From cb0812aaf31f573dc0724240fa306d57bdfcec70 Mon Sep 17 00:00:00 2001
From: CAD97 <cad97@cad97.com>
Date: Mon, 28 Jun 2021 20:36:28 -0500
Subject: [PATCH 1/3] Add bytemuck impls to geometry types

---
 src/geometry/dual_quaternion.rs |  6 ++++++
 src/geometry/orthographic.rs    |  6 ++++++
 src/geometry/perspective.rs     |  6 ++++++
 src/geometry/rotation.rs        | 16 ++++++++++++++++
 src/geometry/transform.rs       | 18 ++++++++++++++++++
 src/geometry/translation.rs     | 16 ++++++++++++++++
 6 files changed, 68 insertions(+)

diff --git a/src/geometry/dual_quaternion.rs b/src/geometry/dual_quaternion.rs
index 63148836..d745f1d3 100644
--- a/src/geometry/dual_quaternion.rs
+++ b/src/geometry/dual_quaternion.rs
@@ -241,6 +241,12 @@ where
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Zeroable for DualQuaternion<T> where Quaternion<T>: bytemuck::Zeroable {}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Pod for DualQuaternion<T> where Quaternion<T>: bytemuck::Pod {}
+
 #[cfg(feature = "serde-serialize-no-std")]
 impl<T: SimdRealField> Serialize for DualQuaternion<T>
 where
diff --git a/src/geometry/orthographic.rs b/src/geometry/orthographic.rs
index 17a5b969..ade84092 100644
--- a/src/geometry/orthographic.rs
+++ b/src/geometry/orthographic.rs
@@ -44,6 +44,12 @@ impl<T: RealField> PartialEq for Orthographic3<T> {
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Zeroable for Orthographic3<T> where Matrix4<T>: bytemuck::Zeroable {}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Pod for Orthographic3<T> where Matrix4<T>: bytemuck::Pod {}
+
 #[cfg(feature = "serde-serialize-no-std")]
 impl<T: RealField + Serialize> Serialize for Orthographic3<T> {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
diff --git a/src/geometry/perspective.rs b/src/geometry/perspective.rs
index 6ad9707f..c7dd8b3e 100644
--- a/src/geometry/perspective.rs
+++ b/src/geometry/perspective.rs
@@ -45,6 +45,12 @@ impl<T: RealField> PartialEq for Perspective3<T> {
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Zeroable for Perspective3<T> where Matrix4<T>: bytemuck::Zeroable {}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T> bytemuck::Pod for Perspective3<T> where Matrix4<T>: bytemuck::Pod {}
+
 #[cfg(feature = "serde-serialize-no-std")]
 impl<T: RealField + Serialize> Serialize for Perspective3<T> {
     fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
diff --git a/src/geometry/rotation.rs b/src/geometry/rotation.rs
index f3127fb9..89bc082f 100755
--- a/src/geometry/rotation.rs
+++ b/src/geometry/rotation.rs
@@ -83,6 +83,22 @@ where
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T, const D: usize> bytemuck::Zeroable for Rotation<T, D>
+where
+    T: Scalar,
+    SMatrix<T, D, D>: bytemuck::Zeroable,
+{
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T, const D: usize> bytemuck::Pod for Rotation<T, D>
+where
+    T: Scalar,
+    SMatrix<T, D, D>: bytemuck::Pod,
+{
+}
+
 #[cfg(feature = "abomonation-serialize")]
 impl<T, const D: usize> Abomonation for Rotation<T, D>
 where
diff --git a/src/geometry/transform.rs b/src/geometry/transform.rs
index 682d2bd6..051fd3d5 100755
--- a/src/geometry/transform.rs
+++ b/src/geometry/transform.rs
@@ -194,6 +194,24 @@ where
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T: RealField, C: TCategory, const D: usize> bytemuck::Zeroable for Transform<T, C, D>
+where
+    Const<D>: DimNameAdd<U1>,
+    DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
+    OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>: bytemuck::Zeroable,
+{
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T: RealField, C: TCategory, const D: usize> bytemuck::Pod for Transform<T, C, D>
+where
+    Const<D>: DimNameAdd<U1>,
+    DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
+    OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>: bytemuck::Pod,
+{
+}
+
 #[cfg(feature = "serde-serialize-no-std")]
 impl<T: RealField, C: TCategory, const D: usize> Serialize for Transform<T, C, D>
 where
diff --git a/src/geometry/translation.rs b/src/geometry/translation.rs
index 18fa7e04..758a21ca 100755
--- a/src/geometry/translation.rs
+++ b/src/geometry/translation.rs
@@ -50,6 +50,22 @@ where
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T, const D: usize> bytemuck::Zeroable for Translation<T, D>
+where
+    T: Scalar,
+    SVector<T, D>: bytemuck::Zeroable,
+{
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T, const D: usize> bytemuck::Pod for Translation<T, D>
+where
+    T: Scalar,
+    SVector<T, D>: bytemuck::Pod,
+{
+}
+
 #[cfg(feature = "abomonation-serialize")]
 impl<T, const D: usize> Abomonation for Translation<T, D>
 where

From 396d3d661512284f147b3ba3500beb3e3c9a5751 Mon Sep 17 00:00:00 2001
From: CAD97 <cad97@cad97.com>
Date: Mon, 28 Jun 2021 20:49:57 -0500
Subject: [PATCH 2/3] Add missing repr(C) on bytemuckable geometry types

---
 src/geometry/orthographic.rs | 1 +
 src/geometry/perspective.rs  | 1 +
 2 files changed, 2 insertions(+)

diff --git a/src/geometry/orthographic.rs b/src/geometry/orthographic.rs
index ade84092..836edc93 100644
--- a/src/geometry/orthographic.rs
+++ b/src/geometry/orthographic.rs
@@ -18,6 +18,7 @@ use crate::base::{Matrix4, Vector, Vector3};
 use crate::geometry::{Point3, Projective3};
 
 /// A 3D orthographic projection stored as a homogeneous 4x4 matrix.
+#[repr(C)]
 pub struct Orthographic3<T: RealField> {
     matrix: Matrix4<T>,
 }
diff --git a/src/geometry/perspective.rs b/src/geometry/perspective.rs
index c7dd8b3e..08b2608b 100644
--- a/src/geometry/perspective.rs
+++ b/src/geometry/perspective.rs
@@ -19,6 +19,7 @@ use crate::base::{Matrix4, Scalar, Vector, Vector3};
 use crate::geometry::{Point3, Projective3};
 
 /// A 3D perspective projection stored as a homogeneous 4x4 matrix.
+#[repr(C)]
 pub struct Perspective3<T: Scalar> {
     matrix: Matrix4<T>,
 }

From 22ba88353a78420e6f523b8293f7e521a22b6b1d Mon Sep 17 00:00:00 2001
From: CAD97 <cad97@cad97.com>
Date: Fri, 9 Jul 2021 15:23:08 -0500
Subject: [PATCH 3/3] Fix bounds for bytemuck impls

---
 src/geometry/dual_quaternion.rs | 14 ++++++++++++--
 src/geometry/orthographic.rs    | 14 ++++++++++++--
 src/geometry/perspective.rs     | 14 ++++++++++++--
 src/geometry/rotation.rs        |  4 ++--
 src/geometry/transform.rs       |  7 +++++--
 src/geometry/translation.rs     |  4 ++--
 6 files changed, 45 insertions(+), 12 deletions(-)

diff --git a/src/geometry/dual_quaternion.rs b/src/geometry/dual_quaternion.rs
index d745f1d3..376c5fbb 100644
--- a/src/geometry/dual_quaternion.rs
+++ b/src/geometry/dual_quaternion.rs
@@ -242,10 +242,20 @@ where
 }
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<T> bytemuck::Zeroable for DualQuaternion<T> where Quaternion<T>: bytemuck::Zeroable {}
+unsafe impl<T> bytemuck::Zeroable for DualQuaternion<T>
+where
+    T: Scalar + bytemuck::Zeroable,
+    Quaternion<T>: bytemuck::Zeroable,
+{
+}
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<T> bytemuck::Pod for DualQuaternion<T> where Quaternion<T>: bytemuck::Pod {}
+unsafe impl<T> bytemuck::Pod for DualQuaternion<T>
+where
+    T: Scalar + bytemuck::Pod,
+    Quaternion<T>: bytemuck::Pod,
+{
+}
 
 #[cfg(feature = "serde-serialize-no-std")]
 impl<T: SimdRealField> Serialize for DualQuaternion<T>
diff --git a/src/geometry/orthographic.rs b/src/geometry/orthographic.rs
index 836edc93..4f7b909b 100644
--- a/src/geometry/orthographic.rs
+++ b/src/geometry/orthographic.rs
@@ -46,10 +46,20 @@ impl<T: RealField> PartialEq for Orthographic3<T> {
 }
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<T> bytemuck::Zeroable for Orthographic3<T> where Matrix4<T>: bytemuck::Zeroable {}
+unsafe impl<T> bytemuck::Zeroable for Orthographic3<T>
+where
+    T: RealField + bytemuck::Zeroable,
+    Matrix4<T>: bytemuck::Zeroable,
+{
+}
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<T> bytemuck::Pod for Orthographic3<T> where Matrix4<T>: bytemuck::Pod {}
+unsafe impl<T> bytemuck::Pod for Orthographic3<T>
+where
+    T: RealField + bytemuck::Pod,
+    Matrix4<T>: bytemuck::Pod,
+{
+}
 
 #[cfg(feature = "serde-serialize-no-std")]
 impl<T: RealField + Serialize> Serialize for Orthographic3<T> {
diff --git a/src/geometry/perspective.rs b/src/geometry/perspective.rs
index 08b2608b..90cf95d8 100644
--- a/src/geometry/perspective.rs
+++ b/src/geometry/perspective.rs
@@ -47,10 +47,20 @@ impl<T: RealField> PartialEq for Perspective3<T> {
 }
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<T> bytemuck::Zeroable for Perspective3<T> where Matrix4<T>: bytemuck::Zeroable {}
+unsafe impl<T> bytemuck::Zeroable for Perspective3<T>
+where
+    T: RealField + bytemuck::Zeroable,
+    Matrix4<T>: bytemuck::Zeroable,
+{
+}
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<T> bytemuck::Pod for Perspective3<T> where Matrix4<T>: bytemuck::Pod {}
+unsafe impl<T> bytemuck::Pod for Perspective3<T>
+where
+    T: RealField + bytemuck::Pod,
+    Matrix4<T>: bytemuck::Pod,
+{
+}
 
 #[cfg(feature = "serde-serialize-no-std")]
 impl<T: RealField + Serialize> Serialize for Perspective3<T> {
diff --git a/src/geometry/rotation.rs b/src/geometry/rotation.rs
index 89bc082f..6fd9e803 100755
--- a/src/geometry/rotation.rs
+++ b/src/geometry/rotation.rs
@@ -86,7 +86,7 @@ where
 #[cfg(feature = "bytemuck")]
 unsafe impl<T, const D: usize> bytemuck::Zeroable for Rotation<T, D>
 where
-    T: Scalar,
+    T: Scalar + bytemuck::Zeroable,
     SMatrix<T, D, D>: bytemuck::Zeroable,
 {
 }
@@ -94,7 +94,7 @@ where
 #[cfg(feature = "bytemuck")]
 unsafe impl<T, const D: usize> bytemuck::Pod for Rotation<T, D>
 where
-    T: Scalar,
+    T: Scalar + bytemuck::Pod,
     SMatrix<T, D, D>: bytemuck::Pod,
 {
 }
diff --git a/src/geometry/transform.rs b/src/geometry/transform.rs
index 051fd3d5..51a8f64d 100755
--- a/src/geometry/transform.rs
+++ b/src/geometry/transform.rs
@@ -195,8 +195,9 @@ where
 }
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<T: RealField, C: TCategory, const D: usize> bytemuck::Zeroable for Transform<T, C, D>
+unsafe impl<T, C: TCategory, const D: usize> bytemuck::Zeroable for Transform<T, C, D>
 where
+    T: RealField + bytemuck::Zeroable,
     Const<D>: DimNameAdd<U1>,
     DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
     OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>: bytemuck::Zeroable,
@@ -204,11 +205,13 @@ where
 }
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<T: RealField, C: TCategory, const D: usize> bytemuck::Pod for Transform<T, C, D>
+unsafe impl<T, C: TCategory, const D: usize> bytemuck::Pod for Transform<T, C, D>
 where
+    T: RealField + bytemuck::Pod,
     Const<D>: DimNameAdd<U1>,
     DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
     OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>: bytemuck::Pod,
+    Owned<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>: Copy,
 {
 }
 
diff --git a/src/geometry/translation.rs b/src/geometry/translation.rs
index 758a21ca..7de9bb04 100755
--- a/src/geometry/translation.rs
+++ b/src/geometry/translation.rs
@@ -53,7 +53,7 @@ where
 #[cfg(feature = "bytemuck")]
 unsafe impl<T, const D: usize> bytemuck::Zeroable for Translation<T, D>
 where
-    T: Scalar,
+    T: Scalar + bytemuck::Zeroable,
     SVector<T, D>: bytemuck::Zeroable,
 {
 }
@@ -61,7 +61,7 @@ where
 #[cfg(feature = "bytemuck")]
 unsafe impl<T, const D: usize> bytemuck::Pod for Translation<T, D>
 where
-    T: Scalar,
+    T: Scalar + bytemuck::Pod,
     SVector<T, D>: bytemuck::Pod,
 {
 }