From 948341685efe929b86c8656bf2927afaba2547ff Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= <developer@crozet.re>
Date: Sun, 15 Nov 2015 21:38:23 +0100
Subject: [PATCH] Add implementation of `RotationMatrix` for `UnitQuat`.

---
 src/structs/quat.rs | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/structs/quat.rs b/src/structs/quat.rs
index 604a1e20..a8664ef5 100644
--- a/src/structs/quat.rs
+++ b/src/structs/quat.rs
@@ -12,7 +12,7 @@ use structs::{Vec3, Pnt3, Rot3, Mat3};
 use traits::operations::{ApproxEq, Inv, POrd, POrdering, Axpy};
 use traits::structure::{Cast, Indexable, Iterable, IterableMut, Dim, Shape, BaseFloat, BaseNum,
                         Bounded, Repeat};
-use traits::geometry::{Norm, Rotation, Rotate, RotationTo, Transform};
+use traits::geometry::{Norm, Rotation, RotationMatrix, Rotate, RotationTo, Transform};
 
 #[cfg(feature="arbitrary")]
 use quickcheck::{Arbitrary, Gen};
@@ -156,6 +156,8 @@ impl<N: ApproxEq<N> + BaseFloat> Div<Quat<N>> for Quat<N> {
     }
 }
 
+rand_impl!(Quat, w, i, j, k);
+
 
 /// A unit quaternion that can represent a 3D rotation.
 #[repr(C)]
@@ -246,8 +248,6 @@ impl<N: BaseFloat> UnitQuat<N> {
     }
 }
 
-rand_impl!(Quat, w, i, j, k);
-
 
 impl<N> UnitQuat<N> {
     /// Creates a new unit quaternion from a quaternion.
@@ -432,6 +432,15 @@ impl<N: BaseFloat> Rotation<Vec3<N>> for UnitQuat<N> {
     }
 }
 
+impl<N: BaseFloat> RotationMatrix<N, Vec3<N>, Vec3<N>> for UnitQuat<N> {
+    type Output = Rot3<N>;
+
+    #[inline]
+    fn to_rot_mat(&self) -> Rot3<N> {
+        self.to_rot()
+    }
+}
+
 impl<N: BaseNum + Neg<Output = N>> Rotate<Vec3<N>> for UnitQuat<N> {
     #[inline]
     fn rotate(&self, v: &Vec3<N>) -> Vec3<N> {