Re-add some missing transform multiplications.

src/geometry/isometry_ops.rs

@@ -5,11 +5,13 @@ use simba::scalar::{ClosedAdd, ClosedMul};
 use simba::simd::SimdRealField;
 
 use crate::base::allocator::Allocator;
-use crate::base::dimension::{DimName, U1, U3, U4};
+use crate::base::dimension::{DimName, U1, U2, U3, U4};
 use crate::base::{DefaultAllocator, Unit, VectorN};
 use crate::Scalar;
 
-use crate::geometry::{AbstractRotation, Isometry, Point, Rotation, Translation, UnitQuaternion};
+use crate::geometry::{
+    AbstractRotation, Isometry, Point, Rotation, Translation, UnitComplex, 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>`
@@ -228,6 +230,23 @@ md_assign_impl_all!(
     [ref] => *self *= rhs.inverse();
 );
 
+md_assign_impl_all!(
+    MulAssign, mul_assign where N: SimdRealField for N::Element: SimdRealField;
+    (U2, U2), (U2, U2) for;
+    self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
+    [val] => self.rotation *= rhs;
+    [ref] => self.rotation *= rhs.clone();
+);
+
+md_assign_impl_all!(
+    DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
+    (U2, U2), (U2, U2) for;
+    self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
+    // FIXME: don't invert explicitly?
+    [val] => *self *= rhs.inverse();
+    [ref] => *self *= rhs.inverse();
+);
+
 // Isometry × Point
 isometry_binop_impl_all!(
     Mul, mul;
@@ -487,3 +506,27 @@ isometry_from_composition_impl_all!(
     [val ref] => Isometry::from_parts(self, right.clone());
     [ref ref] => Isometry::from_parts(self.clone(), right.clone());
 );
+
+// Isometry × UnitComplex
+isometry_from_composition_impl_all!(
+    Mul, mul;
+    (U2, U1), (U2, U1);
+    self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
+    Output = Isometry<N, U2, UnitComplex<N>>;
+    [val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
+    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // FIXME: do not clone.
+    [val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
+    [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
+);
+
+// Isometry ÷ UnitComplex
+isometry_from_composition_impl_all!(
+    Div, div;
+    (U2, U1), (U2, U1);
+    self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
+    Output = Isometry<N, U2, UnitComplex<N>>;
+    [val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
+    [ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // FIXME: do not clone.
+    [val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
+    [ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
+);

src/geometry/point.rs

@@ -12,6 +12,8 @@ use serde::{Deserialize, Deserializer, Serialize, Serializer};
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
 
+use simba::simd::SimdPartialOrd;
+
 use crate::base::allocator::Allocator;
 use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
 use crate::base::iter::{MatrixIter, MatrixIterMut};
@@ -307,6 +309,32 @@ where DefaultAllocator: Allocator<N, D>
     }
 }
 
+/*
+ * inf/sup
+ */
+impl<N: Scalar + SimdPartialOrd, D: DimName> Point<N, D>
+where DefaultAllocator: Allocator<N, D>
+{
+    /// Computes the infimum (aka. componentwise min) of two points.
+    #[inline]
+    pub fn inf(&self, other: &Self) -> Point<N, D> {
+        self.coords.inf(&other.coords).into()
+    }
+
+    /// Computes the supremum (aka. componentwise max) of two points.
+    #[inline]
+    pub fn sup(&self, other: &Self) -> Point<N, D> {
+        self.coords.sup(&other.coords).into()
+    }
+
+    /// Computes the (infimum, supremum) of two points.
+    #[inline]
+    pub fn inf_sup(&self, other: &Self) -> (Point<N, D>, Point<N, D>) {
+        let (inf, sup) = self.coords.inf_sup(&other.coords);
+        (inf.into(), sup.into())
+    }
+}
+
 /*
  *
  * Display

src/geometry/similarity.rs

@@ -124,11 +124,15 @@ where
 
         self.scaling = scaling;
     }
+}
 
+impl<N: Scalar, D: DimName, R> Similarity<N, D, R>
+where DefaultAllocator: Allocator<N, D>
+{
     /// The scaling factor of this similarity transformation.
     #[inline]
     pub fn scaling(&self) -> N {
-        self.scaling.clone()
+        self.scaling.inlined_clone()
     }
 }
 

src/geometry/similarity_ops.rs

@@ -5,11 +5,12 @@ use simba::scalar::{ClosedAdd, ClosedMul};
 use simba::simd::SimdRealField;
 
 use crate::base::allocator::Allocator;
-use crate::base::dimension::{DimName, U1, U3, U4};
+use crate::base::dimension::{DimName, U1, U2, U3, U4};
 use crate::base::{DefaultAllocator, Scalar, VectorN};
 
 use crate::geometry::{
-    AbstractRotation, Isometry, Point, Rotation, Similarity, Translation, UnitQuaternion,
+    AbstractRotation, Isometry, Point, Rotation, Similarity, Translation, UnitComplex,
+    UnitQuaternion,
 };
 
 // FIXME: there are several cloning of rotations that we could probably get rid of (but we didn't
@@ -252,6 +253,23 @@ md_assign_impl_all!(
     [ref] => *self *= rhs.inverse();
 );
 
+md_assign_impl_all!(
+    MulAssign, mul_assign where N: SimdRealField for N::Element: SimdRealField;
+    (U2, U2), (U2, U2) for;
+    self: Similarity<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
+    [val] => self.isometry.rotation *= rhs;
+    [ref] => self.isometry.rotation *= rhs.clone();
+);
+
+md_assign_impl_all!(
+    DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
+    (U2, U2), (U2, U2) for;
+    self: Similarity<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
+    // FIXME: don't invert explicitly?
+    [val] => *self *= rhs.inverse();
+    [ref] => *self *= rhs.inverse();
+);
+
 // Similarity × Isometry
 // Similarity ÷ Isometry
 similarity_binop_impl_all!(
@@ -513,7 +531,7 @@ similarity_from_composition_impl_all!(
     [ref ref] => Similarity::from_isometry(self * &right.isometry, right.scaling());
 );
 
-// Similarity ÷ Rotation
+// Similarity ÷ UnitQuaternion
 similarity_from_composition_impl_all!(
     Div, div;
     (U4, U1), (U3, U1);
@@ -543,3 +561,39 @@ similarity_from_composition_impl_all!(
     [val ref] => self * right.inverse();
     [ref ref] => self * right.inverse();
 );
+
+// Similarity × UnitComplex
+similarity_from_composition_impl_all!(
+    Mul, mul;
+    (U2, U1), (U2, U1);
+    self: Similarity<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
+    Output = Similarity<N, U2, UnitComplex<N>>;
+    [val val] => {
+        let scaling = self.scaling();
+        Similarity::from_isometry(self.isometry * rhs, scaling)
+    };
+    [ref val] => Similarity::from_isometry(&self.isometry * rhs, self.scaling());
+    [val ref] => {
+        let scaling = self.scaling();
+        Similarity::from_isometry(self.isometry * rhs, scaling)
+    };
+    [ref ref] => Similarity::from_isometry(&self.isometry * rhs, self.scaling());
+);
+
+// Similarity ÷ UnitComplex
+similarity_from_composition_impl_all!(
+    Div, div;
+    (U2, U1), (U2, U1);
+    self: Similarity<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
+    Output = Similarity<N, U2, UnitComplex<N>>;
+    [val val] => {
+        let scaling = self.scaling();
+        Similarity::from_isometry(self.isometry / rhs, scaling)
+    };
+    [ref val] => Similarity::from_isometry(&self.isometry / rhs, self.scaling());
+    [val ref] => {
+        let scaling = self.scaling();
+        Similarity::from_isometry(self.isometry / rhs, scaling)
+    };
+    [ref ref] => Similarity::from_isometry(&self.isometry / rhs, self.scaling());
+);

src/geometry/unit_complex_ops.rs

@@ -29,8 +29,6 @@ use simba::simd::SimdRealField;
  * UnitComplex × Similarity<UnitComplex>
  * UnitComplex × Translation -> Isometry<UnitComplex>
  *
- * NOTE: -UnitComplex is already provided by `Unit<T>`.
- *
  * (Assignment Operators)
  *
  * UnitComplex  ×= UnitComplex

src/lib.rs

@@ -153,7 +153,7 @@ pub use num_complex::Complex;
 pub use simba::scalar::{
     ClosedAdd, ClosedDiv, ClosedMul, ClosedSub, ComplexField, Field, RealField,
 };
-pub use simba::simd::{SimdBool, SimdComplexField, SimdRealField};
+pub use simba::simd::{SimdBool, SimdComplexField, SimdPartialOrd, SimdRealField};
 
 /// Gets the multiplicative identity element.
 ///
@@ -249,29 +249,47 @@ pub fn min<T: Ord>(a: T, b: T) -> T {
 /// The absolute value of `a`.
 ///
 /// Deprecated: Use [Matrix::abs] or [RealField::abs] instead.
-#[deprecated(note = "use `Matrix::abs` or `RealField::abs` instead")]
+#[deprecated(note = "use the inherent method `Matrix::abs` or `RealField::abs` instead")]
 #[inline]
 pub fn abs<T: Signed>(a: &T) -> T {
     a.abs()
 }
 
-///// Returns the infimum of `a` and `b`.
+/// Returns the infimum of `a` and `b`.
-//#[inline]
+#[deprecated(note = "use the inherent method `Matrix::inf` instead")]
-//pub fn inf<T: MeetSemilattice>(a: &T, b: &T) -> T {
+#[inline]
-//    a.meet(b)
+pub fn inf<N, R: Dim, C: Dim>(a: &MatrixMN<N, R, C>, b: &MatrixMN<N, R, C>) -> MatrixMN<N, R, C>
-//}
+where
-//
+    N: Scalar + SimdPartialOrd,
-///// Returns the supremum of `a` and `b`.
+    DefaultAllocator: Allocator<N, R, C>,
-//#[inline]
+{
-//pub fn sup<T: JoinSemilattice>(a: &T, b: &T) -> T {
+    a.inf(b)
-//    a.join(b)
+}
-//}
+
-//
+/// Returns the supremum of `a` and `b`.
-///// Returns simultaneously the infimum and supremum of `a` and `b`.
+#[deprecated(note = "use the inherent method `Matrix::sup` instead")]
-//#[inline]
+#[inline]
-//pub fn inf_sup<T: Lattice>(a: &T, b: &T) -> (T, T) {
+pub fn sup<N, R: Dim, C: Dim>(a: &MatrixMN<N, R, C>, b: &MatrixMN<N, R, C>) -> MatrixMN<N, R, C>
-//    a.meet_join(b)
+where
-//}
+    N: Scalar + SimdPartialOrd,
+    DefaultAllocator: Allocator<N, R, C>,
+{
+    a.sup(b)
+}
+
+/// Returns simultaneously the infimum and supremum of `a` and `b`.
+#[deprecated(note = "use the inherent method `Matrix::inf_sup` instead")]
+#[inline]
+pub fn inf_sup<N, R: Dim, C: Dim>(
+    a: &MatrixMN<N, R, C>,
+    b: &MatrixMN<N, R, C>,
+) -> (MatrixMN<N, R, C>, MatrixMN<N, R, C>)
+where
+    N: Scalar + SimdPartialOrd,
+    DefaultAllocator: Allocator<N, R, C>,
+{
+    a.inf_sup(b)
+}
 
 /// Compare `a` and `b` using a partial ordering relation.
 #[inline]