From f218186ec08f9c81a4dc2a5df605c4f8dfbee71d Mon Sep 17 00:00:00 2001
From: sebcrozet <developer@crozet.re>
Date: Mon, 24 Sep 2018 21:31:54 +0200
Subject: [PATCH] Add Rotation * Unit<Vector>

---
 src/geometry/rotation_ops.rs | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/src/geometry/rotation_ops.rs b/src/geometry/rotation_ops.rs
index c6f9e2e3..419830f2 100644
--- a/src/geometry/rotation_ops.rs
+++ b/src/geometry/rotation_ops.rs
@@ -10,6 +10,7 @@
  * Matrix   × Rotation
  * Matrix   ÷ Rotation
  * Rotation × Point
+ * Rotation × Unit<Vector>
  *
  *
  * Rotation ×= Rotation
@@ -21,7 +22,7 @@ use num::{One, Zero};
 
 use alga::general::{ClosedAdd, ClosedMul};
 
-use base::{DefaultAllocator, Matrix, MatrixMN, Scalar};
+use base::{DefaultAllocator, Matrix, MatrixMN, Scalar, Unit, Vector, VectorN};
 use base::dimension::{Dim, DimName, U1};
 use base::constraint::{AreMultipliable, ShapeConstraint};
 use base::storage::Storage;
@@ -118,6 +119,19 @@ md_impl_all!(
     [ref ref] => self.matrix() * right;
 );
 
+// Rotation × Unit<Vector>
+md_impl_all!(
+    Mul, mul;
+    (D, D), (D, U1) for D: DimName, S: Storage<N, D>
+    where DefaultAllocator: Allocator<N, D>
+    where ShapeConstraint:  AreMultipliable<D, D, D, U1>;
+    self: Rotation<N, D>, right: Unit<Vector<N, D, S>>, Output = Unit<VectorN<N, D>>;
+    [val val] => Unit::new_unchecked(self.unwrap() * right.unwrap());
+    [ref val] => Unit::new_unchecked(self.matrix() * right.unwrap());
+    [val ref] => Unit::new_unchecked(self.unwrap() * right.as_ref());
+    [ref ref] => Unit::new_unchecked(self.matrix() * right.as_ref());
+);
+
 // Rotation ×= Rotation
 // FIXME: try not to call `inverse()` explicitly.