Initial commit copy all translation_x files into scale_x files

src/geometry/scale_alias.rs

@@ -0,0 +1,19 @@
+use crate::geometry::Translation;
+
+/// A 1-dimensional translation.
+pub type Translation1<T> = Translation<T, 1>;
+
+/// A 2-dimensional translation.
+pub type Translation2<T> = Translation<T, 2>;
+
+/// A 3-dimensional translation.
+pub type Translation3<T> = Translation<T, 3>;
+
+/// A 4-dimensional translation.
+pub type Translation4<T> = Translation<T, 4>;
+
+/// A 5-dimensional translation.
+pub type Translation5<T> = Translation<T, 5>;
+
+/// A 6-dimensional translation.
+pub type Translation6<T> = Translation<T, 6>;

src/geometry/scale_construction.rs

@@ -0,0 +1,123 @@
+#[cfg(feature = "arbitrary")]
+use crate::base::storage::Owned;
+#[cfg(feature = "arbitrary")]
+use quickcheck::{Arbitrary, Gen};
+
+use num::{One, Zero};
+#[cfg(feature = "rand-no-std")]
+use rand::{
+    distributions::{Distribution, Standard},
+    Rng,
+};
+
+use simba::scalar::{ClosedAdd, SupersetOf};
+
+use crate::base::{SVector, Scalar};
+use crate::geometry::Translation;
+
+impl<T: Scalar, const D: usize> Translation<T, D> {
+    /// Creates a new identity translation.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::{Point2, Point3, Translation2, Translation3};
+    /// let t = Translation2::identity();
+    /// let p = Point2::new(1.0, 2.0);
+    /// assert_eq!(t * p, p);
+    ///
+    /// // Works in all dimensions.
+    /// let t = Translation3::identity();
+    /// let p = Point3::new(1.0, 2.0, 3.0);
+    /// assert_eq!(t * p, p);
+    /// ```
+    #[inline]
+    pub fn identity() -> Translation<T, D>
+    where
+        T: Zero,
+    {
+        Self::from(SVector::<T, D>::from_element(T::zero()))
+    }
+
+    /// Cast the components of `self` to another type.
+    ///
+    /// # Example
+    /// ```
+    /// # use nalgebra::Translation2;
+    /// let tra = Translation2::new(1.0f64, 2.0);
+    /// let tra2 = tra.cast::<f32>();
+    /// assert_eq!(tra2, Translation2::new(1.0f32, 2.0));
+    /// ```
+    pub fn cast<To: Scalar>(self) -> Translation<To, D>
+    where
+        Translation<To, D>: SupersetOf<Self>,
+    {
+        crate::convert(self)
+    }
+}
+
+impl<T: Scalar + Zero + ClosedAdd, const D: usize> One for Translation<T, D> {
+    #[inline]
+    fn one() -> Self {
+        Self::identity()
+    }
+}
+
+#[cfg(feature = "rand-no-std")]
+impl<T: Scalar, const D: usize> Distribution<Translation<T, D>> for Standard
+where
+    Standard: Distribution<T>,
+{
+    /// Generate an arbitrary random variate for testing purposes.
+    #[inline]
+    fn sample<G: Rng + ?Sized>(&self, rng: &mut G) -> Translation<T, D> {
+        Translation::from(rng.gen::<SVector<T, D>>())
+    }
+}
+
+#[cfg(feature = "arbitrary")]
+impl<T: Scalar + Arbitrary + Send, const D: usize> Arbitrary for Translation<T, D>
+where
+    Owned<T, crate::Const<D>>: Send,
+{
+    #[inline]
+    fn arbitrary(rng: &mut Gen) -> Self {
+        let v: SVector<T, D> = Arbitrary::arbitrary(rng);
+        Self::from(v)
+    }
+}
+
+/*
+ *
+ * Small translation construction from components.
+ *
+ */
+macro_rules! componentwise_constructors_impl(
+    ($($doc: expr; $D: expr, $($args: ident:$irow: expr),*);* $(;)*) => {$(
+        impl<T> Translation<T, $D>
+             {
+            #[doc = "Initializes this translation from its components."]
+            #[doc = "# Example\n```"]
+            #[doc = $doc]
+            #[doc = "```"]
+            #[inline]
+            pub const fn new($($args: T),*) -> Self {
+                Self { vector: SVector::<T, $D>::new($($args),*) }
+            }
+        }
+    )*}
+);
+
+componentwise_constructors_impl!(
+    "# use nalgebra::Translation1;\nlet t = Translation1::new(1.0);\nassert!(t.vector.x == 1.0);";
+    1, x:0;
+    "# use nalgebra::Translation2;\nlet t = Translation2::new(1.0, 2.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0);";
+    2, x:0, y:1;
+    "# use nalgebra::Translation3;\nlet t = Translation3::new(1.0, 2.0, 3.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0);";
+    3, x:0, y:1, z:2;
+    "# use nalgebra::Translation4;\nlet t = Translation4::new(1.0, 2.0, 3.0, 4.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0);";
+    4, x:0, y:1, z:2, w:3;
+    "# use nalgebra::Translation5;\nlet t = Translation5::new(1.0, 2.0, 3.0, 4.0, 5.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0);";
+    5, x:0, y:1, z:2, w:3, a:4;
+    "# use nalgebra::Translation6;\nlet t = Translation6::new(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0 && t.vector.b == 6.0);";
+    6, x:0, y:1, z:2, w:3, a:4, b:5;
+);

src/geometry/scale_conversion.rs

@@ -0,0 +1,306 @@
+use num::{One, Zero};
+
+use simba::scalar::{RealField, SubsetOf, SupersetOf};
+use simba::simd::PrimitiveSimdValue;
+
+use crate::base::allocator::Allocator;
+use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
+use crate::base::{Const, DefaultAllocator, DimName, OMatrix, OVector, SVector, Scalar};
+
+use crate::geometry::{
+    AbstractRotation, Isometry, Similarity, SuperTCategoryOf, TAffine, Transform, Translation,
+    Translation3, UnitDualQuaternion, UnitQuaternion,
+};
+use crate::Point;
+
+/*
+ * This file provides the following conversions:
+ * =============================================
+ *
+ * Translation -> Translation
+ * Translation -> Isometry
+ * Translation3 -> UnitDualQuaternion
+ * Translation -> Similarity
+ * Translation -> Transform
+ * Translation -> Matrix (homogeneous)
+ */
+
+impl<T1, T2, const D: usize> SubsetOf<Translation<T2, D>> for Translation<T1, D>
+where
+    T1: Scalar,
+    T2: Scalar + SupersetOf<T1>,
+{
+    #[inline]
+    fn to_superset(&self) -> Translation<T2, D> {
+        Translation::from(self.vector.to_superset())
+    }
+
+    #[inline]
+    fn is_in_subset(rot: &Translation<T2, D>) -> bool {
+        crate::is_convertible::<_, SVector<T1, D>>(&rot.vector)
+    }
+
+    #[inline]
+    fn from_superset_unchecked(rot: &Translation<T2, D>) -> Self {
+        Translation {
+            vector: rot.vector.to_subset_unchecked(),
+        }
+    }
+}
+
+impl<T1, T2, R, const D: usize> SubsetOf<Isometry<T2, R, D>> for Translation<T1, D>
+where
+    T1: RealField,
+    T2: RealField + SupersetOf<T1>,
+    R: AbstractRotation<T2, D>,
+{
+    #[inline]
+    fn to_superset(&self) -> Isometry<T2, R, D> {
+        Isometry::from_parts(self.to_superset(), R::identity())
+    }
+
+    #[inline]
+    fn is_in_subset(iso: &Isometry<T2, R, D>) -> bool {
+        iso.rotation == R::identity()
+    }
+
+    #[inline]
+    fn from_superset_unchecked(iso: &Isometry<T2, R, D>) -> Self {
+        Self::from_superset_unchecked(&iso.translation)
+    }
+}
+
+impl<T1, T2> SubsetOf<UnitDualQuaternion<T2>> for Translation3<T1>
+where
+    T1: RealField,
+    T2: RealField + SupersetOf<T1>,
+{
+    #[inline]
+    fn to_superset(&self) -> UnitDualQuaternion<T2> {
+        let dq = UnitDualQuaternion::<T1>::from_parts(self.clone(), UnitQuaternion::identity());
+        dq.to_superset()
+    }
+
+    #[inline]
+    fn is_in_subset(dq: &UnitDualQuaternion<T2>) -> bool {
+        crate::is_convertible::<_, Translation<T1, 3>>(&dq.translation())
+            && dq.rotation() == UnitQuaternion::identity()
+    }
+
+    #[inline]
+    fn from_superset_unchecked(dq: &UnitDualQuaternion<T2>) -> Self {
+        let dq: UnitDualQuaternion<T1> = crate::convert_ref_unchecked(dq);
+        dq.translation()
+    }
+}
+
+impl<T1, T2, R, const D: usize> SubsetOf<Similarity<T2, R, D>> for Translation<T1, D>
+where
+    T1: RealField,
+    T2: RealField + SupersetOf<T1>,
+    R: AbstractRotation<T2, D>,
+{
+    #[inline]
+    fn to_superset(&self) -> Similarity<T2, R, D> {
+        Similarity::from_parts(self.to_superset(), R::identity(), T2::one())
+    }
+
+    #[inline]
+    fn is_in_subset(sim: &Similarity<T2, R, D>) -> bool {
+        sim.isometry.rotation == R::identity() && sim.scaling() == T2::one()
+    }
+
+    #[inline]
+    fn from_superset_unchecked(sim: &Similarity<T2, R, D>) -> Self {
+        Self::from_superset_unchecked(&sim.isometry.translation)
+    }
+}
+
+impl<T1, T2, C, const D: usize> SubsetOf<Transform<T2, C, D>> for Translation<T1, D>
+where
+    T1: RealField,
+    T2: RealField + SupersetOf<T1>,
+    C: SuperTCategoryOf<TAffine>,
+    Const<D>: DimNameAdd<U1>,
+    DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
+        + Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
+{
+    #[inline]
+    fn to_superset(&self) -> Transform<T2, C, D> {
+        Transform::from_matrix_unchecked(self.to_homogeneous().to_superset())
+    }
+
+    #[inline]
+    fn is_in_subset(t: &Transform<T2, C, D>) -> bool {
+        <Self as SubsetOf<_>>::is_in_subset(t.matrix())
+    }
+
+    #[inline]
+    fn from_superset_unchecked(t: &Transform<T2, C, D>) -> Self {
+        Self::from_superset_unchecked(t.matrix())
+    }
+}
+
+impl<T1, T2, const D: usize>
+    SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>> for Translation<T1, D>
+where
+    T1: RealField,
+    T2: RealField + SupersetOf<T1>,
+    Const<D>: DimNameAdd<U1>,
+    DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
+        + Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
+    // + Allocator<T1, D>
+    // + Allocator<T2, D>
+{
+    #[inline]
+    fn to_superset(&self) -> OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> {
+        self.to_homogeneous().to_superset()
+    }
+
+    #[inline]
+    fn is_in_subset(m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>) -> bool {
+        let id = m.generic_slice((0, 0), (DimNameSum::<Const<D>, U1>::name(), Const::<D>));
+
+        // Scalar types agree.
+        m.iter().all(|e| SupersetOf::<T1>::is_in_subset(e)) &&
+        // The block part does nothing.
+        id.is_identity(T2::zero()) &&
+        // The normalization factor is one.
+        m[(D, D)] == T2::one()
+    }
+
+    #[inline]
+    fn from_superset_unchecked(
+        m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
+    ) -> Self {
+        let t = m.fixed_slice::<D, 1>(0, D);
+        Self {
+            vector: crate::convert_unchecked(t.into_owned()),
+        }
+    }
+}
+
+impl<T: Scalar + Zero + One, const D: usize> From<Translation<T, D>>
+    for OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
+where
+    Const<D>: DimNameAdd<U1>,
+    DefaultAllocator:
+        Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> + Allocator<T, Const<D>>,
+{
+    #[inline]
+    fn from(t: Translation<T, D>) -> Self {
+        t.to_homogeneous()
+    }
+}
+
+impl<T: Scalar, const D: usize> From<OVector<T, Const<D>>> for Translation<T, D> {
+    #[inline]
+    fn from(vector: OVector<T, Const<D>>) -> Self {
+        Translation { vector }
+    }
+}
+
+impl<T: Scalar, const D: usize> From<[T; D]> for Translation<T, D> {
+    #[inline]
+    fn from(coords: [T; D]) -> Self {
+        Translation {
+            vector: coords.into(),
+        }
+    }
+}
+
+impl<T: Scalar, const D: usize> From<Point<T, D>> for Translation<T, D> {
+    #[inline]
+    fn from(pt: Point<T, D>) -> Self {
+        Translation { vector: pt.coords }
+    }
+}
+
+impl<T: Scalar, const D: usize> From<Translation<T, D>> for [T; D] {
+    #[inline]
+    fn from(t: Translation<T, D>) -> Self {
+        t.vector.into()
+    }
+}
+
+impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 2]>
+    for Translation<T, D>
+where
+    T: From<[<T as simba::simd::SimdValue>::Element; 2]>,
+    T::Element: Scalar,
+{
+    #[inline]
+    fn from(arr: [Translation<T::Element, D>; 2]) -> Self {
+        Self::from(OVector::from([
+            arr[0].vector.clone(),
+            arr[1].vector.clone(),
+        ]))
+    }
+}
+
+impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 4]>
+    for Translation<T, D>
+where
+    T: From<[<T as simba::simd::SimdValue>::Element; 4]>,
+    T::Element: Scalar,
+{
+    #[inline]
+    fn from(arr: [Translation<T::Element, D>; 4]) -> Self {
+        Self::from(OVector::from([
+            arr[0].vector.clone(),
+            arr[1].vector.clone(),
+            arr[2].vector.clone(),
+            arr[3].vector.clone(),
+        ]))
+    }
+}
+
+impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 8]>
+    for Translation<T, D>
+where
+    T: From<[<T as simba::simd::SimdValue>::Element; 8]>,
+    T::Element: Scalar,
+{
+    #[inline]
+    fn from(arr: [Translation<T::Element, D>; 8]) -> Self {
+        Self::from(OVector::from([
+            arr[0].vector.clone(),
+            arr[1].vector.clone(),
+            arr[2].vector.clone(),
+            arr[3].vector.clone(),
+            arr[4].vector.clone(),
+            arr[5].vector.clone(),
+            arr[6].vector.clone(),
+            arr[7].vector.clone(),
+        ]))
+    }
+}
+
+impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 16]>
+    for Translation<T, D>
+where
+    T: From<[<T as simba::simd::SimdValue>::Element; 16]>,
+    T::Element: Scalar,
+{
+    #[inline]
+    fn from(arr: [Translation<T::Element, D>; 16]) -> Self {
+        Self::from(OVector::from([
+            arr[0].vector.clone(),
+            arr[1].vector.clone(),
+            arr[2].vector.clone(),
+            arr[3].vector.clone(),
+            arr[4].vector.clone(),
+            arr[5].vector.clone(),
+            arr[6].vector.clone(),
+            arr[7].vector.clone(),
+            arr[8].vector.clone(),
+            arr[9].vector.clone(),
+            arr[10].vector.clone(),
+            arr[11].vector.clone(),
+            arr[12].vector.clone(),
+            arr[13].vector.clone(),
+            arr[14].vector.clone(),
+            arr[15].vector.clone(),
+        ]))
+    }
+}

src/geometry/scale_coordinates.rs

@@ -0,0 +1,39 @@
+use std::ops::{Deref, DerefMut};
+
+use crate::base::coordinates::{X, XY, XYZ, XYZW, XYZWA, XYZWAB};
+use crate::base::Scalar;
+
+use crate::geometry::Translation;
+
+/*
+ *
+ * Give coordinates to Translation{1 .. 6}
+ *
+ */
+
+macro_rules! deref_impl(
+    ($D: expr, $Target: ident $(, $comps: ident)*) => {
+        impl<T: Scalar> Deref for Translation<T, $D> {
+            type Target = $Target<T>;
+
+            #[inline]
+            fn deref(&self) -> &Self::Target {
+                unsafe { &*(self as *const Translation<T, $D> as *const Self::Target) }
+            }
+        }
+
+        impl<T: Scalar> DerefMut for Translation<T, $D> {
+            #[inline]
+            fn deref_mut(&mut self) -> &mut Self::Target {
+                unsafe { &mut *(self as *mut Translation<T, $D> as *mut Self::Target) }
+            }
+        }
+    }
+);
+
+deref_impl!(1, X, x);
+deref_impl!(2, XY, x, y);
+deref_impl!(3, XYZ, x, y, z);
+deref_impl!(4, XYZW, x, y, z, w);
+deref_impl!(5, XYZWA, x, y, z, w, a);
+deref_impl!(6, XYZWAB, x, y, z, w, a, b);

src/geometry/scale_ops.rs

@@ -0,0 +1,119 @@
+use std::ops::{Div, DivAssign, Mul, MulAssign};
+
+use simba::scalar::{ClosedAdd, ClosedSub};
+
+use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
+use crate::base::dimension::U1;
+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>, 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>, 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>, 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>, 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) }; );
+
+// 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>, 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>, 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>, 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>, 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) }; );
+
+// Translation × Point
+// 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>, 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>, 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>, 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>, 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 }; );
+
+// Translation *= Translation
+add_sub_assign_impl!(MulAssign, mul_assign, ClosedAdd;
+    const D;
+    self: Translation<T, D>, right: &'b Translation<T, D>;
+    #[allow(clippy::suspicious_op_assign_impl)] { self.vector += &right.vector };
+    'b);
+
+add_sub_assign_impl!(MulAssign, mul_assign, ClosedAdd;
+    const D;
+    self: Translation<T, D>, right: Translation<T, D>;
+    #[allow(clippy::suspicious_op_assign_impl)] { self.vector += right.vector }; );
+
+add_sub_assign_impl!(DivAssign, div_assign, ClosedSub;
+    const D;
+    self: Translation<T, D>, right: &'b Translation<T, D>;
+    #[allow(clippy::suspicious_op_assign_impl)] { self.vector -= &right.vector };
+    'b);
+
+add_sub_assign_impl!(DivAssign, div_assign, ClosedSub;
+    const D;
+    self: Translation<T, D>, right: Translation<T, D>;
+    #[allow(clippy::suspicious_op_assign_impl)] { self.vector -= right.vector }; );

src/geometry/scale_simba.rs

@@ -0,0 +1,49 @@
+use simba::simd::SimdValue;
+
+use crate::base::OVector;
+use crate::Scalar;
+
+use crate::geometry::Translation;
+
+impl<T: Scalar + SimdValue, const D: usize> SimdValue for Translation<T, D>
+where
+    T::Element: Scalar,
+{
+    type Element = Translation<T::Element, D>;
+    type SimdBool = T::SimdBool;
+
+    #[inline]
+    fn lanes() -> usize {
+        T::lanes()
+    }
+
+    #[inline]
+    fn splat(val: Self::Element) -> Self {
+        OVector::splat(val.vector).into()
+    }
+
+    #[inline]
+    fn extract(&self, i: usize) -> Self::Element {
+        self.vector.extract(i).into()
+    }
+
+    #[inline]
+    unsafe fn extract_unchecked(&self, i: usize) -> Self::Element {
+        self.vector.extract_unchecked(i).into()
+    }
+
+    #[inline]
+    fn replace(&mut self, i: usize, val: Self::Element) {
+        self.vector.replace(i, val.vector)
+    }
+
+    #[inline]
+    unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) {
+        self.vector.replace_unchecked(i, val.vector)
+    }
+
+    #[inline]
+    fn select(self, cond: Self::SimdBool, other: Self) -> Self {
+        self.vector.select(cond, other.vector).into()
+    }
+}