forked from M-Labs/nalgebra
451 lines
12 KiB
Rust
451 lines
12 KiB
Rust
// The macros break if the references are taken out, for some reason.
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#![allow(clippy::op_ref)]
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use std::ops::{Div, DivAssign, Mul, MulAssign};
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use crate::base::storage::Storage;
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use crate::base::{Const, Unit, Vector, Vector2};
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use crate::geometry::{Isometry, Point2, Rotation, Similarity, Translation, UnitComplex};
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use simba::simd::SimdRealField;
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/*
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* This file provides:
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* ===================
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*
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* UnitComplex × UnitComplex
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* UnitComplex × Rotation -> UnitComplex
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* Rotation × UnitComplex -> UnitComplex
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*
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* UnitComplex ÷ UnitComplex
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* UnitComplex ÷ Rotation -> UnitComplex
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* Rotation ÷ UnitComplex -> UnitComplex
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*
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*
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* UnitComplex × Point
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* UnitComplex × Vector
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* UnitComplex × Unit<T>
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*
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* UnitComplex × Isometry<UnitComplex>
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* UnitComplex × Similarity<UnitComplex>
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* UnitComplex × Translation -> Isometry<UnitComplex>
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*
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* (Assignment Operators)
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*
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* UnitComplex ×= UnitComplex
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* UnitComplex ×= Rotation
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*
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* UnitComplex ÷= UnitComplex
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* UnitComplex ÷= Rotation
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*
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* Rotation ×= UnitComplex
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* Rotation ÷= UnitComplex
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*
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*/
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// UnitComplex × UnitComplex
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impl<T: SimdRealField> Mul<Self> for UnitComplex<T> {
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type Output = Self;
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#[inline]
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fn mul(self, rhs: Self) -> Self {
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Unit::new_unchecked(self.into_inner() * rhs.into_inner())
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}
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}
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impl<'a, T: SimdRealField> Mul<UnitComplex<T>> for &'a UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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type Output = UnitComplex<T>;
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#[inline]
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fn mul(self, rhs: UnitComplex<T>) -> Self::Output {
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Unit::new_unchecked(self.complex() * rhs.into_inner())
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}
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}
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impl<'b, T: SimdRealField> Mul<&'b UnitComplex<T>> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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type Output = Self;
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#[inline]
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fn mul(self, rhs: &'b UnitComplex<T>) -> Self::Output {
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Unit::new_unchecked(self.into_inner() * rhs.as_ref())
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}
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}
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impl<'a, 'b, T: SimdRealField> Mul<&'b UnitComplex<T>> for &'a UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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type Output = UnitComplex<T>;
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#[inline]
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fn mul(self, rhs: &'b UnitComplex<T>) -> Self::Output {
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Unit::new_unchecked(self.complex() * rhs.as_ref())
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}
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}
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// UnitComplex ÷ UnitComplex
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impl<T: SimdRealField> Div<Self> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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type Output = Self;
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#[inline]
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fn div(self, rhs: Self) -> Self::Output {
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#[allow(clippy::suspicious_arithmetic_impl)]
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Unit::new_unchecked(self.into_inner() * rhs.conjugate().into_inner())
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}
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}
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impl<'a, T: SimdRealField> Div<UnitComplex<T>> for &'a UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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type Output = UnitComplex<T>;
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#[inline]
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fn div(self, rhs: UnitComplex<T>) -> Self::Output {
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#[allow(clippy::suspicious_arithmetic_impl)]
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Unit::new_unchecked(self.complex() * rhs.conjugate().into_inner())
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}
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}
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impl<'b, T: SimdRealField> Div<&'b UnitComplex<T>> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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type Output = Self;
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#[inline]
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fn div(self, rhs: &'b UnitComplex<T>) -> Self::Output {
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#[allow(clippy::suspicious_arithmetic_impl)]
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Unit::new_unchecked(self.into_inner() * rhs.conjugate().into_inner())
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}
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}
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impl<'a, 'b, T: SimdRealField> Div<&'b UnitComplex<T>> for &'a UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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type Output = UnitComplex<T>;
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#[inline]
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fn div(self, rhs: &'b UnitComplex<T>) -> Self::Output {
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#[allow(clippy::suspicious_arithmetic_impl)]
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Unit::new_unchecked(self.complex() * rhs.conjugate().into_inner())
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}
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}
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macro_rules! complex_op_impl(
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($Op: ident, $op: ident;
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$($Storage: ident: $StoragesBound: ident $(<$($BoundParam: ty),*>)*),*;
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$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Result: ty;
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$action: expr; $($lives: tt),*) => {
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impl<$($lives ,)* T: SimdRealField $(, $Storage: $StoragesBound $(<$($BoundParam),*>)*)*> $Op<$Rhs> for $Lhs
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where T::Element: SimdRealField {
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type Output = $Result;
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#[inline]
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fn $op($lhs, $rhs: $Rhs) -> Self::Output {
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$action
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}
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}
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}
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);
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macro_rules! complex_op_impl_all(
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($Op: ident, $op: ident;
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$($Storage: ident: $StoragesBound: ident $(<$($BoundParam: ty),*>)*),*;
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$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Result: ty;
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[val val] => $action_val_val: expr;
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[ref val] => $action_ref_val: expr;
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[val ref] => $action_val_ref: expr;
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[ref ref] => $action_ref_ref: expr;) => {
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complex_op_impl!($Op, $op;
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$($Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
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$lhs: $Lhs, $rhs: $Rhs, Output = $Result;
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$action_val_val; );
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complex_op_impl!($Op, $op;
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$($Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
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$lhs: &'a $Lhs, $rhs: $Rhs, Output = $Result;
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$action_ref_val; 'a);
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complex_op_impl!($Op, $op;
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$($Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
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$lhs: $Lhs, $rhs: &'b $Rhs, Output = $Result;
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$action_val_ref; 'b);
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complex_op_impl!($Op, $op;
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$($Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
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$lhs: &'a $Lhs, $rhs: &'b $Rhs, Output = $Result;
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$action_ref_ref; 'a, 'b);
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}
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);
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// UnitComplex × Rotation
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complex_op_impl_all!(
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Mul, mul;
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;
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self: UnitComplex<T>, rhs: Rotation<T, 2>, Output = UnitComplex<T>;
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[val val] => &self * &rhs;
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[ref val] => self * &rhs;
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[val ref] => &self * rhs;
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[ref ref] => self * UnitComplex::from_rotation_matrix(rhs);
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);
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// UnitComplex ÷ Rotation
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complex_op_impl_all!(
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Div, div;
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;
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self: UnitComplex<T>, rhs: Rotation<T, 2>, Output = UnitComplex<T>;
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[val val] => &self / &rhs;
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[ref val] => self / &rhs;
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[val ref] => &self / rhs;
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[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * UnitComplex::from_rotation_matrix(rhs).inverse() };
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);
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// Rotation × UnitComplex
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complex_op_impl_all!(
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Mul, mul;
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;
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self: Rotation<T, 2>, rhs: UnitComplex<T>, Output = UnitComplex<T>;
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[val val] => &self * &rhs;
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[ref val] => self * &rhs;
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[val ref] => &self * rhs;
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[ref ref] => UnitComplex::from_rotation_matrix(self) * rhs;
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);
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// Rotation ÷ UnitComplex
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complex_op_impl_all!(
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Div, div;
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;
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self: Rotation<T, 2>, rhs: UnitComplex<T>, Output = UnitComplex<T>;
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[val val] => &self / &rhs;
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[ref val] => self / &rhs;
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[val ref] => &self / rhs;
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[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { UnitComplex::from_rotation_matrix(self) * rhs.inverse() };
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);
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// UnitComplex × Point
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complex_op_impl_all!(
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Mul, mul;
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;
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self: UnitComplex<T>, rhs: Point2<T>, Output = Point2<T>;
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[val val] => &self * &rhs;
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[ref val] => self * &rhs;
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[val ref] => &self * rhs;
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[ref ref] => Point2::from(self * &rhs.coords);
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);
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// UnitComplex × Vector
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complex_op_impl_all!(
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Mul, mul;
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S: Storage<T, Const<2>>;
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self: UnitComplex<T>, rhs: Vector<T, Const<2>, S>, Output = Vector2<T>;
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[val val] => &self * &rhs;
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[ref val] => self * &rhs;
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[val ref] => &self * rhs;
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[ref ref] => {
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let i = self.as_ref().im.clone();
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let r = self.as_ref().re.clone();
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Vector2::new(r.clone() * rhs[0].clone() - i.clone() * rhs[1].clone(), i * rhs[0].clone() + r * rhs[1].clone())
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};
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);
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// UnitComplex × Unit<Vector>
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complex_op_impl_all!(
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Mul, mul;
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S: Storage<T, Const<2>>;
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self: UnitComplex<T>, rhs: Unit<Vector<T, Const<2>, S>>, Output = Unit<Vector2<T>>;
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[val val] => &self * &rhs;
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[ref val] => self * &rhs;
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[val ref] => &self * rhs;
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[ref ref] => Unit::new_unchecked(self * rhs.as_ref());
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);
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// UnitComplex × Isometry<UnitComplex>
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complex_op_impl_all!(
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Mul, mul;
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;
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self: UnitComplex<T>, rhs: Isometry<T, UnitComplex<T>, 2>,
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Output = Isometry<T, UnitComplex<T>, 2>;
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[val val] => &self * &rhs;
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[ref val] => self * &rhs;
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[val ref] => &self * rhs;
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[ref ref] => {
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let shift = self * &rhs.translation.vector;
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Isometry::from_parts(Translation::from(shift), self * &rhs.rotation)
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};
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);
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// UnitComplex × Similarity<UnitComplex>
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complex_op_impl_all!(
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Mul, mul;
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;
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self: UnitComplex<T>, rhs: Similarity<T, UnitComplex<T>, 2>,
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Output = Similarity<T, UnitComplex<T>, 2>;
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[val val] => &self * &rhs;
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[ref val] => self * &rhs;
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[val ref] => &self * rhs;
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[ref ref] => Similarity::from_isometry(self * &rhs.isometry, rhs.scaling());
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);
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// UnitComplex × Translation
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complex_op_impl_all!(
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Mul, mul;
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;
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self: UnitComplex<T>, rhs: Translation<T, 2>,
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Output = Isometry<T, UnitComplex<T>, 2>;
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[val val] => Isometry::from_parts(Translation::from(&self * rhs.vector), self);
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[ref val] => Isometry::from_parts(Translation::from( self * rhs.vector), self.clone());
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[val ref] => Isometry::from_parts(Translation::from(&self * &rhs.vector), self);
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[ref ref] => Isometry::from_parts(Translation::from( self * &rhs.vector), self.clone());
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);
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// Translation × UnitComplex
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complex_op_impl_all!(
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Mul, mul;
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;
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self: Translation<T, 2>, right: UnitComplex<T>,
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Output = Isometry<T, UnitComplex<T>, 2>;
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[val val] => Isometry::from_parts(self, right);
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[ref val] => Isometry::from_parts(self.clone(), right);
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[val ref] => Isometry::from_parts(self, right.clone());
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[ref ref] => Isometry::from_parts(self.clone(), right.clone());
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);
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// UnitComplex ×= UnitComplex
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impl<T: SimdRealField> MulAssign<UnitComplex<T>> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn mul_assign(&mut self, rhs: UnitComplex<T>) {
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*self = self.clone() * rhs
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}
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}
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impl<'b, T: SimdRealField> MulAssign<&'b UnitComplex<T>> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn mul_assign(&mut self, rhs: &'b UnitComplex<T>) {
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*self = self.clone() * rhs
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}
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}
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// UnitComplex /= UnitComplex
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impl<T: SimdRealField> DivAssign<UnitComplex<T>> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn div_assign(&mut self, rhs: UnitComplex<T>) {
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*self = self.clone() / rhs
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}
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}
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impl<'b, T: SimdRealField> DivAssign<&'b UnitComplex<T>> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn div_assign(&mut self, rhs: &'b UnitComplex<T>) {
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*self = self.clone() / rhs
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}
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}
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// UnitComplex ×= Rotation
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impl<T: SimdRealField> MulAssign<Rotation<T, 2>> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn mul_assign(&mut self, rhs: Rotation<T, 2>) {
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*self = self.clone() * rhs
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}
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}
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impl<'b, T: SimdRealField> MulAssign<&'b Rotation<T, 2>> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn mul_assign(&mut self, rhs: &'b Rotation<T, 2>) {
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*self = self.clone() * rhs
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}
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}
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// UnitComplex ÷= Rotation
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impl<T: SimdRealField> DivAssign<Rotation<T, 2>> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn div_assign(&mut self, rhs: Rotation<T, 2>) {
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*self = self.clone() / rhs
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}
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}
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impl<'b, T: SimdRealField> DivAssign<&'b Rotation<T, 2>> for UnitComplex<T>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn div_assign(&mut self, rhs: &'b Rotation<T, 2>) {
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*self = self.clone() / rhs
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}
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}
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// Rotation ×= UnitComplex
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impl<T: SimdRealField> MulAssign<UnitComplex<T>> for Rotation<T, 2>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn mul_assign(&mut self, rhs: UnitComplex<T>) {
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self.mul_assign(rhs.to_rotation_matrix())
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}
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}
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impl<'b, T: SimdRealField> MulAssign<&'b UnitComplex<T>> for Rotation<T, 2>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn mul_assign(&mut self, rhs: &'b UnitComplex<T>) {
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self.mul_assign(rhs.clone().to_rotation_matrix())
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}
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}
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// Rotation ÷= UnitComplex
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impl<T: SimdRealField> DivAssign<UnitComplex<T>> for Rotation<T, 2>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn div_assign(&mut self, rhs: UnitComplex<T>) {
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self.div_assign(rhs.to_rotation_matrix())
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}
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}
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impl<'b, T: SimdRealField> DivAssign<&'b UnitComplex<T>> for Rotation<T, 2>
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where
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T::Element: SimdRealField,
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{
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#[inline]
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fn div_assign(&mut self, rhs: &'b UnitComplex<T>) {
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self.div_assign(rhs.clone().to_rotation_matrix())
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}
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}
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