        bottom.iter().all(|e| e.is_zero()) && m[(D::dim(), D::dim())] == N2::one()
-        m[(D::dim(), D::dim())] == N2::one()
     }
 
     #[inline]

src/geometry/rotation_ops.rs

@@ -16,22 +16,23 @@
  * Matrix   ×= Rotation
  */
 
+use std::ops::{Div, DivAssign, Index, Mul, MulAssign};
+use num::{One, Zero};
 
-use std::ops::{Mul, MulAssign, Div, DivAssign, Index};
+use alga::general::{ClosedAdd, ClosedMul};
-use num::{Zero, One};
 
-use alga::general::{ClosedMul, ClosedAdd};
+use core::{DefaultAllocator, Matrix, MatrixMN, Scalar};
-
-use core::{DefaultAllocator, Scalar, Matrix, MatrixMN};
 use core::dimension::{Dim, DimName, U1};
-use core::constraint::{ShapeConstraint, AreMultipliable};
+use core::constraint::{AreMultipliable, ShapeConstraint};
 use core::storage::Storage;
 use core::allocator::Allocator;
 
 use geometry::{Point, Rotation};
 
 impl<N: Scalar, D: DimName> Index<(usize, usize)> for Rotation<N, D>
-    where DefaultAllocator: Allocator<N, D, D> {
+where
+    DefaultAllocator: Allocator<N, D, D>,
+{
     type Output = N;
 
     #[inline]
@@ -102,7 +103,6 @@ md_impl_all!(
     [ref ref] => self * right.inverse();
 );
 
-
 // Rotation × Point
 // FIXME: we don't handle properly non-zero origins here. Do we want this to be the intended
 // behavior?
@@ -118,7 +118,6 @@ md_impl_all!(
     [ref ref] => self.matrix() * right;
 );
 
-
 // Rotation ×= Rotation
 // FIXME: try not to call `inverse()` explicitly.
 
@@ -130,7 +129,6 @@ md_assign_impl_all!(
     [ref] => unsafe { self.matrix_mut().mul_assign(right.matrix()) };
 );
 
-
 md_assign_impl_all!(
     DivAssign, div_assign;
     (D, D), (D, D) for D: DimName;
@@ -153,7 +151,6 @@ md_assign_impl_all!(
     [ref] => self.mul_assign(right.matrix());
 );
 
-
 md_assign_impl_all!(
     DivAssign, div_assign;
     (R1, C1), (C1, C1) for R1: DimName, C1: DimName;

src/geometry/rotation_specialization.rs

@@ -8,12 +8,11 @@ use num::Zero;
 use rand::{Rand, Rng};
 use alga::general::Real;
 
-use core::{Unit, Vector, Vector1, MatrixN, VectorN, Vector3};
+use core::{MatrixN, Unit, Vector, Vector1, Vector3, VectorN};
 use core::dimension::{U1, U2, U3};
 use core::storage::Storage;
 
-use geometry::{UnitComplex, Rotation2, Rotation3};
+use geometry::{Rotation2, Rotation3, UnitComplex};
-
 
 /*
  *
@@ -40,17 +39,25 @@ impl<N: Real> Rotation2<N> {
     /// This is the rotation `R` such that `(R * a).angle(b) == 0 && (R * a).dot(b).is_positive()`.
     #[inline]
     pub fn rotation_between<SB, SC>(a: &Vector<N, U2, SB>, b: &Vector<N, U2, SC>) -> Self
-        where SB: Storage<N, U2>,
+    where
-              SC: Storage<N, U2> {
+        SB: Storage<N, U2>,
+        SC: Storage<N, U2>,
+    {
         ::convert(UnitComplex::rotation_between(a, b).to_rotation_matrix())
     }
 
     /// The smallest rotation needed to make `a` and `b` collinear and point toward the same
     /// direction, raised to the power `s`.
     #[inline]
-    pub fn scaled_rotation_between<SB, SC>(a: &Vector<N, U2, SB>, b: &Vector<N, U2, SC>, s: N) -> Self
+    pub fn scaled_rotation_between<SB, SC>(
-        where SB: Storage<N, U2>,
+        a: &Vector<N, U2, SB>,
-              SC: Storage<N, U2> {
+        b: &Vector<N, U2, SC>,
+        s: N,
+    ) -> Self
+    where
+        SB: Storage<N, U2>,
+        SC: Storage<N, U2>,
+    {
         ::convert(UnitComplex::scaled_rotation_between(a, b, s).to_rotation_matrix())
     }
 }
@@ -97,16 +104,17 @@ impl<N: Real + Rand> Rand for Rotation2<N> {
     }
 }
 
-#[cfg(feature="arbitrary")]
+#[cfg(feature = "arbitrary")]
 impl<N: Real + Arbitrary> Arbitrary for Rotation2<N>
-where Owned<N, U2, U2>: Send {
+where
+    Owned<N, U2, U2>: Send,
+{
     #[inline]
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
         Self::new(N::arbitrary(g))
     }
 }
 
-
 /*
  *
  * 3D Rotation matrix.
@@ -131,33 +139,32 @@ impl<N: Real> Rotation3<N> {
 
     /// Builds a 3D rotation matrix from an axis and a rotation angle.
     pub fn from_axis_angle<SB>(axis: &Unit<Vector<N, U3, SB>>, angle: N) -> Self
-        where SB: Storage<N, U3> {
+    where
+        SB: Storage<N, U3>,
+    {
         if angle.is_zero() {
             Self::identity()
-        }
+        } else {
-        else {
+            let ux = axis.as_ref()[0];
-            let ux         = axis.as_ref()[0];
+            let uy = axis.as_ref()[1];
-            let uy         = axis.as_ref()[1];
+            let uz = axis.as_ref()[2];
-            let uz         = axis.as_ref()[2];
+            let sqx = ux * ux;
-            let sqx        = ux * ux;
+            let sqy = uy * uy;
-            let sqy        = uy * uy;
+            let sqz = uz * uz;
-            let sqz        = uz * uz;
             let (sin, cos) = angle.sin_cos();
-            let one_m_cos  = N::one() - cos;
+            let one_m_cos = N::one() - cos;
 
-            Self::from_matrix_unchecked(
+            Self::from_matrix_unchecked(MatrixN::<N, U3>::new(
-                MatrixN::<N, U3>::new(
+                (sqx + (N::one() - sqx) * cos),
-                    (sqx + (N::one() - sqx) * cos),
+                (ux * uy * one_m_cos - uz * sin),
-                    (ux * uy * one_m_cos - uz * sin),
+                (ux * uz * one_m_cos + uy * sin),
-                    (ux * uz * one_m_cos + uy * sin),
+                (ux * uy * one_m_cos + uz * sin),
-
+                (sqy + (N::one() - sqy) * cos),
-                    (ux * uy * one_m_cos + uz * sin),
+                (uy * uz * one_m_cos - ux * sin),
-                    (sqy + (N::one() - sqy) * cos),
+                (ux * uz * one_m_cos - uy * sin),
-                    (uy * uz * one_m_cos - ux * sin),
+                (uy * uz * one_m_cos + ux * sin),
-
+                (sqz + (N::one() - sqz) * cos),
-                    (ux * uz * one_m_cos - uy * sin),
+            ))
-                    (uy * uz * one_m_cos + ux * sin),
-                    (sqz + (N::one() - sqz) * cos)))
         }
     }
 
@@ -169,12 +176,17 @@ impl<N: Real> Rotation3<N> {
         let (sp, cp) = pitch.sin_cos();
         let (sy, cy) = yaw.sin_cos();
 
-        Self::from_matrix_unchecked(
+        Self::from_matrix_unchecked(MatrixN::<N, U3>::new(
-            MatrixN::<N, U3>::new(
+            cy * cp,
-                cy * cp, cy * sp * sr - sy * cr, cy * sp * cr + sy * sr,
+            cy * sp * sr - sy * cr,
-                sy * cp, sy * sp * sr + cy * cr, sy * sp * cr - cy * sr,
+            cy * sp * cr + sy * sr,
-                -sp,     cp * sr,                cp * cr)
+            sy * cp,
-            )
+            sy * sp * sr + cy * cr,
+            sy * sp * cr - cy * sr,
+            -sp,
+            cp * sr,
+            cp * cr,
+        ))
     }
 
     /// Creates Euler angles from a rotation.
@@ -207,19 +219,27 @@ impl<N: Real> Rotation3<N> {
     ///   to `dir`. Non-collinearity is not checked.
     #[inline]
     pub fn new_observer_frame<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
-    where SB: Storage<N, U3>,
+    where
-          SC: Storage<N, U3> {
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
         let zaxis = dir.normalize();
         let xaxis = up.cross(&zaxis).normalize();
         let yaxis = zaxis.cross(&xaxis).normalize();
 
         Self::from_matrix_unchecked(MatrixN::<N, U3>::new(
-                xaxis.x, yaxis.x, zaxis.x,
+            xaxis.x,
-                xaxis.y, yaxis.y, zaxis.y,
+            yaxis.x,
-                xaxis.z, yaxis.z, zaxis.z))
+            zaxis.x,
+            xaxis.y,
+            yaxis.y,
+            zaxis.y,
+            xaxis.z,
+            yaxis.z,
+            zaxis.z,
+        ))
     }
 
-
     /// Builds a right-handed look-at view matrix without translation.
     ///
     /// This conforms to the common notion of right handed look-at matrix from the computer
@@ -232,8 +252,10 @@ impl<N: Real> Rotation3<N> {
     ///   requirement of this parameter is to not be collinear to `target - eye`.
     #[inline]
     pub fn look_at_rh<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
-    where SB: Storage<N, U3>,
+    where
-          SC: Storage<N, U3> {
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
         Self::new_observer_frame(&dir.neg(), up).inverse()
     }
 
@@ -249,9 +271,11 @@ impl<N: Real> Rotation3<N> {
     ///   requirement of this parameter is to not be collinear to `target - eye`.
     #[inline]
     pub fn look_at_lh<SB, SC>(dir: &Vector<N, U3, SB>, up: &Vector<N, U3, SC>) -> Self
-    where SB: Storage<N, U3>,
+    where
-          SC: Storage<N, U3> {
+        SB: Storage<N, U3>,
-            Self::new_observer_frame(dir, up).inverse()
+        SC: Storage<N, U3>,
+    {
+        Self::new_observer_frame(dir, up).inverse()
     }
 
     /// The rotation matrix required to align `a` and `b` but with its angl.
@@ -259,24 +283,31 @@ impl<N: Real> Rotation3<N> {
     /// This is the rotation `R` such that `(R * a).angle(b) == 0 && (R * a).dot(b).is_positive()`.
     #[inline]
     pub fn rotation_between<SB, SC>(a: &Vector<N, U3, SB>, b: &Vector<N, U3, SC>) -> Option<Self>
-        where SB: Storage<N, U3>,
+    where
-              SC: Storage<N, U3> {
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
         Self::scaled_rotation_between(a, b, N::one())
     }
 
     /// The smallest rotation needed to make `a` and `b` collinear and point toward the same
     /// direction, raised to the power `s`.
     #[inline]
-    pub fn scaled_rotation_between<SB, SC>(a: &Vector<N, U3, SB>, b: &Vector<N, U3, SC>, n: N)
+    pub fn scaled_rotation_between<SB, SC>(
-        -> Option<Self>
+        a: &Vector<N, U3, SB>,
-        where SB: Storage<N, U3>,
+        b: &Vector<N, U3, SC>,
-              SC: Storage<N, U3> {
+        n: N,
+    ) -> Option<Self>
+    where
+        SB: Storage<N, U3>,
+        SC: Storage<N, U3>,
+    {
         // FIXME: code duplication with Rotation.
         if let (Some(na), Some(nb)) = (a.try_normalize(N::zero()), b.try_normalize(N::zero())) {
             let c = na.cross(&nb);
 
             if let Some(axis) = Unit::try_new(c, N::default_epsilon()) {
-                return Some(Self::from_axis_angle(&axis, na.dot(&nb).acos() * n))
+                return Some(Self::from_axis_angle(&axis, na.dot(&nb).acos() * n));
             }
 
             // Zero or PI.
@@ -295,7 +326,9 @@ impl<N: Real> Rotation3<N> {
     /// The rotation angle.
     #[inline]
     pub fn angle(&self) -> N {
-        ((self.matrix()[(0, 0)] + self.matrix()[(1, 1)] + self.matrix()[(2, 2)] - N::one()) / ::convert(2.0)).acos()
+        ((self.matrix()[(0, 0)] + self.matrix()[(1, 1)] + self.matrix()[(2, 2)] - N::one())
+            / ::convert(2.0))
+            .acos()
     }
 
     /// The rotation axis. Returns `None` if the rotation angle is zero or PI.
@@ -304,7 +337,8 @@ impl<N: Real> Rotation3<N> {
         let axis = VectorN::<N, U3>::new(
             self.matrix()[(2, 1)] - self.matrix()[(1, 2)],
             self.matrix()[(0, 2)] - self.matrix()[(2, 0)],
-            self.matrix()[(1, 0)] - self.matrix()[(0, 1)]);
+            self.matrix()[(1, 0)] - self.matrix()[(0, 1)],
+        );
 
         Unit::try_new(axis, N::default_epsilon())
     }
@@ -314,8 +348,7 @@ impl<N: Real> Rotation3<N> {
     pub fn scaled_axis(&self) -> Vector3<N> {
         if let Some(axis) = self.axis() {
             axis.unwrap() * self.angle()
-        }
+        } else {
-        else {
             Vector::zero()
         }
     }
@@ -340,12 +373,10 @@ impl<N: Real> Rotation3<N> {
     pub fn powf(&self, n: N) -> Rotation3<N> {
         if let Some(axis) = self.axis() {
             Self::from_axis_angle(&axis, self.angle() * n)
-        }
+        } else if self.matrix()[(0, 0)] < N::zero() {
-        else if self.matrix()[(0, 0)] < N::zero() {
             let minus_id = MatrixN::<N, U3>::from_diagonal_element(-N::one());
             Self::from_matrix_unchecked(minus_id)
-        }
+        } else {
-        else {
             Self::identity()
         }
     }
@@ -358,10 +389,12 @@ impl<N: Real + Rand> Rand for Rotation3<N> {
     }
 }
 
-#[cfg(feature="arbitrary")]
+#[cfg(feature = "arbitrary")]
 impl<N: Real + Arbitrary> Arbitrary for Rotation3<N>
-where Owned<N, U3, U3>: Send,
+where
-      Owned<N, U3>: Send {
+    Owned<N, U3, U3>: Send,
+    Owned<N, U3>: Send,
+{
     #[inline]
     fn arbitrary<G: Gen>(g: &mut G) -> Self {
         Self::new(VectorN::arbitrary(g))

src/geometry/similarity.rs

@@ -12,40 +12,39 @@ use alga::general::{Real, SubsetOf};
 use alga::linear::Rotation;
 
 use core::{DefaultAllocator, MatrixN};
-use core::dimension::{DimName, DimNameSum, DimNameAdd, U1};
+use core::dimension::{DimName, DimNameAdd, DimNameSum, U1};
 use core::storage::Owned;
 use core::allocator::Allocator;
-use geometry::{Point, Translation, Isometry};
+use geometry::{Isometry, Point, Translation};
-
-
 
 /// A similarity, i.e., an uniform scaling, followed by a rotation, followed by a translation.
 #[repr(C)]
 #[derive(Debug)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(
+           serde(bound(serialize = "N: serde::Serialize,
-        serialize = "N: serde::Serialize,
                      R: serde::Serialize,
                      DefaultAllocator: Allocator<N, D>,
                      Owned<N, D>: serde::Serialize")))]
 #[cfg_attr(feature = "serde-serialize",
-    serde(bound(
+           serde(bound(deserialize = "N: serde::Deserialize<'de>,
-        deserialize = "N: serde::Deserialize<'de>,
                        R: serde::Deserialize<'de>,
                        DefaultAllocator: Allocator<N, D>,
                        Owned<N, D>: serde::Deserialize<'de>")))]
 pub struct Similarity<N: Real, D: DimName, R>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     /// The part of this similarity that does not include the scaling factor.
     pub isometry: Isometry<N, D, R>,
-    scaling:      N
+    scaling: N,
 }
 
 #[cfg(feature = "abomonation-serialize")]
 impl<N: Real, D: DimName, R> Abomonation for Similarity<N, D, R>
-    where Isometry<N, D, R>: Abomonation,
+where
-          DefaultAllocator: Allocator<N, D>
+    Isometry<N, D, R>: Abomonation,
+    DefaultAllocator: Allocator<N, D>,
 {
     unsafe fn entomb(&self, writer: &mut Vec<u8>) {
         self.isometry.entomb(writer)
@@ -60,9 +59,12 @@ impl<N: Real, D: DimName, R> Abomonation for Similarity<N, D, R>
     }
 }
 
-impl<N: Real + hash::Hash, D: DimName + hash::Hash, R: hash::Hash> hash::Hash for Similarity<N, D, R>
+impl<N: Real + hash::Hash, D: DimName + hash::Hash, R: hash::Hash> hash::Hash
-    where DefaultAllocator: Allocator<N, D>,
+    for Similarity<N, D, R>
-          Owned<N, D>: hash::Hash {
+where
+    DefaultAllocator: Allocator<N, D>,
+    Owned<N, D>: hash::Hash,
+{
     fn hash<H: hash::Hasher>(&self, state: &mut H) {
         self.isometry.hash(state);
         self.scaling.hash(state);
@@ -70,12 +72,16 @@ impl<N: Real + hash::Hash, D: DimName + hash::Hash, R: hash::Hash> hash::Hash fo
 }
 
 impl<N: Real, D: DimName + Copy, R: Rotation<Point<N, D>> + Copy> Copy for Similarity<N, D, R>
-    where DefaultAllocator: Allocator<N, D>,
+where
-          Owned<N, D>: Copy {
+    DefaultAllocator: Allocator<N, D>,
+    Owned<N, D>: Copy,
+{
 }
 
 impl<N: Real, D: DimName, R: Rotation<Point<N, D>> + Clone> Clone for Similarity<N, D, R>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn clone(&self) -> Self {
         Similarity::from_isometry(self.isometry.clone(), self.scaling)
@@ -83,22 +89,31 @@ impl<N: Real, D: DimName, R: Rotation<Point<N, D>> + Clone> Clone for Similarity
 }
 
 impl<N: Real, D: DimName, R> Similarity<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     /// Creates a new similarity from its rotational and translational parts.
     #[inline]
-    pub fn from_parts(translation: Translation<N, D>, rotation: R, scaling: N) -> Similarity<N, D, R> {
+    pub fn from_parts(
+        translation: Translation<N, D>,
+        rotation: R,
+        scaling: N,
+    ) -> Similarity<N, D, R> {
         Similarity::from_isometry(Isometry::from_parts(translation, rotation), scaling)
     }
 
     /// Creates a new similarity from its rotational and translational parts.
     #[inline]
     pub fn from_isometry(isometry: Isometry<N, D, R>, scaling: N) -> Similarity<N, D, R> {
-        assert!(!relative_eq!(scaling, N::zero()), "The scaling factor must not be zero.");
+        assert!(
+            !relative_eq!(scaling, N::zero()),
+            "The scaling factor must not be zero."
+        );
 
         Similarity {
             isometry: isometry,
-            scaling:  scaling
+            scaling: scaling,
         }
     }
 
@@ -127,7 +142,10 @@ impl<N: Real, D: DimName, R> Similarity<N, D, R>
     /// The scaling factor of this similarity transformation.
     #[inline]
     pub fn set_scaling(&mut self, scaling: N) {
-        assert!(!relative_eq!(scaling, N::zero()), "The similarity scaling factor must not be zero.");
+        assert!(
+            !relative_eq!(scaling, N::zero()),
+            "The similarity scaling factor must not be zero."
+        );
 
         self.scaling = scaling;
     }
@@ -141,7 +159,10 @@ impl<N: Real, D: DimName, R> Similarity<N, D, R>
     /// The similarity transformation that applies a scaling factor `scaling` before `self`.
     #[inline]
     pub fn prepend_scaling(&self, scaling: N) -> Self {
-        assert!(!relative_eq!(scaling, N::zero()), "The similarity scaling factor must not be zero.");
+        assert!(
+            !relative_eq!(scaling, N::zero()),
+            "The similarity scaling factor must not be zero."
+        );
 
         Self::from_isometry(self.isometry.clone(), self.scaling * scaling)
     }
@@ -149,18 +170,25 @@ impl<N: Real, D: DimName, R> Similarity<N, D, R>
     /// The similarity transformation that applies a scaling factor `scaling` after `self`.
     #[inline]
     pub fn append_scaling(&self, scaling: N) -> Self {
-        assert!(!relative_eq!(scaling, N::zero()), "The similarity scaling factor must not be zero.");
+        assert!(
+            !relative_eq!(scaling, N::zero()),
+            "The similarity scaling factor must not be zero."
+        );
 
         Self::from_parts(
             Translation::from_vector(&self.isometry.translation.vector * scaling),
             self.isometry.rotation.clone(),
-            self.scaling * scaling)
+            self.scaling * scaling,
+        )
     }
 
     /// Sets `self` to the similarity transformation that applies a scaling factor `scaling` before `self`.
     #[inline]
     pub fn prepend_scaling_mut(&mut self, scaling: N) {
-        assert!(!relative_eq!(scaling, N::zero()), "The similarity scaling factor must not be zero.");
+        assert!(
+            !relative_eq!(scaling, N::zero()),
+            "The similarity scaling factor must not be zero."
+        );
 
         self.scaling *= scaling
     }
@@ -168,7 +196,10 @@ impl<N: Real, D: DimName, R> Similarity<N, D, R>
     /// Sets `self` to the similarity transformation that applies a scaling factor `scaling` after `self`.
     #[inline]
     pub fn append_scaling_mut(&mut self, scaling: N) {
-        assert!(!relative_eq!(scaling, N::zero()), "The similarity scaling factor must not be zero.");
+        assert!(
+            !relative_eq!(scaling, N::zero()),
+            "The similarity scaling factor must not be zero."
+        );
 
         self.isometry.translation.vector *= scaling;
         self.scaling *= scaling;
@@ -201,19 +232,22 @@ impl<N: Real, D: DimName, R> Similarity<N, D, R>
     }
 }
 
-
 // NOTE: we don't require `R: Rotation<...>` here becaus this is not useful for the implementation
 // and makes it harde to use it, e.g., for Transform × Isometry implementation.
 // This is OK since all constructors of the isometry enforce the Rotation bound already (and
 // explicit struct construction is prevented by the private scaling factor).
 impl<N: Real, D: DimName, R> Similarity<N, D, R>
-    where DefaultAllocator: Allocator<N, D> {
+where
+    DefaultAllocator: Allocator<N, D>,
+{
     /// Converts this similarity into its equivalent homogeneous transformation matrix.
     #[inline]
     pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
-        where D: DimNameAdd<U1>,
+    where
-              R: SubsetOf<MatrixN<N, DimNameSum<D, U1>>>,
+        D: DimNameAdd<U1>,
-              DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>> {
+        R: SubsetOf<MatrixN<N, DimNameSum<D, U1>>>,
+        DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
+    {
         let mut res = self.isometry.to_homogeneous();
 
         for e in res.fixed_slice_mut::<D, D>(0, 0).iter_mut() {
@@ -224,15 +258,18 @@ impl<N: Real, D: DimName, R> Similarity<N, D, R>
     }
 }
 
-
 impl<N: Real, D: DimName, R> Eq for Similarity<N, D, R>
-    where R: Rotation<Point<N, D>> + Eq,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>> + Eq,
+    DefaultAllocator: Allocator<N, D>,
+{
 }
 
 impl<N: Real, D: DimName, R> PartialEq for Similarity<N, D, R>
-    where R: Rotation<Point<N, D>> + PartialEq,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>> + PartialEq,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn eq(&self, right: &Similarity<N, D, R>) -> bool {
         self.isometry == right.isometry && self.scaling == right.scaling
@@ -240,9 +277,11 @@ impl<N: Real, D: DimName, R> PartialEq for Similarity<N, D, R>
 }
 
 impl<N: Real, D: DimName, R> ApproxEq for Similarity<N, D, R>
-    where R: Rotation<Point<N, D>> + ApproxEq<Epsilon = N::Epsilon>,
+where
-          DefaultAllocator: Allocator<N, D>,
+    R: Rotation<Point<N, D>> + ApproxEq<Epsilon = N::Epsilon>,
-          N::Epsilon: Copy {
+    DefaultAllocator: Allocator<N, D>,
+    N::Epsilon: Copy,
+{
     type Epsilon = N::Epsilon;
 
     #[inline]
@@ -261,15 +300,22 @@ impl<N: Real, D: DimName, R> ApproxEq for Similarity<N, D, R>
     }
 
     #[inline]
-    fn relative_eq(&self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon) -> bool {
+    fn relative_eq(
-        self.isometry.relative_eq(&other.isometry, epsilon, max_relative) &&
+        &self,
-        self.scaling.relative_eq(&other.scaling, epsilon, max_relative)
+        other: &Self,
+        epsilon: Self::Epsilon,
+        max_relative: Self::Epsilon,
+    ) -> bool {
+        self.isometry
+            .relative_eq(&other.isometry, epsilon, max_relative)
+            && self.scaling
+                .relative_eq(&other.scaling, epsilon, max_relative)
     }
 
     #[inline]
     fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
-        self.isometry.ulps_eq(&other.isometry, epsilon, max_ulps) &&
+        self.isometry.ulps_eq(&other.isometry, epsilon, max_ulps)
-        self.scaling.ulps_eq(&other.scaling, epsilon, max_ulps)
+            && self.scaling.ulps_eq(&other.scaling, epsilon, max_ulps)
     }
 }
 
@@ -279,9 +325,11 @@ impl<N: Real, D: DimName, R> ApproxEq for Similarity<N, D, R>
  *
  */
 impl<N, D: DimName, R> fmt::Display for Similarity<N, D, R>
-    where N: Real + fmt::Display,
+where
-          R: Rotation<Point<N, D>> + fmt::Display,
+    N: Real + fmt::Display,
-          DefaultAllocator: Allocator<N, D> + Allocator<usize, D> {
+    R: Rotation<Point<N, D>> + fmt::Display,
+    DefaultAllocator: Allocator<N, D> + Allocator<usize, D>,
+{
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
         let precision = f.precision().unwrap_or(3);
 

src/geometry/similarity_alga.rs

@@ -1,14 +1,13 @@
-use alga::general::{AbstractMagma, AbstractGroup, AbstractLoop, AbstractMonoid, AbstractQuasigroup,
+use alga::general::{AbstractGroup, AbstractLoop, AbstractMagma, AbstractMonoid,
-                    AbstractSemigroup, Real, Inverse, Multiplicative, Identity};
+                    AbstractQuasigroup, AbstractSemigroup, Identity, Inverse, Multiplicative, Real};
-use alga::linear::{Transformation, AffineTransformation, Rotation, ProjectiveTransformation};
+use alga::linear::{AffineTransformation, ProjectiveTransformation, Rotation, Transformation};
 use alga::linear::Similarity as AlgaSimilarity;
 
 use core::{DefaultAllocator, VectorN};
 use core::dimension::DimName;
 use core::allocator::Allocator;
 
-use geometry::{Similarity, Translation, Point};
+use geometry::{Point, Similarity, Translation};
-
 
 /*
  *
@@ -16,8 +15,10 @@ use geometry::{Similarity, Translation, Point};
  *
  */
 impl<N: Real, D: DimName, R> Identity<Multiplicative> for Similarity<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn identity() -> Self {
         Self::identity()
@@ -25,8 +26,10 @@ impl<N: Real, D: DimName, R> Identity<Multiplicative> for Similarity<N, D, R>
 }
 
 impl<N: Real, D: DimName, R> Inverse<Multiplicative> for Similarity<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn inverse(&self) -> Self {
         self.inverse()
@@ -39,8 +42,10 @@ impl<N: Real, D: DimName, R> Inverse<Multiplicative> for Similarity<N, D, R>
 }
 
 impl<N: Real, D: DimName, R> AbstractMagma<Multiplicative> for Similarity<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn operate(&self, rhs: &Self) -> Self {
         self * rhs
@@ -69,8 +74,10 @@ impl_multiplicative_structures!(
  *
  */
 impl<N: Real, D: DimName, R> Transformation<Point<N, D>> for Similarity<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
         self * pt
@@ -83,8 +90,10 @@ impl<N: Real, D: DimName, R> Transformation<Point<N, D>> for Similarity<N, D, R>
 }
 
 impl<N: Real, D: DimName, R> ProjectiveTransformation<Point<N, D>> for Similarity<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     #[inline]
     fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
         self.isometry.inverse_transform_point(pt) / self.scaling()
@@ -97,15 +106,22 @@ impl<N: Real, D: DimName, R> ProjectiveTransformation<Point<N, D>> for Similarit
 }
 
 impl<N: Real, D: DimName, R> AffineTransformation<Point<N, D>> for Similarity<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     type NonUniformScaling = N;
-    type Rotation          = R;
+    type Rotation = R;
-    type Translation       = Translation<N, D>;
+    type Translation = Translation<N, D>;
 
     #[inline]
     fn decompose(&self) -> (Translation<N, D>, R, N, R) {
-        (self.isometry.translation.clone(), self.isometry.rotation.clone(), self.scaling(), R::identity())
+        (
+            self.isometry.translation.clone(),
+            self.isometry.rotation.clone(),
+            self.scaling(),
+            R::identity(),
+        )
     }
 
     #[inline]
@@ -147,8 +163,10 @@ impl<N: Real, D: DimName, R> AffineTransformation<Point<N, D>> for Similarity<N,
 }
 
 impl<N: Real, D: DimName, R> AlgaSimilarity<Point<N, D>> for Similarity<N, D, R>
-    where R: Rotation<Point<N, D>>,
+where
-          DefaultAllocator: Allocator<N, D> {
+    R: Rotation<Point<N, D>>,
+    DefaultAllocator: Allocator<N, D>,
+{
     type Scaling = N;
 
     #[inline]