From fc782f3644c5fe304a1b6f3858b61287de7c6d24 Mon Sep 17 00:00:00 2001
From: sebcrozet <developer@crozet.re>
Date: Mon, 29 Oct 2018 12:48:53 +0100
Subject: [PATCH] Make MatrixN::{transform_vector, transform_point} inherent
 methods.

Addresses https://github.com/rustsim/nalgebra/issues/372
---
 src/base/cg.rs | 24 +++++++++++++++++++++++-
 1 file changed, 23 insertions(+), 1 deletion(-)

diff --git a/src/base/cg.rs b/src/base/cg.rs
index 01be4e99..2a97607e 100644
--- a/src/base/cg.rs
+++ b/src/base/cg.rs
@@ -314,11 +314,12 @@ impl<N: Scalar + Ring, 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>
+impl<N: Real, D: DimNameSub<U1>, S: Storage<N, D, D>> SquareMatrix<N, D, S>
 where DefaultAllocator: Allocator<N, D, D>
         + Allocator<N, DimNameDiff<D, U1>>
         + Allocator<N, DimNameDiff<D, U1>, DimNameDiff<D, U1>>
 {
+    /// Transforms the given vector, assuming the matirx `self` uses homogeneous coordinates.
     #[inline]
     fn transform_vector(
         &self,
@@ -336,6 +337,7 @@ where DefaultAllocator: Allocator<N, D, D>
         transform * v
     }
 
+    /// Transforms the given point, assuming the matrix `self` uses homogeneous coordinates.
     #[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);
@@ -351,3 +353,23 @@ where DefaultAllocator: Allocator<N, D, D>
         transform * pt + translation
     }
 }
+
+impl<N: Real, D: DimNameSub<U1>> Transformation<Point<N, DimNameDiff<D, U1>>> for MatrixN<N, D>
+where DefaultAllocator: Allocator<N, D, D>
+        + 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>>
+    {
+        self.transform_vector(v)
+    }
+
+    #[inline]
+    fn transform_point(&self, pt: &Point<N, DimNameDiff<D, U1>>) -> Point<N, DimNameDiff<D, U1>> {
+        self.transform_point(pt)
+    }
+}