Make MatrixN::{transform_vector, transform_point} inherent methods.
Addresses https://github.com/rustsim/nalgebra/issues/372
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@ -314,11 +314,12 @@ impl<N: Scalar + Ring, D: DimName, S: StorageMut<N, D, D>> SquareMatrix<N, D, S>
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}
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}
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impl<N: Real, D: DimNameSub<U1>> Transformation<Point<N, DimNameDiff<D, U1>>> for MatrixN<N, D>
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impl<N: Real, D: DimNameSub<U1>, S: Storage<N, D, D>> SquareMatrix<N, D, S>
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where DefaultAllocator: Allocator<N, D, D>
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+ Allocator<N, DimNameDiff<D, U1>>
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+ Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>>
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{
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/// Transforms the given vector, assuming the matirx `self` uses homogeneous coordinates.
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#[inline]
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fn transform_vector(
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&self,
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@ -336,6 +337,7 @@ where DefaultAllocator: Allocator<N, D, D>
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transform * v
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}
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/// Transforms the given point, assuming the matrix `self` uses homogeneous coordinates.
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#[inline]
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fn transform_point(&self, pt: &Point<N, DimNameDiff<D, U1>>) -> Point<N, DimNameDiff<D, U1>> {
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let transform = self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0);
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@ -351,3 +353,23 @@ where DefaultAllocator: Allocator<N, D, D>
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transform * pt + translation
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}
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}
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impl<N: Real, D: DimNameSub<U1>> Transformation<Point<N, DimNameDiff<D, U1>>> for MatrixN<N, D>
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where DefaultAllocator: Allocator<N, D, D>
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+ Allocator<N, DimNameDiff<D, U1>>
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+ Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>>
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{
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#[inline]
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fn transform_vector(
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&self,
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v: &VectorN<N, DimNameDiff<D, U1>>,
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) -> VectorN<N, DimNameDiff<D, U1>>
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{
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self.transform_vector(v)
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}
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#[inline]
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fn transform_point(&self, pt: &Point<N, DimNameDiff<D, U1>>) -> Point<N, DimNameDiff<D, U1>> {
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self.transform_point(pt)
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}
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}
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