spatial-motion 0.2.0

Generic spatial transforms and movement, built on geometric algebra traits
Documentation 
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use ga2::{Bivector, Rotor, Vector};
use scalars::{Inv, One, Zero};
use spatial_motion::{Movement, Transform};

type Transform2 = Transform<Vector<f32>, Rotor<f32>>;
type Movement2 = Movement<Vector<f32>, Bivector<f32>>;

#[test]
fn identity() {
    let transform = Transform2::one();
    let point = Vector::new(1.0, 2.0);
    assert_eq!(transform.apply(point), point);
}

#[test]
fn composition_with_identity() {
    let transform = Transform2 {
        position: Vector::new(3.0, 4.0),
        orientation: Rotor::one(),
    };
    let identity = Transform2::one();
    assert_eq!((transform * identity).position, transform.position);
}

#[test]
fn inverse() {
    let transform = Transform2 {
        position: Vector::new(3.0, 4.0),
        orientation: Rotor::one(),
    };
    let result = transform * transform.inv();
    assert!(result.position.x.abs() < 1e-6);
    assert!(result.position.y.abs() < 1e-6);
    assert!(result.orientation.is_one());
}

#[test]
fn movement_application() {
    let mut transform = Transform2::one();
    let movement = Movement2 {
        velocity: Vector::new(1.0, 2.0),
        spin: Bivector::zero(),
    };
    transform += movement;
    assert_eq!(transform.position, Vector::new(1.0, 2.0));
    assert!(transform.orientation.is_one());
}

#[test]
fn apply_point() {
    use vector_space::Transform;

    let transform = Transform2 {
        position: Vector::new(10.0, 20.0),
        orientation: Rotor::one(),
    };
    let point = Vector::new(1.0, 2.0);
    assert_eq!(transform.apply_point(point), Vector::new(11.0, 22.0));
}