From 3dc76caf7edec82f81f8d47dafedcb1830e7e4a8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= <sebastien@crozet.re>
Date: Fri, 2 Feb 2018 12:26:29 +0100
Subject: [PATCH] =?UTF-8?q?Add=20Isometry=20=C3=97=20Unit<Vector>.?=
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Fix #285.
---
 src/geometry/isometry_ops.rs | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/geometry/isometry_ops.rs b/src/geometry/isometry_ops.rs
index 02b89590..7cec960d 100644
--- a/src/geometry/isometry_ops.rs
+++ b/src/geometry/isometry_ops.rs
@@ -3,7 +3,7 @@ use std::ops::{Mul, MulAssign, Div, DivAssign};
 use alga::general::Real;
 use alga::linear::Rotation as AlgaRotation;
 
-use core::{DefaultAllocator, VectorN};
+use core::{DefaultAllocator, VectorN, Unit};
 use core::dimension::{DimName, U1, U3, U4};
 use core::allocator::Allocator;
 
@@ -30,6 +30,7 @@ use geometry::{Point, Rotation, Isometry, Translation, UnitQuaternion};
  *
  * Isometry × Point
  * Isometry × Vector
+ * Isometry × Unit<Vector>
  *
  *
  * Isometry    × Translation
@@ -252,6 +253,18 @@ isometry_binop_impl_all!(
     [ref ref] => self.rotation.transform_vector(right);
 );
 
+// Isometry × Unit<Vector>
+isometry_binop_impl_all!(
+    Mul, mul;
+    // FIXME: because of `transform_vector`, we cant use a generic storage type for the rhs vector,
+    // i.e., right: Vector<N, D, S> where S: Storage<N, D>.
+    self: Isometry<N, D, R>, right: Unit<VectorN<N, D>>, Output = Unit<VectorN<N, D>>;
+    [val val] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
+    [ref val] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
+    [val ref] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
+    [ref ref] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
+);
+
 
 // Isometry × Translation
 isometry_binop_impl_all!(