rustfmt

src/geometry/dual_quaternion.rs

@@ -1,11 +1,11 @@
-use std::fmt;
-use approx::{AbsDiffEq, RelativeEq, UlpsEq};
 use crate::{
-    Quaternion, SimdRealField, VectorN, U8, Vector3, Point3, Isometry3, Unit, Matrix4,
+    Isometry3, Matrix4, Normed, Point3, Quaternion, Scalar, SimdRealField, Translation3, Unit,
-    Translation3, UnitQuaternion, Scalar, Normed
+    UnitQuaternion, Vector3, VectorN, U8,
 };
+use approx::{AbsDiffEq, RelativeEq, UlpsEq};
 #[cfg(feature = "serde-serialize")]
 use serde::{Deserialize, Deserializer, Serialize, Serializer};
+use std::fmt;
 
 use simba::scalar::{ClosedNeg, RealField};
 
@@ -432,7 +432,9 @@ where
     #[inline]
     #[must_use = "Did you mean to use inverse_mut()?"]
     pub fn inverse(&self) -> Self {
-        let real = Unit::new_unchecked(self.as_ref().real).inverse().into_inner();
+        let real = Unit::new_unchecked(self.as_ref().real)
+            .inverse()
+            .into_inner();
         let dual = -real * self.as_ref().dual * real;
         UnitDualQuaternion::new_unchecked(DualQuaternion { real, dual })
     }
@@ -634,9 +636,11 @@ where
             moment * sin + direction * (pitch * half * cos),
         );
 
-        Some(self * UnitDualQuaternion::new_unchecked(
+        Some(
-            DualQuaternion::from_real_and_dual(real, dual)
+            self * UnitDualQuaternion::new_unchecked(DualQuaternion::from_real_and_dual(
-        ))
+                real, dual,
+            )),
+        )
     }
 
     /// Return the rotation part of this unit dual quaternion.
@@ -844,8 +848,7 @@ where
     /// assert_relative_eq!(dq.to_homogeneous(), expected, epsilon = 1.0e-6);
     /// ```
     #[inline]
-    pub fn to_homogeneous(&self) -> Matrix4<N>
+    pub fn to_homogeneous(&self) -> Matrix4<N> {
-    {
         self.to_isometry().to_homogeneous()
     }
 }

src/geometry/dual_quaternion_alga.rs

@@ -7,13 +7,12 @@ use alga::general::{
 };
 use alga::linear::{
     AffineTransformation, DirectIsometry, FiniteDimVectorSpace, Isometry, NormedSpace,
-    ProjectiveTransformation, Similarity, Transformation,
+    ProjectiveTransformation, Similarity, Transformation, VectorSpace,
-    VectorSpace,
 };
 
 use crate::base::Vector3;
 use crate::geometry::{
-    Point3, Quaternion, UnitQuaternion, DualQuaternion, UnitDualQuaternion, Translation3
+    DualQuaternion, Point3, Quaternion, Translation3, UnitDualQuaternion, UnitQuaternion,
 };
 
 impl<N: RealField + simba::scalar::RealField> Identity<Multiplicative> for DualQuaternion<N> {
@@ -103,12 +102,12 @@ impl<N: RealField + simba::scalar::RealField> FiniteDimVectorSpace for DualQuate
         if i < 4 {
             DualQuaternion::from_real_and_dual(
                 Quaternion::canonical_basis_element(i),
-                Quaternion::zero()
+                Quaternion::zero(),
             )
         } else {
             DualQuaternion::from_real_and_dual(
                 Quaternion::zero(),
-                Quaternion::canonical_basis_element(i - 4)
+                Quaternion::canonical_basis_element(i - 4),
             )
         }
     }
@@ -157,7 +156,10 @@ impl<N: RealField + simba::scalar::RealField> NormedSpace for DualQuaternion<N>
     fn try_normalize(&self, min_norm: N) -> Option<Self> {
         let real_norm = self.real.norm();
         if real_norm > min_norm {
-            Some(Self::from_real_and_dual(self.real / real_norm, self.dual / real_norm))
+            Some(Self::from_real_and_dual(
+                self.real / real_norm,
+                self.dual / real_norm,
+            ))
         } else {
             None
         }
@@ -188,7 +190,9 @@ impl<N: RealField + simba::scalar::RealField> Identity<Multiplicative> for UnitD
     }
 }
 
-impl<N: RealField + simba::scalar::RealField> AbstractMagma<Multiplicative> for UnitDualQuaternion<N> {
+impl<N: RealField + simba::scalar::RealField> AbstractMagma<Multiplicative>
+    for UnitDualQuaternion<N>
+{
     #[inline]
     fn operate(&self, rhs: &Self) -> Self {
         self * rhs
@@ -253,7 +257,12 @@ impl<N: RealField + simba::scalar::RealField> AffineTransformation<Point3<N>>
 
     #[inline]
     fn decompose(&self) -> (Self::Translation, Self::Rotation, Id, Self::Rotation) {
-        (self.translation(), self.rotation(), Id::new(), UnitQuaternion::identity())
+        (
+            self.translation(),
+            self.rotation(),
+            Id::new(),
+            UnitQuaternion::identity(),
+        )
     }
 
     #[inline]
@@ -313,4 +322,3 @@ macro_rules! marker_impl(
 );
 
 marker_impl!(Isometry, DirectIsometry);
-

src/geometry/dual_quaternion_construction.rs

@@ -1,10 +1,10 @@
-#[cfg(feature = "arbitrary")]
-use quickcheck::{Arbitrary, Gen};
 use crate::{
-    DualQuaternion, Quaternion, UnitDualQuaternion, SimdRealField, Isometry3,
+    DualQuaternion, Isometry3, Quaternion, SimdRealField, Translation3, UnitDualQuaternion,
-    Translation3, UnitQuaternion
+    UnitQuaternion,
 };
 use num::{One, Zero};
+#[cfg(feature = "arbitrary")]
+use quickcheck::{Arbitrary, Gen};
 
 impl<N: SimdRealField> DualQuaternion<N> {
     /// Creates a dual quaternion from its rotation and translation components.
@@ -50,9 +50,8 @@ impl<N: SimdRealField> DualQuaternion<N> {
 
 impl<N: SimdRealField> DualQuaternion<N>
 where
-    N::Element: SimdRealField
+    N::Element: SimdRealField,
 {
-
     /// Creates a dual quaternion from only its real part, with no translation
     /// component.
     ///
@@ -67,7 +66,10 @@ where
     /// ```
     #[inline]
     pub fn from_real(real: Quaternion<N>) -> Self {
-        Self { real, dual: Quaternion::zero() }
+        Self {
+            real,
+            dual: Quaternion::zero(),
+        }
     }
 }
 
@@ -87,10 +89,7 @@ where
 {
     #[inline]
     fn zero() -> Self {
-        DualQuaternion::from_real_and_dual(
+        DualQuaternion::from_real_and_dual(Quaternion::zero(), Quaternion::zero())
-            Quaternion::zero(),
-            Quaternion::zero()
-        )
     }
 
     #[inline]
@@ -107,10 +106,7 @@ where
 {
     #[inline]
     fn arbitrary<G: Gen>(rng: &mut G) -> Self {
-        Self::from_real_and_dual(
+        Self::from_real_and_dual(Arbitrary::arbitrary(rng), Arbitrary::arbitrary(rng))
-            Arbitrary::arbitrary(rng),
-            Arbitrary::arbitrary(rng)
-        )
     }
 }
 
@@ -151,10 +147,7 @@ where
     /// assert_relative_eq!(dq * point, Point3::new(1.0, 0.0, 2.0), epsilon = 1.0e-6);
     /// ```
     #[inline]
-    pub fn from_parts(
+    pub fn from_parts(translation: Translation3<N>, rotation: UnitQuaternion<N>) -> Self {
-        translation: Translation3<N>,
-        rotation: UnitQuaternion<N>
-    ) -> Self {
         let half: N = crate::convert(0.5f64);
         UnitDualQuaternion::new_unchecked(DualQuaternion {
             real: rotation.clone().into_inner(),

src/geometry/dual_quaternion_conversion.rs

@@ -4,8 +4,8 @@ use simba::simd::SimdRealField;
 use crate::base::dimension::U3;
 use crate::base::{Matrix4, Vector4};
 use crate::geometry::{
-    Isometry3, DualQuaternion, Similarity3, SuperTCategoryOf,
+    DualQuaternion, Isometry3, Similarity3, SuperTCategoryOf, TAffine, Transform, Translation3,
-    TAffine, Transform, Translation3, UnitQuaternion, UnitDualQuaternion
+    UnitDualQuaternion, UnitQuaternion,
 };
 
 /*
@@ -35,14 +35,15 @@ where
 
     #[inline]
     fn is_in_subset(dq: &DualQuaternion<N2>) -> bool {
-        crate::is_convertible::<_, Vector4<N1>>(&dq.real.coords) &&
+        crate::is_convertible::<_, Vector4<N1>>(&dq.real.coords)
-        crate::is_convertible::<_, Vector4<N1>>(&dq.dual.coords)
+            && crate::is_convertible::<_, Vector4<N1>>(&dq.dual.coords)
     }
 
     #[inline]
     fn from_superset_unchecked(dq: &DualQuaternion<N2>) -> Self {
         DualQuaternion::from_real_and_dual(
-            dq.real.to_subset_unchecked(), dq.dual.to_subset_unchecked()
+            dq.real.to_subset_unchecked(),
+            dq.dual.to_subset_unchecked(),
         )
     }
 }
@@ -71,7 +72,7 @@ where
 impl<N1, N2> SubsetOf<Isometry3<N2>> for UnitDualQuaternion<N1>
 where
     N1: RealField,
-    N2: RealField + SupersetOf<N1>
+    N2: RealField + SupersetOf<N1>,
 {
     #[inline]
     fn to_superset(&self) -> Isometry3<N2> {
@@ -82,8 +83,8 @@ where
 
     #[inline]
     fn is_in_subset(iso: &Isometry3<N2>) -> bool {
-        crate::is_convertible::<_, UnitQuaternion<N1>>(&iso.rotation) &&
+        crate::is_convertible::<_, UnitQuaternion<N1>>(&iso.rotation)
-            crate::is_convertible::<_, Translation3<N1>>(&iso.translation)
+            && crate::is_convertible::<_, Translation3<N1>>(&iso.translation)
     }
 
     #[inline]
@@ -96,7 +97,7 @@ where
 impl<N1, N2> SubsetOf<Similarity3<N2>> for UnitDualQuaternion<N1>
 where
     N1: RealField,
-    N2: RealField + SupersetOf<N1>
+    N2: RealField + SupersetOf<N1>,
 {
     #[inline]
     fn to_superset(&self) -> Similarity3<N2> {
@@ -136,7 +137,9 @@ where
     }
 }
 
-impl<N1: RealField, N2: RealField + SupersetOf<N1>> SubsetOf<Matrix4<N2>> for UnitDualQuaternion<N1> {
+impl<N1: RealField, N2: RealField + SupersetOf<N1>> SubsetOf<Matrix4<N2>>
+    for UnitDualQuaternion<N1>
+{
     #[inline]
     fn to_superset(&self) -> Matrix4<N2> {
         self.to_homogeneous().to_superset()
@@ -183,4 +186,3 @@ where
         Self::from_isometry(&iso)
     }
 }
-

src/geometry/dual_quaternion_ops.rs

@@ -22,15 +22,15 @@
  *   - https://cs.gmu.edu/~jmlien/teaching/cs451/uploads/Main/dual-quaternion.pdf
  */
 
-use crate::{
-    DualQuaternion, SimdRealField, Point3, Point, Vector3, Isometry3, Quaternion,
-    UnitDualQuaternion, UnitQuaternion, U1, U3, U4, Unit, Allocator,
-    DefaultAllocator, Vector, Translation3
-};
 use crate::base::storage::Storage;
+use crate::{
+    Allocator, DefaultAllocator, DualQuaternion, Isometry3, Point, Point3, Quaternion,
+    SimdRealField, Translation3, Unit, UnitDualQuaternion, UnitQuaternion, Vector, Vector3, U1, U3,
+    U4,
+};
 use std::mem;
 use std::ops::{
-    Add, AddAssign, Div, DivAssign, Index, IndexMut, Mul, MulAssign, Neg, Sub, SubAssign
+    Add, AddAssign, Div, DivAssign, Index, IndexMut, Mul, MulAssign, Neg, Sub, SubAssign,
 };
 
 impl<N: SimdRealField> AsRef<[N; 8]> for DualQuaternion<N> {

src/geometry/isometry_conversion.rs

@@ -7,7 +7,7 @@ use crate::base::{DefaultAllocator, MatrixN, Scalar};
 
 use crate::geometry::{
     AbstractRotation, Isometry, Isometry3, Similarity, SuperTCategoryOf, TAffine, Transform,
-    Translation, UnitDualQuaternion, UnitQuaternion
+    Translation, UnitDualQuaternion, UnitQuaternion,
 };
 
 /*
@@ -62,8 +62,8 @@ where
 
     #[inline]
     fn is_in_subset(dq: &UnitDualQuaternion<N2>) -> bool {
-        crate::is_convertible::<_, UnitQuaternion<N1>>(&dq.rotation()) &&
+        crate::is_convertible::<_, UnitQuaternion<N1>>(&dq.rotation())
-        crate::is_convertible::<_, Translation<N1, _>>(&dq.translation())
+            && crate::is_convertible::<_, Translation<N1, _>>(&dq.translation())
     }
 
     #[inline]

src/geometry/quaternion_conversion.rs

@@ -10,7 +10,7 @@ use crate::base::dimension::U3;
 use crate::base::{Matrix3, Matrix4, Scalar, Vector4};
 use crate::geometry::{
     AbstractRotation, Isometry, Quaternion, Rotation, Rotation3, Similarity, SuperTCategoryOf,
-    TAffine, Transform, Translation, UnitQuaternion, UnitDualQuaternion
+    TAffine, Transform, Translation, UnitDualQuaternion, UnitQuaternion,
 };
 
 /*
@@ -125,7 +125,7 @@ where
 impl<N1, N2> SubsetOf<UnitDualQuaternion<N2>> for UnitQuaternion<N1>
 where
     N1: RealField,
-    N2: RealField + SupersetOf<N1>
+    N2: RealField + SupersetOf<N1>,
 {
     #[inline]
     fn to_superset(&self) -> UnitDualQuaternion<N2> {

src/geometry/rotation_conversion.rs

@@ -12,7 +12,7 @@ use crate::base::{DefaultAllocator, Matrix2, Matrix3, Matrix4, MatrixN, Scalar};
 
 use crate::geometry::{
     AbstractRotation, Isometry, Rotation, Rotation2, Rotation3, Similarity, SuperTCategoryOf,
-    TAffine, Transform, Translation, UnitComplex, UnitQuaternion, UnitDualQuaternion,
+    TAffine, Transform, Translation, UnitComplex, UnitDualQuaternion, UnitQuaternion,
 };
 
 /*
@@ -90,8 +90,8 @@ where
 
     #[inline]
     fn is_in_subset(dq: &UnitDualQuaternion<N2>) -> bool {
-        crate::is_convertible::<_, UnitQuaternion<N1>>(&dq.rotation()) &&
+        crate::is_convertible::<_, UnitQuaternion<N1>>(&dq.rotation())
-            dq.translation().vector.is_zero()
+            && dq.translation().vector.is_zero()
     }
 
     #[inline]

src/geometry/translation_conversion.rs

@@ -9,7 +9,7 @@ use crate::base::{DefaultAllocator, MatrixN, Scalar, VectorN};
 
 use crate::geometry::{
     AbstractRotation, Isometry, Similarity, SuperTCategoryOf, TAffine, Transform, Translation,
-    Translation3, UnitDualQuaternion, UnitQuaternion
+    Translation3, UnitDualQuaternion, UnitQuaternion,
 };
 
 /*
@@ -84,8 +84,8 @@ where
 
     #[inline]
     fn is_in_subset(dq: &UnitDualQuaternion<N2>) -> bool {
-        crate::is_convertible::<_, Translation<N1, _>>(&dq.translation()) &&
+        crate::is_convertible::<_, Translation<N1, _>>(&dq.translation())
-            dq.rotation() == UnitQuaternion::identity()
+            && dq.rotation() == UnitQuaternion::identity()
     }
 
     #[inline]

tests/geometry/dual_quaternion.rs

@@ -1,9 +1,7 @@
 #![cfg(feature = "arbitrary")]
 #![allow(non_snake_case)]
 
-use na::{
+use na::{Isometry3, Point3, Translation3, UnitDualQuaternion, UnitQuaternion, Vector3};
-    Isometry3, Point3, Translation3, UnitQuaternion, UnitDualQuaternion, Vector3,
-};
 
 quickcheck!(
     fn isometry_equivalence(iso: Isometry3<f64>, p: Point3<f64>, v: Vector3<f64>) -> bool {
@@ -25,7 +23,9 @@ quickcheck!(
     }
 
     fn multiply_equals_alga_transform(
-        dq: UnitDualQuaternion<f64>, v: Vector3<f64>, p: Point3<f64>
+        dq: UnitDualQuaternion<f64>,
+        v: Vector3<f64>,
+        p: Point3<f64>,
     ) -> bool {
         dq * v == dq.transform_vector(&v)
             && dq * p == dq.transform_point(&p)

tests/geometry/mod.rs

@@ -1,3 +1,4 @@
+mod dual_quaternion;
 mod isometry;
 mod point;
 mod projection;
@@ -5,4 +6,3 @@ mod quaternion;
 mod rotation;
 mod similarity;
 mod unit_complex;
-mod dual_quaternion;