#![allow(clippy::op_ref)]
use num::{One, Zero};
use std::ops::{Div, DivAssign, Index, IndexMut, Mul, MulAssign};
use simba::scalar::{ClosedAddAssign, ClosedMulAssign, RealField, SubsetOf};
use crate::base::allocator::Allocator;
use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
use crate::base::{Const, DefaultAllocator, OMatrix, SVector, Scalar};
use crate::geometry::{
Isometry, Point, Rotation, Similarity, SubTCategoryOf, SuperTCategoryOf, TAffine, TCategory,
TCategoryMul, TGeneral, TProjective, Transform, Translation, UnitComplex, UnitQuaternion,
};
impl<T: RealField, C: TCategory, const D: usize> Index<(usize, usize)> for Transform<T, C, D>
where
Const<D>: DimNameAdd<U1>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
{
type Output = T;
#[inline]
fn index(&self, ij: (usize, usize)) -> &T {
self.matrix().index(ij)
}
}
impl<T: RealField, const D: usize> IndexMut<(usize, usize)> for Transform<T, TGeneral, D>
where
Const<D>: DimNameAdd<U1>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
{
#[inline]
fn index_mut(&mut self, ij: (usize, usize)) -> &mut T {
self.matrix_mut().index_mut(ij)
}
}
md_impl_all!(
Mul, mul where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategory,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: SVector<T, D>, Output = SVector<T, D>;
[val val] => &self * &rhs;
[ref val] => self * &rhs;
[val ref] => &self * rhs;
[ref ref] => {
let transform = self.matrix().fixed_view::<D, D>(0, 0);
if C::has_normalizer() {
let normalizer = self.matrix().fixed_view::<1, D>(D, 0);
let n = normalizer.tr_dot(rhs);
if !n.is_zero() {
return transform * (rhs / n);
}
}
transform * rhs
};
);
md_impl_all!(
Mul, mul where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategory,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Point<T, D>, Output = Point<T, D>;
[val val] => &self * &rhs;
[ref val] => self * &rhs;
[val ref] => &self * rhs;
[ref ref] => {
let transform = self.matrix().fixed_view::<D, D>(0, 0);
let translation = self.matrix().fixed_view::<D, 1>(0, D);
if C::has_normalizer() {
let normalizer = self.matrix().fixed_view::<1, D>(D, 0);
#[allow(clippy::suspicious_arithmetic_impl)]
let n = normalizer.tr_dot(&rhs.coords) + unsafe { self.matrix().get_unchecked((D, D)).clone() };
if !n.is_zero() {
return (transform * rhs + translation) / n;
}
}
transform * rhs + translation
};
);
md_impl_all!(
Mul, mul where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
const D;
for CA, CB;
where Const<D>: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: TCategory,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, CA, D>, rhs: Transform<T, CB, D>, Output = Transform<T, CA::Representative, D>;
[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());
);
md_impl_all!(
Mul, mul
where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Rotation<T, D>, Output = Transform<T, C::Representative, D>;
[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());
);
md_impl_all!(
Mul, mul where T: RealField;
(Const<D>, Const<D>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Rotation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
[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());
);
md_impl_all!(
Mul, mul where T: RealField;
(U4, U4), (U4, U1)
const;
for C;
where C: TCategoryMul<TAffine>;
self: Transform<T, C, 3>, rhs: UnitQuaternion<T>, Output = Transform<T, C::Representative, 3>;
[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.clone().to_homogeneous());
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.clone().to_homogeneous());
);
md_impl_all!(
Mul, mul where T: RealField;
(U3, U3), (U2, U1)
const;
for C;
where C: TCategoryMul<TAffine>;
self: Transform<T, C, 2>, rhs: UnitComplex<T>, Output = Transform<T, C::Representative, 2>;
[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.clone().to_homogeneous());
[ref ref] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.clone().to_homogeneous());
);
md_impl_all!(
Mul, mul where T: RealField;
(U4, U1), (U4, U4)
const;
for C;
where C: TCategoryMul<TAffine>;
self: UnitQuaternion<T>, rhs: Transform<T, C, 3>, Output = Transform<T, C::Representative, 3>;
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[ref val] => Self::Output::from_matrix_unchecked(self.clone().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.clone().to_homogeneous() * rhs.matrix());
);
md_impl_all!(
Mul, mul where T: RealField;
(U2, U1), (U3, U3)
const;
for C;
where C: TCategoryMul<TAffine>;
self: UnitComplex<T>, rhs: Transform<T, C, 2>, Output = Transform<T, C::Representative, 2>;
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
[ref val] => Self::Output::from_matrix_unchecked(self.clone().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.clone().to_homogeneous() * rhs.matrix());
);
md_impl_all!(
Mul, mul where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
const D;
for C, R;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Isometry<T, R, D>, Output = Transform<T, C::Representative, D>;
[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());
);
md_impl_all!(
Mul, mul where T: RealField;
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
const D;
for C, R;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Isometry<T, R, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
[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());
);
md_impl_all!(
Mul, mul where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
const D;
for C, R;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Similarity<T, R, D>, Output = Transform<T, C::Representative, D>;
[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());
);
md_impl_all!(
Mul, mul where T: RealField;
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
const D;
for C, R;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Similarity<T, R, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
[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());
);
md_impl_all!(
Mul, mul where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Translation<T, D>, Output = Transform<T, C::Representative, D>;
[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());
);
md_impl_all!(
Mul, mul where T: RealField;
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Translation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
[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());
);
md_impl_all!(
Div, div where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
const D;
for CA, CB;
where Const<D>: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: SubTCategoryOf<TProjective>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, CA, D>, rhs: Transform<T, CB, D>, Output = Transform<T, CA::Representative, D>;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.clone().inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.clone().inverse() };
);
md_impl_all!(
Div, div where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Rotation<T, D>, Output = Transform<T, C::Representative, D>;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
);
md_impl_all!(
Div, div where T: RealField;
(Const<D>, Const<D>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Rotation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
);
md_impl_all!(
Div, div where T: RealField;
(U4, U4), (U4, U1)
const;
for C;
where C: TCategoryMul<TAffine>;
self: Transform<T, C, 3>, rhs: UnitQuaternion<T>, Output = Transform<T, C::Representative, 3>;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
);
md_impl_all!(
Div, div where T: RealField;
(U4, U1), (U4, U4)
const;
for C;
where C: TCategoryMul<TAffine>;
self: UnitQuaternion<T>, rhs: Transform<T, C, 3>, Output = Transform<T, C::Representative, 3>;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
);
md_impl_all!(
Div, div where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Translation<T, D>, Output = Transform<T, C::Representative, D>;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
);
md_impl_all!(
Div, div where T: RealField;
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Translation<T, D>, rhs: Transform<T, C, D>, Output = Transform<T, C::Representative, D>;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
);
md_assign_impl_all!(
MulAssign, mul_assign where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
const D;
for CA, CB;
where Const<D>: DimNameAdd<U1>, CA: TCategory, CB: SubTCategoryOf<CA>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, CA, D>, rhs: Transform<T, CB, D>;
[val] => *self.matrix_mut_unchecked() *= rhs.into_inner();
[ref] => *self.matrix_mut_unchecked() *= rhs.matrix();
);
md_assign_impl_all!(
MulAssign, mul_assign where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
const D;
for C, R;
where Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Similarity<T, R, D>;
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
);
md_assign_impl_all!(
MulAssign, mul_assign where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
const D;
for C, R;
where Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> >,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Isometry<T, R, D>;
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
);
md_assign_impl_all!(
MulAssign, mul_assign where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategory,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Translation<T, D>;
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
);
md_assign_impl_all!(
MulAssign, mul_assign where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategory,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Rotation<T, D>;
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
);
md_assign_impl_all!(
MulAssign, mul_assign where T: RealField;
(U4, U4), (U4, U1)
const;
for C;
where C: TCategory;
self: Transform<T, C, 3>, rhs: UnitQuaternion<T>;
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
[ref] => *self.matrix_mut_unchecked() *= rhs.clone().to_homogeneous();
);
md_assign_impl_all!(
MulAssign, mul_assign where T: RealField;
(U3, U3), (U2, U1)
const;
for C;
where C: TCategory;
self: Transform<T, C, 2>, rhs: UnitComplex<T>;
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
[ref] => *self.matrix_mut_unchecked() *= rhs.clone().to_homogeneous();
);
md_assign_impl_all!(
DivAssign, div_assign where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
const D;
for CA, CB;
where Const<D>: DimNameAdd<U1>, CA: SuperTCategoryOf<CB>, CB: SubTCategoryOf<TProjective>,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, CA, D>, rhs: Transform<T, CB, D>;
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.clone().inverse() };
);
md_assign_impl_all!(
DivAssign, div_assign where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategory,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Translation<T, D>;
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
);
md_assign_impl_all!(
DivAssign, div_assign where T: RealField;
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
const D;
for C;
where Const<D>: DimNameAdd<U1>, C: TCategory,
DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>;
self: Transform<T, C, D>, rhs: Rotation<T, D>;
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
);
md_assign_impl_all!(
DivAssign, div_assign where T: RealField;
(U4, U4), (U4, U1)
const;
for C;
where C: TCategory;
self: Transform<T, C, 3>, rhs: UnitQuaternion<T>;
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
);
md_assign_impl_all!(
DivAssign, div_assign where T: RealField;
(U3, U3), (U2, U1)
const;
for C;
where C: TCategory;
self: Transform<T, C, 2>, rhs: UnitComplex<T>;
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
);