From bc7db9d13963c1e0b0689abf3a1d588d01cb0502 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Crozet=20S=C3=A9bastien?= <developer@crozet.re>
Date: Mon, 12 Apr 2021 10:32:17 +0200
Subject: [PATCH] Mark as const-fn some constructors of Point, Translation,
 Quaternion

---
 src/geometry/dual_quaternion_ops.rs       | 13 ++--
 src/geometry/isometry_ops.rs              |  4 +-
 src/geometry/op_macros.rs                 | 12 +---
 src/geometry/point.rs                     | 15 +++--
 src/geometry/point_construction.rs        | 14 +++--
 src/geometry/point_ops.rs                 | 35 +++++------
 src/geometry/quaternion.rs                | 20 +++++-
 src/geometry/quaternion_construction.rs   | 11 ++--
 src/geometry/similarity_ops.rs            |  4 +-
 src/geometry/transform_ops.rs             | 77 +++++++++++++++--------
 src/geometry/translation.rs               |  2 +-
 src/geometry/translation_construction.rs  |  6 +-
 src/geometry/translation_ops.rs           | 27 ++++----
 src/third_party/alga/alga_unit_complex.rs | 31 +++------
 14 files changed, 140 insertions(+), 131 deletions(-)

diff --git a/src/geometry/dual_quaternion_ops.rs b/src/geometry/dual_quaternion_ops.rs
index 26a9f09f..46bc22b5 100644
--- a/src/geometry/dual_quaternion_ops.rs
+++ b/src/geometry/dual_quaternion_ops.rs
@@ -46,9 +46,8 @@
 
 use crate::base::storage::Storage;
 use crate::{
-    Allocator, DefaultAllocator, DualQuaternion, Isometry3, Point, Point3, Quaternion,
-    SimdRealField, Translation3, Unit, UnitDualQuaternion, UnitQuaternion, Vector, Vector3, U1, U3,
-    U4,
+    DualQuaternion, Isometry3, Point, Point3, Quaternion, SimdRealField, Translation3, Unit,
+    UnitDualQuaternion, UnitQuaternion, Vector, Vector3, U3,
 };
 use std::mem;
 use std::ops::{
@@ -140,9 +139,7 @@ macro_rules! dual_quaternion_op_impl(
      $lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Result: ty $(=> $VDimA: ty, $VDimB: ty)*;
      $action: expr; $($lives: tt),*) => {
         impl<$($lives ,)* T: SimdRealField $(, $Storage: $StoragesBound $(<$($BoundParam),*>)*)*> $Op<$Rhs> for $Lhs
-            where T::Element: SimdRealField,
-                  DefaultAllocator: Allocator<T, $LhsRDim, $LhsCDim> +
-                                    Allocator<T, $RhsRDim, $RhsCDim> {
+            where T::Element: SimdRealField, {
             type Output = $Result;
 
             #[inline]
@@ -963,9 +960,7 @@ macro_rules! dual_quaternion_op_impl(
      $lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty $(=> $VDimA: ty, $VDimB: ty)*;
      $action: expr; $($lives: tt),*) => {
         impl<$($lives ,)* T: SimdRealField> $OpAssign<$Rhs> for $Lhs
-            where T::Element: SimdRealField,
-                  DefaultAllocator: Allocator<T, $LhsRDim, $LhsCDim> +
-                                    Allocator<T, $RhsRDim, $RhsCDim> {
+            where T::Element: SimdRealField {
 
             #[inline]
             fn $op_assign(&mut $lhs, $rhs: $Rhs) {
diff --git a/src/geometry/isometry_ops.rs b/src/geometry/isometry_ops.rs
index 9d6928a2..2e6477b5 100644
--- a/src/geometry/isometry_ops.rs
+++ b/src/geometry/isometry_ops.rs
@@ -4,9 +4,7 @@ use std::ops::{Div, DivAssign, Mul, MulAssign};
 use simba::scalar::{ClosedAdd, ClosedMul};
 use simba::simd::SimdRealField;
 
-use crate::base::allocator::Allocator;
-use crate::base::dimension::{U1, U2, U3};
-use crate::base::{Const, DefaultAllocator, SVector, Unit};
+use crate::base::{SVector, Unit};
 use crate::Scalar;
 
 use crate::geometry::{
diff --git a/src/geometry/op_macros.rs b/src/geometry/op_macros.rs
index 08c00870..a4775d2a 100644
--- a/src/geometry/op_macros.rs
+++ b/src/geometry/op_macros.rs
@@ -22,9 +22,6 @@ macro_rules! md_impl(
      $($lives: tt),*) => {
         impl<$($lives ,)* T $(, $DimsDecl)* $(, const $D: usize)*> $Op<$Rhs> for $Lhs
             where T: Scalar + Zero + One + ClosedAdd + ClosedMul $($(+ $ScalarBounds)*)*,
-                  DefaultAllocator: Allocator<T, $R1, $C1> +
-                                    Allocator<T, $R2, $C2> +
-                                    Allocator<T, $R1, $C2>,
                   $( $ConstraintType: $ConstraintBound$(<$( $ConstraintBoundParams $( = $EqBound )*),*>)* ),*
                    {
             type Output = $Result;
@@ -117,8 +114,6 @@ macro_rules! md_assign_impl(
         impl<$($lives ,)* T $(, $DimsDecl)* $(, const $D: usize)*> $Op<$Rhs> for $Lhs
             where T: Scalar + Zero + One + ClosedAdd + ClosedMul $($(+ $ScalarBounds)*)*,
                   $($(T::Element: $ElementBounds,)*)*
-                  DefaultAllocator: Allocator<T, $R1, $C1> +
-                                    Allocator<T, $R2, $C2>,
                   $( $ConstraintType: $ConstraintBound $(<$( $ConstraintBoundParams $( = $EqBound )*),*>)* ),*
         {
             #[inline]
@@ -172,7 +167,7 @@ macro_rules! md_assign_impl_all(
 /// Macro for the implementation of addition and subtraction.
 macro_rules! add_sub_impl(
     ($Op: ident, $op: ident, $bound: ident;
-     ($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(-> ($RRes: ty))*
+     ($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(-> ($RRes: ty, $CRes: ty))*
      // Const type declaration
      const $($D: ident),*;
      // Other generic type declarations.
@@ -183,11 +178,8 @@ macro_rules! add_sub_impl(
      $action: expr; $($lives: tt),*) => {
         impl<$($lives ,)* T $(, $DimsDecl)* $(, const $D: usize)*> $Op<$Rhs> for $Lhs
             where T: Scalar + $bound,
-                  DefaultAllocator: Allocator<T, $R1, $C1> +
-                                    Allocator<T, $R2, $C2> +
-                                    SameShapeAllocator<T, $R1, $C1, $R2, $C2>,
                   ShapeConstraint: SameNumberOfRows<$R1, $R2 $(, Representative = $RRes)*> +
-                                   SameNumberOfColumns<$C1, $C2>,
+                                   SameNumberOfColumns<$C1, $C2 $(, Representative = $CRes)*>,
                   $( $ConstraintType: $ConstraintBound$(<$( $ConstraintBoundParams $( = $EqBound )*),*>)* ),* {
             type Output = $Result;
 
diff --git a/src/geometry/point.rs b/src/geometry/point.rs
index e5dcbc25..33725250 100644
--- a/src/geometry/point.rs
+++ b/src/geometry/point.rs
@@ -17,7 +17,7 @@ use simba::simd::SimdPartialOrd;
 use crate::base::allocator::Allocator;
 use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
 use crate::base::iter::{MatrixIter, MatrixIterMut};
-use crate::base::{Const, DefaultAllocator, OVector, Scalar};
+use crate::base::{Const, DefaultAllocator, OVector, SVector, Scalar};
 
 /// A point in an euclidean space.
 ///
@@ -40,9 +40,9 @@ use crate::base::{Const, DefaultAllocator, OVector, Scalar};
 /// of said transformations for details.
 #[repr(C)]
 #[derive(Debug, Clone)]
-pub struct Point<T: Scalar, const D: usize> {
+pub struct Point<T, const D: usize> {
     /// The coordinates of this point, i.e., the shift from the origin.
-    pub coords: OVector<T, Const<D>>,
+    pub coords: SVector<T, D>,
 }
 
 impl<T: Scalar + hash::Hash, const D: usize> hash::Hash for Point<T, D> {
@@ -55,7 +55,7 @@ impl<T: Scalar + Copy, const D: usize> Copy for Point<T, D> {}
 
 #[cfg(feature = "bytemuck")]
 unsafe impl<T: Scalar, const D: usize> bytemuck::Zeroable for Point<T, D> where
-    OVector<T, Const<D>>: bytemuck::Zeroable
+    SVector<T, D>: bytemuck::Zeroable
 {
 }
 
@@ -63,7 +63,7 @@ unsafe impl<T: Scalar, const D: usize> bytemuck::Zeroable for Point<T, D> where
 unsafe impl<T: Scalar, const D: usize> bytemuck::Pod for Point<T, D>
 where
     T: Copy,
-    OVector<T, Const<D>>: bytemuck::Pod,
+    SVector<T, D>: bytemuck::Pod,
 {
 }
 
@@ -83,7 +83,6 @@ impl<'a, T: Scalar + Deserialize<'a>, const D: usize> Deserialize<'a> for Point<
     where
         Des: Deserializer<'a>,
     {
-        use crate::SVector;
         let coords = SVector::<T, D>::deserialize(deserializer)?;
 
         Ok(Self::from(coords))
@@ -94,7 +93,7 @@ impl<'a, T: Scalar + Deserialize<'a>, const D: usize> Deserialize<'a> for Point<
 impl<T, const D: usize> Abomonation for Point<T, D>
 where
     T: Scalar,
-    OVector<T, Const<D>>: Abomonation,
+    SVector<T, D>: Abomonation,
 {
     unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
         self.coords.entomb(writer)
@@ -183,7 +182,7 @@ impl<T: Scalar, const D: usize> Point<T, D> {
     /// Creates a new point with the given coordinates.
     #[deprecated(note = "Use Point::from(vector) instead.")]
     #[inline]
-    pub fn from_coordinates(coords: OVector<T, Const<D>>) -> Self {
+    pub fn from_coordinates(coords: SVector<T, D>) -> Self {
         Self { coords }
     }
 
diff --git a/src/geometry/point_construction.rs b/src/geometry/point_construction.rs
index 3f52d950..f50a3fc1 100644
--- a/src/geometry/point_construction.rs
+++ b/src/geometry/point_construction.rs
@@ -181,7 +181,7 @@ where
 // NOTE: the impl for Point1 is not with the others so that we
 // can add a section with the impl block comment.
 /// # Construction from individual components
-impl<T: Scalar> Point1<T> {
+impl<T> Point1<T> {
     /// Initializes this point from its components.
     ///
     /// # Example
@@ -192,20 +192,22 @@ impl<T: Scalar> Point1<T> {
     /// assert_eq!(p.x, 1.0);
     /// ```
     #[inline]
-    pub fn new(x: T) -> Self {
-        Vector1::new(x).into()
+    pub const fn new(x: T) -> Self {
+        Point {
+            coords: Vector1::new(x),
+        }
     }
 }
 macro_rules! componentwise_constructors_impl(
     ($($doc: expr; $Point: ident, $Vector: ident, $($args: ident:$irow: expr),*);* $(;)*) => {$(
-        impl<T: Scalar> $Point<T> {
+        impl<T> $Point<T> {
             #[doc = "Initializes this point from its components."]
             #[doc = "# Example\n```"]
             #[doc = $doc]
             #[doc = "```"]
             #[inline]
-            pub fn new($($args: T),*) -> Self {
-                $Vector::new($($args),*).into()
+            pub const fn new($($args: T),*) -> Self {
+                Point { coords: $Vector::new($($args),*) }
             }
         }
     )*}
diff --git a/src/geometry/point_ops.rs b/src/geometry/point_ops.rs
index d1054364..576028cc 100644
--- a/src/geometry/point_ops.rs
+++ b/src/geometry/point_ops.rs
@@ -5,13 +5,12 @@ use std::ops::{
 
 use simba::scalar::{ClosedAdd, ClosedDiv, ClosedMul, ClosedNeg, ClosedSub};
 
-use crate::base::allocator::{Allocator, SameShapeAllocator};
 use crate::base::constraint::{
     AreMultipliable, SameNumberOfColumns, SameNumberOfRows, ShapeConstraint,
 };
 use crate::base::dimension::{Dim, U1};
 use crate::base::storage::Storage;
-use crate::base::{Const, DefaultAllocator, Matrix, Scalar, Vector, VectorSum};
+use crate::base::{Const, Matrix, SVector, Scalar, Vector};
 
 use crate::geometry::Point;
 
@@ -67,32 +66,32 @@ impl<'a, T: Scalar + ClosedNeg, const D: usize> Neg for &'a Point<T, D> {
 
 // Point - Point
 add_sub_impl!(Sub, sub, ClosedSub;
-    (Const<D>, U1), (Const<D>, U1)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: &'a Point<T, D>, right: &'b Point<T, D>, Output = VectorSum<T, Const<D>, Const<D>>;
+    self: &'a Point<T, D>, right: &'b Point<T, D>, Output = SVector<T, D>;
     &self.coords - &right.coords; 'a, 'b);
 
 add_sub_impl!(Sub, sub, ClosedSub;
-    (Const<D>, U1), (Const<D>, U1)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: &'a Point<T, D>, right: Point<T, D>, Output = VectorSum<T, Const<D>, Const<D>>;
+    self: &'a Point<T, D>, right: Point<T, D>, Output = SVector<T, D>;
     &self.coords - right.coords; 'a);
 
 add_sub_impl!(Sub, sub, ClosedSub;
-    (Const<D>, U1), (Const<D>, U1)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: Point<T, D>, right: &'b Point<T, D>, Output = VectorSum<T, Const<D>, Const<D>>;
+    self: Point<T, D>, right: &'b Point<T, D>, Output = SVector<T, D>;
     self.coords - &right.coords; 'b);
 
 add_sub_impl!(Sub, sub, ClosedSub;
-    (Const<D>, U1), (Const<D>, U1)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: Point<T, D>, right: Point<T, D>, Output = VectorSum<T, Const<D>, Const<D>>;
+    self: Point<T, D>, right: Point<T, D>, Output = SVector<T, D>;
     self.coords - right.coords; );
 
 // Point - Vector
 add_sub_impl!(Sub, sub, ClosedSub;
-    (Const<D1>, U1), (D2, U1) -> (Const<D1>)
+    (Const<D1>, U1), (D2, U1) -> (Const<D1>, U1)
     const D1;
     for D2, SB;
     where D2: Dim, SB: Storage<T, D2>;
@@ -100,7 +99,7 @@ add_sub_impl!(Sub, sub, ClosedSub;
     Self::Output::from(&self.coords - right); 'a, 'b);
 
 add_sub_impl!(Sub, sub, ClosedSub;
-    (Const<D1>, U1), (D2, U1) -> (Const<D1>)
+    (Const<D1>, U1), (D2, U1) -> (Const<D1>, U1)
     const D1;
     for D2, SB;
     where D2: Dim, SB: Storage<T, D2>;
@@ -108,7 +107,7 @@ add_sub_impl!(Sub, sub, ClosedSub;
     Self::Output::from(&self.coords - &right); 'a); // TODO: should not be a ref to `right`.
 
 add_sub_impl!(Sub, sub, ClosedSub;
-    (Const<D1>, U1), (D2, U1) -> (Const<D1>)
+    (Const<D1>, U1), (D2, U1) -> (Const<D1>, U1)
     const D1;
     for D2, SB;
     where D2: Dim, SB: Storage<T, D2>;
@@ -116,7 +115,7 @@ add_sub_impl!(Sub, sub, ClosedSub;
     Self::Output::from(self.coords - right); 'b);
 
 add_sub_impl!(Sub, sub, ClosedSub;
-    (Const<D1>, U1), (D2, U1) -> (Const<D1>)
+    (Const<D1>, U1), (D2, U1) -> (Const<D1>, U1)
     const D1;
     for D2, SB;
     where D2: Dim, SB: Storage<T, D2>;
@@ -125,7 +124,7 @@ add_sub_impl!(Sub, sub, ClosedSub;
 
 // Point + Vector
 add_sub_impl!(Add, add, ClosedAdd;
-    (Const<D1>, U1), (D2, U1) -> (Const<D1>)
+    (Const<D1>, U1), (D2, U1) -> (Const<D1>, U1)
     const D1;
     for D2, SB;
     where D2: Dim, SB: Storage<T, D2>;
@@ -133,7 +132,7 @@ add_sub_impl!(Add, add, ClosedAdd;
     Self::Output::from(&self.coords + right); 'a, 'b);
 
 add_sub_impl!(Add, add, ClosedAdd;
-    (Const<D1>, U1), (D2, U1) -> (Const<D1>)
+    (Const<D1>, U1), (D2, U1) -> (Const<D1>, U1)
     const D1;
     for D2, SB;
     where D2: Dim, SB: Storage<T, D2>;
@@ -141,7 +140,7 @@ add_sub_impl!(Add, add, ClosedAdd;
     Self::Output::from(&self.coords + &right); 'a); // TODO: should not be a ref to `right`.
 
 add_sub_impl!(Add, add, ClosedAdd;
-    (Const<D1>, U1), (D2, U1) -> (Const<D1>)
+    (Const<D1>, U1), (D2, U1) -> (Const<D1>, U1)
     const D1;
     for D2, SB;
     where D2: Dim, SB: Storage<T, D2>;
@@ -149,7 +148,7 @@ add_sub_impl!(Add, add, ClosedAdd;
     Self::Output::from(self.coords + right); 'b);
 
 add_sub_impl!(Add, add, ClosedAdd;
-    (Const<D1>, U1), (D2, U1) -> (Const<D1>)
+    (Const<D1>, U1), (D2, U1) -> (Const<D1>, U1)
     const D1;
     for D2, SB;
     where D2: Dim, SB: Storage<T, D2>;
diff --git a/src/geometry/quaternion.rs b/src/geometry/quaternion.rs
index 3a51d299..6d45057f 100755
--- a/src/geometry/quaternion.rs
+++ b/src/geometry/quaternion.rs
@@ -1,6 +1,7 @@
 use approx::{AbsDiffEq, RelativeEq, UlpsEq};
 use num::Zero;
 use std::fmt;
+use std::hash::{Hash, Hasher};
 #[cfg(feature = "abomonation-serialize")]
 use std::io::{Result as IOResult, Write};
 
@@ -26,12 +27,27 @@ use crate::geometry::{Point3, Rotation};
 /// A quaternion. See the type alias `UnitQuaternion = Unit<Quaternion>` for a quaternion
 /// that may be used as a rotation.
 #[repr(C)]
-#[derive(Debug, Copy, Clone, Hash, PartialEq, Eq)]
-pub struct Quaternion<T: Scalar> {
+#[derive(Debug, Copy, Clone)]
+pub struct Quaternion<T> {
     /// This quaternion as a 4D vector of coordinates in the `[ x, y, z, w ]` storage order.
     pub coords: Vector4<T>,
 }
 
+impl<T: Scalar + Hash> Hash for Quaternion<T> {
+    fn hash<H: Hasher>(&self, state: &mut H) {
+        self.coords.hash(state)
+    }
+}
+
+impl<T: Scalar + Eq> Eq for Quaternion<T> {}
+
+impl<T: Scalar> PartialEq for Quaternion<T> {
+    #[inline]
+    fn eq(&self, right: &Self) -> bool {
+        self.coords == right.coords
+    }
+}
+
 impl<T: Scalar + Zero> Default for Quaternion<T> {
     fn default() -> Self {
         Quaternion {
diff --git a/src/geometry/quaternion_construction.rs b/src/geometry/quaternion_construction.rs
index a3b113d2..f110e3dd 100644
--- a/src/geometry/quaternion_construction.rs
+++ b/src/geometry/quaternion_construction.rs
@@ -23,12 +23,12 @@ use crate::{Scalar, SimdRealField};
 
 use crate::geometry::{Quaternion, Rotation3, UnitQuaternion};
 
-impl<T: Scalar> Quaternion<T> {
+impl<T> Quaternion<T> {
     /// Creates a quaternion from a 4D vector. The quaternion scalar part corresponds to the `w`
     /// vector component.
     #[inline]
-    #[deprecated(note = "Use `::from` instead.")]
-    pub fn from_vector(vector: Vector4<T>) -> Self {
+    // #[deprecated(note = "Use `::from` instead.")] // Don't deprecate because this one can be a const-fn.
+    pub const fn from_vector(vector: Vector4<T>) -> Self {
         Self { coords: vector }
     }
 
@@ -46,8 +46,8 @@ impl<T: Scalar> Quaternion<T> {
     /// assert_eq!(*q.as_vector(), Vector4::new(2.0, 3.0, 4.0, 1.0));
     /// ```
     #[inline]
-    pub fn new(w: T, i: T, j: T, k: T) -> Self {
-        Self::from(Vector4::new(i, j, k, w))
+    pub const fn new(w: T, i: T, j: T, k: T) -> Self {
+        Self::from_vector(Vector4::new(i, j, k, w))
     }
 
     /// Cast the components of `self` to another type.
@@ -61,6 +61,7 @@ impl<T: Scalar> Quaternion<T> {
     /// ```
     pub fn cast<To: Scalar>(self) -> Quaternion<To>
     where
+        T: Scalar,
         To: SupersetOf<T>,
     {
         crate::convert(self)
diff --git a/src/geometry/similarity_ops.rs b/src/geometry/similarity_ops.rs
index 65b8b4a5..c164acaa 100644
--- a/src/geometry/similarity_ops.rs
+++ b/src/geometry/similarity_ops.rs
@@ -4,9 +4,7 @@ use std::ops::{Div, DivAssign, Mul, MulAssign};
 use simba::scalar::{ClosedAdd, ClosedMul};
 use simba::simd::SimdRealField;
 
-use crate::base::allocator::Allocator;
-use crate::base::dimension::{U1, U2, U3};
-use crate::base::{Const, DefaultAllocator, SVector, Scalar};
+use crate::base::{SVector, Scalar};
 
 use crate::geometry::{
     AbstractRotation, Isometry, Point, Rotation, Similarity, Translation, UnitComplex,
diff --git a/src/geometry/transform_ops.rs b/src/geometry/transform_ops.rs
index ceefd280..29781c3c 100644
--- a/src/geometry/transform_ops.rs
+++ b/src/geometry/transform_ops.rs
@@ -4,7 +4,7 @@ use std::ops::{Div, DivAssign, Index, IndexMut, Mul, MulAssign};
 use simba::scalar::{ClosedAdd, ClosedMul, RealField, SubsetOf};
 
 use crate::base::allocator::Allocator;
-use crate::base::dimension::{DimNameAdd, DimNameSum, U1, U4};
+use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
 use crate::base::{Const, DefaultAllocator, OMatrix, SVector, Scalar};
 
 use crate::geometry::{
@@ -110,7 +110,8 @@ md_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategory;
+    where Const<D>: DimNameAdd<U1>, C: TCategory,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: SVector<T, D>, Output = SVector<T, D>;
     [val val] => &self * &rhs;
     [ref val] =>  self * &rhs;
@@ -137,7 +138,8 @@ md_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategory;
+    where Const<D>: DimNameAdd<U1>, C: TCategory,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Point<T, D>, Output = Point<T, D>;
     [val val] => &self * &rhs;
     [ref val] =>  self * &rhs;
@@ -166,7 +168,8 @@ md_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
     const D;
     for CA, CB;
-    where Const<D>: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: TCategory;
+    where Const<D>: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: TCategory,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, CA, D>, rhs: Transform<T, CB, D>, Output = Transform<T, CA::Representative, D>;
     [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.into_inner());
     [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.into_inner());
@@ -176,11 +179,13 @@ md_impl_all!(
 
 // Transform × Rotation
 md_impl_all!(
-    Mul, mul where T: RealField;
+    Mul, mul
+    where T: RealField;
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Rotation<T, D>, Output = Transform<T, C::Representative, D>;
     [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
@@ -194,7 +199,8 @@ md_impl_all!(
     (Const<D>, Const<D>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Rotation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
     [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
     [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
@@ -236,7 +242,8 @@ md_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
     const D;
     for C, R;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Isometry<T, R, D>, Output = Transform<T, C::Representative, D>;
     [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
@@ -250,7 +257,8 @@ md_impl_all!(
     (Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
     const D;
     for C, R;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Isometry<T, R, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
     [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
     [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
@@ -264,7 +272,8 @@ md_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
     const D;
     for C, R;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Similarity<T, R, D>, Output = Transform<T, C::Representative, D>;
     [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
@@ -278,7 +287,8 @@ md_impl_all!(
     (Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
     const D;
     for C, R;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Similarity<T, R, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
     [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
     [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
@@ -300,7 +310,8 @@ md_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Translation<T, D>, Output = Transform<T, C::Representative, D>;
     [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
     [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
@@ -314,7 +325,8 @@ md_impl_all!(
     (Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Translation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
     [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
     [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
@@ -328,7 +340,8 @@ md_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
     const D;
     for CA, CB;
-    where Const<D>: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: SubTCategoryOf<TProjective>;
+    where Const<D>: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: SubTCategoryOf<TProjective>,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, CA, D>, rhs: Transform<T, CB, D>, Output = Transform<T, CA::Representative, D>;
     [val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
     [ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
@@ -342,7 +355,8 @@ md_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Rotation<T, D>, Output = Transform<T, C::Representative, D>;
     [val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
     [ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
@@ -356,7 +370,8 @@ md_impl_all!(
     (Const<D>, Const<D>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Rotation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
     [val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
     [ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
@@ -452,7 +467,8 @@ md_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Translation<T, D>, Output = Transform<T, C::Representative, D>;
     [val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
     [ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
@@ -466,7 +482,8 @@ md_impl_all!(
     (Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
+    where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Translation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
     [val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
     [ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
@@ -480,7 +497,8 @@ md_assign_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
     const D;
     for CA, CB;
-    where Const<D>: DimNameAdd<U1>, CA: TCategory, CB: SubTCategoryOf<CA>;
+    where Const<D>: DimNameAdd<U1>, CA: TCategory, CB: SubTCategoryOf<CA>,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, CA, D>, rhs: Transform<T, CB, D>;
     [val] => *self.matrix_mut_unchecked() *= rhs.into_inner();
     [ref] => *self.matrix_mut_unchecked() *= rhs.matrix();
@@ -492,7 +510,8 @@ md_assign_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
     const D;
     for C, R;
-    where Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >;
+    where Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Similarity<T, R, D>;
     [val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
     [ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
@@ -504,7 +523,8 @@ md_assign_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
     const D;
     for C, R;
-    where Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >;
+    where Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Isometry<T, R, D>;
     [val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
     [ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
@@ -524,7 +544,8 @@ md_assign_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategory;
+    where Const<D>: DimNameAdd<U1>, C: TCategory,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Translation<T, D>;
     [val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
     [ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
@@ -536,7 +557,8 @@ md_assign_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategory;
+    where Const<D>: DimNameAdd<U1>, C: TCategory,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Rotation<T, D>;
     [val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
     [ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
@@ -560,7 +582,8 @@ md_assign_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
     const D;
     for CA, CB;
-    where Const<D>: DimNameAdd<U1>, CA: SuperTCategoryOf<CB>, CB: SubTCategoryOf<TProjective>;
+    where Const<D>: DimNameAdd<U1>, CA: SuperTCategoryOf<CB>, CB: SubTCategoryOf<TProjective>,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, CA, D>, rhs: Transform<T, CB, D>;
     [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.clone().inverse() };
@@ -593,7 +616,8 @@ md_assign_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategory;
+    where Const<D>: DimNameAdd<U1>, C: TCategory,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Translation<T, D>;
     [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
@@ -605,7 +629,8 @@ md_assign_impl_all!(
     (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
     const D;
     for C;
-    where Const<D>: DimNameAdd<U1>, C: TCategory;
+    where Const<D>: DimNameAdd<U1>, C: TCategory,
+          DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
     self: Transform<T, C, D>, rhs: Rotation<T, D>;
     [val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
     [ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
diff --git a/src/geometry/translation.rs b/src/geometry/translation.rs
index 6f6f0de1..5a4fe357 100755
--- a/src/geometry/translation.rs
+++ b/src/geometry/translation.rs
@@ -23,7 +23,7 @@ use crate::geometry::Point;
 /// A translation.
 #[repr(C)]
 #[derive(Debug)]
-pub struct Translation<T: Scalar, const D: usize> {
+pub struct Translation<T, const D: usize> {
     /// The translation coordinates, i.e., how much is added to a point's coordinates when it is
     /// translated.
     pub vector: SVector<T, D>,
diff --git a/src/geometry/translation_construction.rs b/src/geometry/translation_construction.rs
index ca87d389..c6e9d7d3 100644
--- a/src/geometry/translation_construction.rs
+++ b/src/geometry/translation_construction.rs
@@ -93,15 +93,15 @@ where
  */
 macro_rules! componentwise_constructors_impl(
     ($($doc: expr; $D: expr, $($args: ident:$irow: expr),*);* $(;)*) => {$(
-        impl<T: Scalar> Translation<T, $D>
+        impl<T> Translation<T, $D>
              {
             #[doc = "Initializes this translation from its components."]
             #[doc = "# Example\n```"]
             #[doc = $doc]
             #[doc = "```"]
             #[inline]
-            pub fn new($($args: T),*) -> Self {
-                Self::from(SVector::<T, $D>::new($($args),*))
+            pub const fn new($($args: T),*) -> Self {
+                Self { vector: SVector::<T, $D>::new($($args),*) }
             }
         }
     )*}
diff --git a/src/geometry/translation_ops.rs b/src/geometry/translation_ops.rs
index 5944fdeb..8851183a 100644
--- a/src/geometry/translation_ops.rs
+++ b/src/geometry/translation_ops.rs
@@ -2,37 +2,36 @@ use std::ops::{Div, DivAssign, Mul, MulAssign};
 
 use simba::scalar::{ClosedAdd, ClosedSub};
 
-use crate::base::allocator::{Allocator, SameShapeAllocator};
 use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
 use crate::base::dimension::U1;
-use crate::base::{Const, DefaultAllocator, Scalar};
+use crate::base::{Const, Scalar};
 
 use crate::geometry::{Point, Translation};
 
 // Translation × Translation
 add_sub_impl!(Mul, mul, ClosedAdd;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: &'a Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector + &right.vector) };
     'a, 'b);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: &'a Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector + right.vector) };
     'a);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector + &right.vector) };
     'b);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector + right.vector) }; );
@@ -40,28 +39,28 @@ add_sub_impl!(Mul, mul, ClosedAdd;
 // Translation ÷ Translation
 // TODO: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
 add_sub_impl!(Div, div, ClosedSub;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: &'a Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector - &right.vector) };
     'a, 'b);
 
 add_sub_impl!(Div, div, ClosedSub;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: &'a Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector - right.vector) };
     'a);
 
 add_sub_impl!(Div, div, ClosedSub;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector - &right.vector) };
     'b);
 
 add_sub_impl!(Div, div, ClosedSub;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector - right.vector) }; );
@@ -70,28 +69,28 @@ add_sub_impl!(Div, div, ClosedSub;
 // TODO: we don't handle properly non-zero origins here. Do we want this to be the intended
 // behavior?
 add_sub_impl!(Mul, mul, ClosedAdd;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: &'a Translation<T, D>, right: &'b Point<T, D>, Output = Point<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { right + &self.vector };
     'a, 'b);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: &'a Translation<T, D>, right: Point<T, D>, Output = Point<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { right + &self.vector };
     'a);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: Translation<T, D>, right: &'b Point<T, D>, Output = Point<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { right + self.vector };
     'b);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
-    (Const<D>, U1), (Const<D>, U1) -> (Const<D>)
+    (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
     self: Translation<T, D>, right: Point<T, D>, Output = Point<T, D>;
     #[allow(clippy::suspicious_arithmetic_impl)] { right + self.vector }; );
diff --git a/src/third_party/alga/alga_unit_complex.rs b/src/third_party/alga/alga_unit_complex.rs
index 7ae9c6df..44dadb42 100755
--- a/src/third_party/alga/alga_unit_complex.rs
+++ b/src/third_party/alga/alga_unit_complex.rs
@@ -7,9 +7,7 @@ use alga::linear::{
     ProjectiveTransformation, Rotation, Similarity, Transformation,
 };
 
-use crate::base::allocator::Allocator;
-use crate::base::dimension::U2;
-use crate::base::{DefaultAllocator, Vector2};
+use crate::base::Vector2;
 use crate::geometry::{Point2, UnitComplex};
 
 /*
@@ -59,10 +57,7 @@ impl_structures!(
     AbstractGroup<Multiplicative>
 );
 
-impl<T: RealField + simba::scalar::RealField> Transformation<Point2<T>> for UnitComplex<T>
-where
-    DefaultAllocator: Allocator<T, U2>,
-{
+impl<T: RealField + simba::scalar::RealField> Transformation<Point2<T>> for UnitComplex<T> {
     #[inline]
     fn transform_point(&self, pt: &Point2<T>) -> Point2<T> {
         self.transform_point(pt)
@@ -74,9 +69,8 @@ where
     }
 }
 
-impl<T: RealField + simba::scalar::RealField> ProjectiveTransformation<Point2<T>> for UnitComplex<T>
-where
-    DefaultAllocator: Allocator<T, U2>,
+impl<T: RealField + simba::scalar::RealField> ProjectiveTransformation<Point2<T>>
+    for UnitComplex<T>
 {
     #[inline]
     fn inverse_transform_point(&self, pt: &Point2<T>) -> Point2<T> {
@@ -89,10 +83,7 @@ where
     }
 }
 
-impl<T: RealField + simba::scalar::RealField> AffineTransformation<Point2<T>> for UnitComplex<T>
-where
-    DefaultAllocator: Allocator<T, U2>,
-{
+impl<T: RealField + simba::scalar::RealField> AffineTransformation<Point2<T>> for UnitComplex<T> {
     type Rotation = Self;
     type NonUniformScaling = Id;
     type Translation = Id;
@@ -133,10 +124,7 @@ where
     }
 }
 
-impl<T: RealField + simba::scalar::RealField> Similarity<Point2<T>> for UnitComplex<T>
-where
-    DefaultAllocator: Allocator<T, U2>,
-{
+impl<T: RealField + simba::scalar::RealField> Similarity<Point2<T>> for UnitComplex<T> {
     type Scaling = Id;
 
     #[inline]
@@ -158,16 +146,13 @@ where
 macro_rules! marker_impl(
     ($($Trait: ident),*) => {$(
         impl<T: RealField + simba::scalar::RealField> $Trait<Point2<T>> for UnitComplex<T>
-        where DefaultAllocator: Allocator<T, U2> { }
+        { }
     )*}
 );
 
 marker_impl!(Isometry, DirectIsometry, OrthogonalTransformation);
 
-impl<T: RealField + simba::scalar::RealField> Rotation<Point2<T>> for UnitComplex<T>
-where
-    DefaultAllocator: Allocator<T, U2>,
-{
+impl<T: RealField + simba::scalar::RealField> Rotation<Point2<T>> for UnitComplex<T> {
     #[inline]
     fn powf(&self, n: T) -> Option<Self> {
         Some(self.powf(n))