forked from M-Labs/nalgebra
196 lines
6.7 KiB
Rust
196 lines
6.7 KiB
Rust
/*
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*
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* This provides the following operator overladings:
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*
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* Index<(usize, usize)>
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*
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* Rotation × Rotation
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* Rotation ÷ Rotation
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* Rotation × Matrix
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* Matrix × Rotation
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* Matrix ÷ Rotation
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* Rotation × Point
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* Rotation × Unit<Vector>
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*
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*
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* Rotation ×= Rotation
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* Matrix ×= Rotation
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*/
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use num::{One, Zero};
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use std::ops::{Div, DivAssign, Index, Mul, MulAssign};
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use simba::scalar::{ClosedAdd, ClosedMul};
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use crate::base::allocator::Allocator;
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use crate::base::constraint::{AreMultipliable, ShapeConstraint};
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use crate::base::dimension::{Dim, U1};
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use crate::base::storage::Storage;
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use crate::base::{
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Const, DefaultAllocator, Matrix, OMatrix, SMatrix, SVector, Scalar, Unit, Vector,
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};
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use crate::geometry::{Point, Rotation};
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impl<T: Scalar, const D: usize> Index<(usize, usize)> for Rotation<T, D> {
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type Output = T;
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#[inline]
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fn index(&self, row_col: (usize, usize)) -> &T {
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self.matrix().index(row_col)
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}
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}
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// Rotation × Rotation
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md_impl_all!(
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Mul, mul;
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(Const<D>, Const<D>), (Const<D>, Const<D>)
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const D;
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for;
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where;
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self: Rotation<T, D>, right: Rotation<T, D>, Output = Rotation<T, D>;
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[val val] => Rotation::from_matrix_unchecked(self.into_inner() * right.into_inner());
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[ref val] => Rotation::from_matrix_unchecked(self.matrix() * right.into_inner());
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[val ref] => Rotation::from_matrix_unchecked(self.into_inner() * right.matrix());
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[ref ref] => Rotation::from_matrix_unchecked(self.matrix() * right.matrix());
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);
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// Rotation ÷ Rotation
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// TODO: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
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md_impl_all!(
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Div, div;
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(Const<D>, Const<D>), (Const<D>, Const<D>)
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const D;
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for;
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where;
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self: Rotation<T, D>, right: Rotation<T, D>, Output = Rotation<T, D>;
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[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
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[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
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[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
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[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
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);
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// Rotation × Matrix
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md_impl_all!(
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Mul, mul;
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(Const<D1>, Const<D1>), (R2, C2)
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const D1;
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for R2, C2, SB;
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where R2: Dim, C2: Dim, SB: Storage<T, R2, C2>,
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DefaultAllocator: Allocator<T, Const<D1>, C2>,
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ShapeConstraint: AreMultipliable<Const<D1>, Const<D1>, R2, C2>;
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self: Rotation<T, D1>, right: Matrix<T, R2, C2, SB>, Output = OMatrix<T, Const<D1>, C2>;
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[val val] => self.into_inner() * right;
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[ref val] => self.matrix() * right;
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[val ref] => self.into_inner() * right;
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[ref ref] => self.matrix() * right;
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);
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// Matrix × Rotation
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md_impl_all!(
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Mul, mul;
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(R1, C1), (Const<D2>, Const<D2>)
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const D2;
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for R1, C1, SA;
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where R1: Dim, C1: Dim, SA: Storage<T, R1, C1>,
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DefaultAllocator: Allocator<T, R1, Const<D2>>,
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ShapeConstraint: AreMultipliable<R1, C1, Const<D2>, Const<D2>>;
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self: Matrix<T, R1, C1, SA>, right: Rotation<T, D2>, Output = OMatrix<T, R1, Const<D2>>;
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[val val] => self * right.into_inner();
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[ref val] => self * right.into_inner();
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[val ref] => self * right.matrix();
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[ref ref] => self * right.matrix();
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);
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// Matrix ÷ Rotation
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md_impl_all!(
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Div, div;
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(R1, C1), (Const<D2>, Const<D2>)
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const D2;
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for R1, C1, SA;
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where R1: Dim, C1: Dim, SA: Storage<T, R1, C1>,
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DefaultAllocator: Allocator<T, R1, Const<D2>>,
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ShapeConstraint: AreMultipliable<R1, C1, Const<D2>, Const<D2>>;
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self: Matrix<T, R1, C1, SA>, right: Rotation<T, D2>, Output = OMatrix<T, R1, Const<D2>>;
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[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
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[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
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[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
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[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
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);
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// Rotation × Point
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// TODO: we don't handle properly non-zero origins here. Do we want this to be the intended
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// behavior?
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md_impl_all!(
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Mul, mul;
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(Const<D>, Const<D>), (Const<D>, U1)
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const D;
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for;
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where ShapeConstraint: AreMultipliable<Const<D>, Const<D>, Const<D>, U1>;
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self: Rotation<T, D>, right: Point<T, D>, Output = Point<T, D>;
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[val val] => self.into_inner() * right;
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[ref val] => self.matrix() * right;
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[val ref] => self.into_inner() * right;
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[ref ref] => self.matrix() * right;
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);
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// Rotation × Unit<Vector>
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md_impl_all!(
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Mul, mul;
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(Const<D>, Const<D>), (Const<D>, U1)
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const D;
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for S;
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where S: Storage<T, Const<D>>,
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ShapeConstraint: AreMultipliable<Const<D>, Const<D>, Const<D>, U1>;
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self: Rotation<T, D>, right: Unit<Vector<T, Const<D>, S>>, Output = Unit<SVector<T, D>>;
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[val val] => Unit::new_unchecked(self.into_inner() * right.into_inner());
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[ref val] => Unit::new_unchecked(self.matrix() * right.into_inner());
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[val ref] => Unit::new_unchecked(self.into_inner() * right.as_ref());
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[ref ref] => Unit::new_unchecked(self.matrix() * right.as_ref());
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);
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// Rotation ×= Rotation
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// TODO: try not to call `inverse()` explicitly.
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md_assign_impl_all!(
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MulAssign, mul_assign;
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(Const<D>, Const<D>), (Const<D>, Const<D>)
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const D; for; where;
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self: Rotation<T, D>, right: Rotation<T, D>;
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[val] => self.matrix_mut_unchecked().mul_assign(right.into_inner());
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[ref] => self.matrix_mut_unchecked().mul_assign(right.matrix());
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);
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md_assign_impl_all!(
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DivAssign, div_assign;
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(Const<D>, Const<D>), (Const<D>, Const<D>)
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const D; for; where;
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self: Rotation<T, D>, right: Rotation<T, D>;
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[val] => self.matrix_mut_unchecked().mul_assign(right.inverse().into_inner());
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[ref] => self.matrix_mut_unchecked().mul_assign(right.inverse().matrix());
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);
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// Matrix *= Rotation
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// TODO: try not to call `inverse()` explicitly.
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// TODO: this shares the same limitations as for the current impl. of MulAssign for matrices.
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// (In particular the number of matrix column must be equal to the number of rotation columns,
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// i.e., equal to the rotation dimension.
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md_assign_impl_all!(
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MulAssign, mul_assign;
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(Const<R1>, Const<C1>), (Const<C1>, Const<C1>)
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const R1, C1; for; where;
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self: SMatrix<T, R1, C1>, right: Rotation<T, C1>;
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[val] => self.mul_assign(right.into_inner());
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[ref] => self.mul_assign(right.matrix());
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);
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md_assign_impl_all!(
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DivAssign, div_assign;
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(Const<R1>, Const<C1>), (Const<C1>, Const<C1>)
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const R1, C1; for; where;
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self: SMatrix<T, R1, C1>, right: Rotation<T, C1>;
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[val] => self.mul_assign(right.inverse().into_inner());
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[ref] => self.mul_assign(right.inverse().matrix());
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);
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