nalgebra/src/geometry/transform_ops.rs
2020-03-21 12:16:46 +01:00

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use num::{One, Zero};
use std::ops::{Div, DivAssign, Index, IndexMut, Mul, MulAssign};
use simba::scalar::{ClosedAdd, ClosedMul, RealField, SubsetOf};
use crate::base::allocator::Allocator;
use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1, U3, U4};
use crate::base::{DefaultAllocator, MatrixN, Scalar, VectorN};
use crate::geometry::{
Isometry, Point, Rotation, Similarity, SubTCategoryOf, SuperTCategoryOf, TAffine, TCategory,
TCategoryMul, TGeneral, TProjective, Transform, Translation, UnitQuaternion,
};
/*
*
* In the following, we provide:
* =========================
*
* Index<(usize, usize)>
* IndexMut<(usize, usize)> (where TCategory == TGeneral)
*
* (Operators)
*
* Transform × Isometry
* Transform × Rotation
* Transform × Similarity
* Transform × Transform
* Transform × UnitQuaternion
* FIXME: Transform × UnitComplex
* Transform × Translation
* Transform × Vector
* Transform × Point
*
* Isometry × Transform
* Rotation × Transform
* Similarity × Transform
* Translation × Transform
* UnitQuaternion × Transform
* FIXME: UnitComplex × Transform
*
* FIXME: Transform ÷ Isometry
* Transform ÷ Rotation
* FIXME: Transform ÷ Similarity
* Transform ÷ Transform
* Transform ÷ UnitQuaternion
* Transform ÷ Translation
*
* FIXME: Isometry ÷ Transform
* Rotation ÷ Transform
* FIXME: Similarity ÷ Transform
* Translation ÷ Transform
* UnitQuaternion ÷ Transform
* FIXME: UnitComplex ÷ Transform
*
*
* (Assignment Operators)
*
*
* Transform ×= Transform
* Transform ×= Similarity
* Transform ×= Isometry
* Transform ×= Rotation
* Transform ×= UnitQuaternion
* FIXME: Transform ×= UnitComplex
* Transform ×= Translation
*
* Transform ÷= Transform
* FIXME: Transform ÷= Similarity
* FIXME: Transform ÷= Isometry
* Transform ÷= Rotation
* Transform ÷= UnitQuaternion
* FIXME: Transform ÷= UnitComplex
*
*/
/*
*
* Indexing.
*
*/
impl<N: RealField, D, C: TCategory> Index<(usize, usize)> for Transform<N, D, C>
where
D: DimName + DimNameAdd<U1>,
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
{
type Output = N;
#[inline]
fn index(&self, ij: (usize, usize)) -> &N {
self.matrix().index(ij)
}
}
// Only general transformations are mutably indexable.
impl<N: RealField, D> IndexMut<(usize, usize)> for Transform<N, D, TGeneral>
where
D: DimName + DimNameAdd<U1>,
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
{
#[inline]
fn index_mut(&mut self, ij: (usize, usize)) -> &mut N {
self.matrix_mut().index_mut(ij)
}
}
// Transform × Vector
md_impl_all!(
Mul, mul where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategory;
self: Transform<N, D, C>, rhs: VectorN<N, D>, Output = VectorN<N, D>;
[val val] => &self * &rhs;
[ref val] => self * &rhs;
[val ref] => &self * rhs;
[ref ref] => {
let transform = self.matrix().fixed_slice::<D, D>(0, 0);
if C::has_normalizer() {
let normalizer = self.matrix().fixed_slice::<U1, D>(D::dim(), 0);
let n = normalizer.tr_dot(&rhs);
if !n.is_zero() {
return transform * (rhs / n);
}
}
transform * rhs
};
);
// Transform × Point
md_impl_all!(
Mul, mul where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategory
where DefaultAllocator: Allocator<N, D, D>;
self: Transform<N, D, C>, rhs: Point<N, D>, Output = Point<N, D>;
[val val] => &self * &rhs;
[ref val] => self * &rhs;
[val ref] => &self * rhs;
[ref ref] => {
let transform = self.matrix().fixed_slice::<D, D>(0, 0);
let translation = self.matrix().fixed_slice::<D, U1>(0, D::dim());
if C::has_normalizer() {
let normalizer = self.matrix().fixed_slice::<U1, D>(D::dim(), 0);
let n = normalizer.tr_dot(&rhs.coords) + unsafe { *self.matrix().get_unchecked((D::dim(), D::dim())) };
if !n.is_zero() {
return (transform * rhs + translation) / n;
}
}
transform * rhs + translation
};
);
// Transform × Transform
md_impl_all!(
Mul, mul where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: TCategory;
self: Transform<N, D, CA>, rhs: Transform<N, D, CB>, Output = Transform<N, D, CA::Representative>;
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.into_inner());
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.into_inner());
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.matrix());
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.matrix());
);
// Transform × Rotation
md_impl_all!(
Mul, mul where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, D) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Transform<N, D, C>, rhs: Rotation<N, D>, Output = Transform<N, D, C::Representative>;
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
);
// Rotation × Transform
md_impl_all!(
Mul, mul where N: RealField;
(D, D), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Rotation<N, D>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
[ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
);
// Transform × UnitQuaternion
md_impl_all!(
Mul, mul where N: RealField;
(U4, U4), (U4, U1) for C: TCategoryMul<TAffine>;
self: Transform<N, U3, C>, rhs: UnitQuaternion<N>, Output = Transform<N, U3, C::Representative>;
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
);
// UnitQuaternion × Transform
md_impl_all!(
Mul, mul where N: RealField;
(U4, U1), (U4, U4) for C: TCategoryMul<TAffine>;
self: UnitQuaternion<N>, rhs: Transform<N, U3, C>, Output = Transform<N, U3, C::Representative>;
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
[ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
);
// Transform × Isometry
md_impl_all!(
Mul, mul where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
self: Transform<N, D, C>, rhs: Isometry<N, D, R>, Output = Transform<N, D, C::Representative>;
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
);
// Isometry × Transform
md_impl_all!(
Mul, mul where N: RealField;
(D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
self: Isometry<N, D, R>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
[ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
);
// Transform × Similarity
md_impl_all!(
Mul, mul where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
self: Transform<N, D, C>, rhs: Similarity<N, D, R>, Output = Transform<N, D, C::Representative>;
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
);
// Similarity × Transform
md_impl_all!(
Mul, mul where N: RealField;
(D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
self: Similarity<N, D, R>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
[ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
);
/*
*
* FIXME: don't explicitly build the homogeneous translation matrix.
* Directly apply the translation, just as in `Matrix::{append,prepend}_translation`. This has not
* been done yet because of the `DimNameDiff` requirement (which is not automatically deduced from
* `DimNameAdd` requirement).
*
*/
// Transform × Translation
md_impl_all!(
Mul, mul where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Transform<N, D, C>, rhs: Translation<N, D>, Output = Transform<N, D, C::Representative>;
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
);
// Translation × Transform
md_impl_all!(
Mul, mul where N: RealField;
(D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Translation<N, D>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
[ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
);
// Transform ÷ Transform
md_impl_all!(
Div, div where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: SubTCategoryOf<TProjective>;
self: Transform<N, D, CA>, rhs: Transform<N, D, CB>, Output = Transform<N, D, CA::Representative>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.clone().inverse();
[ref ref] => self * rhs.clone().inverse();
);
// Transform ÷ Rotation
md_impl_all!(
Div, div where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, D) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Transform<N, D, C>, rhs: Rotation<N, D>, Output = Transform<N, D, C::Representative>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.inverse();
[ref ref] => self * rhs.inverse();
);
// Rotation ÷ Transform
md_impl_all!(
Div, div where N: RealField;
(D, D), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Rotation<N, D>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
[val val] => self.inverse() * rhs;
[ref val] => self.inverse() * rhs;
[val ref] => self.inverse() * rhs;
[ref ref] => self.inverse() * rhs;
);
// Transform ÷ UnitQuaternion
md_impl_all!(
Div, div where N: RealField;
(U4, U4), (U4, U1) for C: TCategoryMul<TAffine>;
self: Transform<N, U3, C>, rhs: UnitQuaternion<N>, Output = Transform<N, U3, C::Representative>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.inverse();
[ref ref] => self * rhs.inverse();
);
// UnitQuaternion ÷ Transform
md_impl_all!(
Div, div where N: RealField;
(U4, U1), (U4, U4) for C: TCategoryMul<TAffine>;
self: UnitQuaternion<N>, rhs: Transform<N, U3, C>, Output = Transform<N, U3, C::Representative>;
[val val] => self.inverse() * rhs;
[ref val] => self.inverse() * rhs;
[val ref] => self.inverse() * rhs;
[ref ref] => self.inverse() * rhs;
);
// // Transform ÷ Isometry
// md_impl_all!(
// Div, div where N: RealField;
// (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
// for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >
// where SB::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
// self: Transform<N, D, C>, rhs: Isometry<N, D, R>, Output = Transform<N, D, C::Representative>;
// [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.inverse().to_homogeneous());
// [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.inverse().to_homogeneous());
// [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.inverse().to_homogeneous());
// [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.inverse().to_homogeneous());
// );
// // Isometry ÷ Transform
// md_impl_all!(
// Div, div where N: RealField;
// (D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
// for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >
// where SA::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
// self: Isometry<N, D, R>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
// [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
// [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
// [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
// [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
// );
// // Transform ÷ Similarity
// md_impl_all!(
// Div, div where N: RealField;
// (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
// for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >
// where SB::Alloc: Allocator<N, D, D >
// where SB::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
// self: Transform<N, D, C>, rhs: Similarity<N, D, R>, Output = Transform<N, D, C::Representative>;
// [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
// [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
// [val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
// [ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
// );
// // Similarity ÷ Transform
// md_impl_all!(
// Div, div where N: RealField;
// (D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
// for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >
// where SA::Alloc: Allocator<N, D, D >
// where SA::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
// self: Similarity<N, D, R>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
// [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
// [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
// [val ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
// [ref ref] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.matrix());
// );
// Transform ÷ Translation
md_impl_all!(
Div, div where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Transform<N, D, C>, rhs: Translation<N, D>, Output = Transform<N, D, C::Representative>;
[val val] => self * rhs.inverse();
[ref val] => self * rhs.inverse();
[val ref] => self * rhs.inverse();
[ref ref] => self * rhs.inverse();
);
// Translation ÷ Transform
md_impl_all!(
Div, div where N: RealField;
(D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
self: Translation<N, D>, rhs: Transform<N, D, C>, Output = Transform<N, D, C::Representative>;
[val val] => self.inverse() * rhs;
[ref val] => self.inverse() * rhs;
[val ref] => self.inverse() * rhs;
[ref ref] => self.inverse() * rhs;
);
// Transform ×= Transform
md_assign_impl_all!(
MulAssign, mul_assign where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, CA: TCategory, CB: SubTCategoryOf<CA>;
self: Transform<N, D, CA>, rhs: Transform<N, D, CB>;
[val] => *self.matrix_mut_unchecked() *= rhs.into_inner();
[ref] => *self.matrix_mut_unchecked() *= rhs.matrix();
);
// Transform ×= Similarity
md_assign_impl_all!(
MulAssign, mul_assign where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
for D: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
self: Transform<N, D, C>, rhs: Similarity<N, D, R>;
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
);
// Transform ×= Isometry
md_assign_impl_all!(
MulAssign, mul_assign where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
for D: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
self: Transform<N, D, C>, rhs: Isometry<N, D, R>;
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
);
/*
*
* FIXME: don't explicitly build the homogeneous translation matrix.
* Directly apply the translation, just as in `Matrix::{append,prepend}_translation`. This has not
* been done yet because of the `DimNameDiff` requirement (which is not automatically deduced from
* `DimNameAdd` requirement).
*
*/
// Transform ×= Translation
md_assign_impl_all!(
MulAssign, mul_assign where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategory;
self: Transform<N, D, C>, rhs: Translation<N, D>;
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
);
// Transform ×= Rotation
md_assign_impl_all!(
MulAssign, mul_assign where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, D) for D: DimNameAdd<U1>, C: TCategory;
self: Transform<N, D, C>, rhs: Rotation<N, D>;
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
);
// Transform ×= UnitQuaternion
md_assign_impl_all!(
MulAssign, mul_assign where N: RealField;
(U4, U4), (U4, U1) for C: TCategory;
self: Transform<N, U3, C>, rhs: UnitQuaternion<N>;
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
);
// Transform ÷= Transform
md_assign_impl_all!(
DivAssign, div_assign where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (DimNameSum<D, U1>, DimNameSum<D, U1>)
for D: DimNameAdd<U1>, CA: SuperTCategoryOf<CB>, CB: SubTCategoryOf<TProjective>;
self: Transform<N, D, CA>, rhs: Transform<N, D, CB>;
[val] => *self *= rhs.inverse();
[ref] => *self *= rhs.clone().inverse();
);
// // Transform ÷= Similarity
// md_assign_impl_all!(
// DivAssign, div_assign;
// (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
// for D: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
// self: Transform<N, D, C>, rhs: Similarity<N, D, R>;
// [val] => *self *= rhs.inverse();
// [ref] => *self *= rhs.inverse();
// );
//
//
// // Transform ÷= Isometry
// md_assign_impl_all!(
// DivAssign, div_assign;
// (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
// for D: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
// self: Transform<N, D, C>, rhs: Isometry<N, D, R>;
// [val] => *self *= rhs.inverse();
// [ref] => *self *= rhs.inverse();
// );
// Transform ÷= Translation
md_assign_impl_all!(
DivAssign, div_assign where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategory;
self: Transform<N, D, C>, rhs: Translation<N, D>;
[val] => *self *= rhs.inverse();
[ref] => *self *= rhs.inverse();
);
// Transform ÷= Rotation
md_assign_impl_all!(
DivAssign, div_assign where N: RealField;
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, D) for D: DimNameAdd<U1>, C: TCategory;
self: Transform<N, D, C>, rhs: Rotation<N, D>;
[val] => *self *= rhs.inverse();
[ref] => *self *= rhs.inverse();
);
// Transform ÷= UnitQuaternion
md_assign_impl_all!(
DivAssign, div_assign where N: RealField;
(U4, U4), (U4, U1) for C: TCategory;
self: Transform<N, U3, C>, rhs: UnitQuaternion<N>;
[val] => *self *= rhs.inverse();
[ref] => *self *= rhs.inverse();
);