Vendor dependencies for 0.3.0 release

vendor/glam/src/f64/daffine2.rs

@@ -0,0 +1,418 @@
+// Generated from affine.rs.tera template. Edit the template, not the generated file.
+
+use crate::{DMat2, DMat3, DVec2};
+use core::ops::{Deref, DerefMut, Mul, MulAssign};
+
+/// A 2D affine transform, which can represent translation, rotation, scaling and shear.
+#[derive(Copy, Clone)]
+#[repr(C)]
+pub struct DAffine2 {
+    pub matrix2: DMat2,
+    pub translation: DVec2,
+}
+
+impl DAffine2 {
+    /// The degenerate zero transform.
+    ///
+    /// This transforms any finite vector and point to zero.
+    /// The zero transform is non-invertible.
+    pub const ZERO: Self = Self {
+        matrix2: DMat2::ZERO,
+        translation: DVec2::ZERO,
+    };
+
+    /// The identity transform.
+    ///
+    /// Multiplying a vector with this returns the same vector.
+    pub const IDENTITY: Self = Self {
+        matrix2: DMat2::IDENTITY,
+        translation: DVec2::ZERO,
+    };
+
+    /// All NAN:s.
+    pub const NAN: Self = Self {
+        matrix2: DMat2::NAN,
+        translation: DVec2::NAN,
+    };
+
+    /// Creates an affine transform from three column vectors.
+    #[inline(always)]
+    #[must_use]
+    pub const fn from_cols(x_axis: DVec2, y_axis: DVec2, z_axis: DVec2) -> Self {
+        Self {
+            matrix2: DMat2::from_cols(x_axis, y_axis),
+            translation: z_axis,
+        }
+    }
+
+    /// Creates an affine transform from a `[f64; 6]` array stored in column major order.
+    #[inline]
+    #[must_use]
+    pub fn from_cols_array(m: &[f64; 6]) -> Self {
+        Self {
+            matrix2: DMat2::from_cols_array(&[m[0], m[1], m[2], m[3]]),
+            translation: DVec2::from_array([m[4], m[5]]),
+        }
+    }
+
+    /// Creates a `[f64; 6]` array storing data in column major order.
+    #[inline]
+    #[must_use]
+    pub fn to_cols_array(&self) -> [f64; 6] {
+        let x = &self.matrix2.x_axis;
+        let y = &self.matrix2.y_axis;
+        let z = &self.translation;
+        [x.x, x.y, y.x, y.y, z.x, z.y]
+    }
+
+    /// Creates an affine transform from a `[[f64; 2]; 3]`
+    /// 2D array stored in column major order.
+    /// If your data is in row major order you will need to `transpose` the returned
+    /// matrix.
+    #[inline]
+    #[must_use]
+    pub fn from_cols_array_2d(m: &[[f64; 2]; 3]) -> Self {
+        Self {
+            matrix2: DMat2::from_cols(m[0].into(), m[1].into()),
+            translation: m[2].into(),
+        }
+    }
+
+    /// Creates a `[[f64; 2]; 3]` 2D array storing data in
+    /// column major order.
+    /// If you require data in row major order `transpose` the matrix first.
+    #[inline]
+    #[must_use]
+    pub fn to_cols_array_2d(&self) -> [[f64; 2]; 3] {
+        [
+            self.matrix2.x_axis.into(),
+            self.matrix2.y_axis.into(),
+            self.translation.into(),
+        ]
+    }
+
+    /// Creates an affine transform from the first 6 values in `slice`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `slice` is less than 6 elements long.
+    #[inline]
+    #[must_use]
+    pub fn from_cols_slice(slice: &[f64]) -> Self {
+        Self {
+            matrix2: DMat2::from_cols_slice(&slice[0..4]),
+            translation: DVec2::from_slice(&slice[4..6]),
+        }
+    }
+
+    /// Writes the columns of `self` to the first 6 elements in `slice`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `slice` is less than 6 elements long.
+    #[inline]
+    pub fn write_cols_to_slice(self, slice: &mut [f64]) {
+        self.matrix2.write_cols_to_slice(&mut slice[0..4]);
+        self.translation.write_to_slice(&mut slice[4..6]);
+    }
+
+    /// Creates an affine transform that changes scale.
+    /// Note that if any scale is zero the transform will be non-invertible.
+    #[inline]
+    #[must_use]
+    pub fn from_scale(scale: DVec2) -> Self {
+        Self {
+            matrix2: DMat2::from_diagonal(scale),
+            translation: DVec2::ZERO,
+        }
+    }
+
+    /// Creates an affine transform from the given rotation `angle`.
+    #[inline]
+    #[must_use]
+    pub fn from_angle(angle: f64) -> Self {
+        Self {
+            matrix2: DMat2::from_angle(angle),
+            translation: DVec2::ZERO,
+        }
+    }
+
+    /// Creates an affine transformation from the given 2D `translation`.
+    #[inline]
+    #[must_use]
+    pub fn from_translation(translation: DVec2) -> Self {
+        Self {
+            matrix2: DMat2::IDENTITY,
+            translation,
+        }
+    }
+
+    /// Creates an affine transform from a 2x2 matrix (expressing scale, shear and rotation)
+    #[inline]
+    #[must_use]
+    pub fn from_mat2(matrix2: DMat2) -> Self {
+        Self {
+            matrix2,
+            translation: DVec2::ZERO,
+        }
+    }
+
+    /// Creates an affine transform from a 2x2 matrix (expressing scale, shear and rotation) and a
+    /// translation vector.
+    ///
+    /// Equivalent to
+    /// `DAffine2::from_translation(translation) * DAffine2::from_mat2(mat2)`
+    #[inline]
+    #[must_use]
+    pub fn from_mat2_translation(matrix2: DMat2, translation: DVec2) -> Self {
+        Self {
+            matrix2,
+            translation,
+        }
+    }
+
+    /// Creates an affine transform from the given 2D `scale`, rotation `angle` (in radians) and
+    /// `translation`.
+    ///
+    /// Equivalent to `DAffine2::from_translation(translation) *
+    /// DAffine2::from_angle(angle) * DAffine2::from_scale(scale)`
+    #[inline]
+    #[must_use]
+    pub fn from_scale_angle_translation(scale: DVec2, angle: f64, translation: DVec2) -> Self {
+        let rotation = DMat2::from_angle(angle);
+        Self {
+            matrix2: DMat2::from_cols(rotation.x_axis * scale.x, rotation.y_axis * scale.y),
+            translation,
+        }
+    }
+
+    /// Creates an affine transform from the given 2D rotation `angle` (in radians) and
+    /// `translation`.
+    ///
+    /// Equivalent to `DAffine2::from_translation(translation) * DAffine2::from_angle(angle)`
+    #[inline]
+    #[must_use]
+    pub fn from_angle_translation(angle: f64, translation: DVec2) -> Self {
+        Self {
+            matrix2: DMat2::from_angle(angle),
+            translation,
+        }
+    }
+
+    /// The given `DMat3` must be an affine transform,
+    #[inline]
+    #[must_use]
+    pub fn from_mat3(m: DMat3) -> Self {
+        use crate::swizzles::Vec3Swizzles;
+        Self {
+            matrix2: DMat2::from_cols(m.x_axis.xy(), m.y_axis.xy()),
+            translation: m.z_axis.xy(),
+        }
+    }
+
+    /// Extracts `scale`, `angle` and `translation` from `self`.
+    ///
+    /// The transform is expected to be non-degenerate and without shearing, or the output
+    /// will be invalid.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if the determinant `self.matrix2` is zero or if the resulting scale
+    /// vector contains any zero elements when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn to_scale_angle_translation(self) -> (DVec2, f64, DVec2) {
+        use crate::f64::math;
+        let det = self.matrix2.determinant();
+        glam_assert!(det != 0.0);
+
+        let scale = DVec2::new(
+            self.matrix2.x_axis.length() * math::signum(det),
+            self.matrix2.y_axis.length(),
+        );
+
+        glam_assert!(scale.cmpne(DVec2::ZERO).all());
+
+        let angle = math::atan2(-self.matrix2.y_axis.x, self.matrix2.y_axis.y);
+
+        (scale, angle, self.translation)
+    }
+
+    /// Transforms the given 2D point, applying shear, scale, rotation and translation.
+    #[inline]
+    #[must_use]
+    pub fn transform_point2(&self, rhs: DVec2) -> DVec2 {
+        self.matrix2 * rhs + self.translation
+    }
+
+    /// Transforms the given 2D vector, applying shear, scale and rotation (but NOT
+    /// translation).
+    ///
+    /// To also apply translation, use [`Self::transform_point2()`] instead.
+    #[inline]
+    pub fn transform_vector2(&self, rhs: DVec2) -> DVec2 {
+        self.matrix2 * rhs
+    }
+
+    /// Returns `true` if, and only if, all elements are finite.
+    ///
+    /// If any element is either `NaN`, positive or negative infinity, this will return
+    /// `false`.
+    #[inline]
+    #[must_use]
+    pub fn is_finite(&self) -> bool {
+        self.matrix2.is_finite() && self.translation.is_finite()
+    }
+
+    /// Returns `true` if any elements are `NaN`.
+    #[inline]
+    #[must_use]
+    pub fn is_nan(&self) -> bool {
+        self.matrix2.is_nan() || self.translation.is_nan()
+    }
+
+    /// Returns true if the absolute difference of all elements between `self` and `rhs`
+    /// is less than or equal to `max_abs_diff`.
+    ///
+    /// This can be used to compare if two 3x4 matrices contain similar elements. It works
+    /// best when comparing with a known value. The `max_abs_diff` that should be used used
+    /// depends on the values being compared against.
+    ///
+    /// For more see
+    /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
+    #[inline]
+    #[must_use]
+    pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f64) -> bool {
+        self.matrix2.abs_diff_eq(rhs.matrix2, max_abs_diff)
+            && self.translation.abs_diff_eq(rhs.translation, max_abs_diff)
+    }
+
+    /// Return the inverse of this transform.
+    ///
+    /// Note that if the transform is not invertible the result will be invalid.
+    #[inline]
+    #[must_use]
+    pub fn inverse(&self) -> Self {
+        let matrix2 = self.matrix2.inverse();
+        // transform negative translation by the matrix inverse:
+        let translation = -(matrix2 * self.translation);
+
+        Self {
+            matrix2,
+            translation,
+        }
+    }
+}
+
+impl Default for DAffine2 {
+    #[inline(always)]
+    fn default() -> Self {
+        Self::IDENTITY
+    }
+}
+
+impl Deref for DAffine2 {
+    type Target = crate::deref::Cols3<DVec2>;
+    #[inline(always)]
+    fn deref(&self) -> &Self::Target {
+        unsafe { &*(self as *const Self as *const Self::Target) }
+    }
+}
+
+impl DerefMut for DAffine2 {
+    #[inline(always)]
+    fn deref_mut(&mut self) -> &mut Self::Target {
+        unsafe { &mut *(self as *mut Self as *mut Self::Target) }
+    }
+}
+
+impl PartialEq for DAffine2 {
+    #[inline]
+    fn eq(&self, rhs: &Self) -> bool {
+        self.matrix2.eq(&rhs.matrix2) && self.translation.eq(&rhs.translation)
+    }
+}
+
+impl core::fmt::Debug for DAffine2 {
+    fn fmt(&self, fmt: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        fmt.debug_struct(stringify!(DAffine2))
+            .field("matrix2", &self.matrix2)
+            .field("translation", &self.translation)
+            .finish()
+    }
+}
+
+impl core::fmt::Display for DAffine2 {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        if let Some(p) = f.precision() {
+            write!(
+                f,
+                "[{:.*}, {:.*}, {:.*}]",
+                p, self.matrix2.x_axis, p, self.matrix2.y_axis, p, self.translation
+            )
+        } else {
+            write!(
+                f,
+                "[{}, {}, {}]",
+                self.matrix2.x_axis, self.matrix2.y_axis, self.translation
+            )
+        }
+    }
+}
+
+impl<'a> core::iter::Product<&'a Self> for DAffine2 {
+    fn product<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = &'a Self>,
+    {
+        iter.fold(Self::IDENTITY, |a, &b| a * b)
+    }
+}
+
+impl Mul for DAffine2 {
+    type Output = DAffine2;
+
+    #[inline]
+    fn mul(self, rhs: DAffine2) -> Self::Output {
+        Self {
+            matrix2: self.matrix2 * rhs.matrix2,
+            translation: self.matrix2 * rhs.translation + self.translation,
+        }
+    }
+}
+
+impl MulAssign for DAffine2 {
+    #[inline]
+    fn mul_assign(&mut self, rhs: DAffine2) {
+        *self = self.mul(rhs);
+    }
+}
+
+impl From<DAffine2> for DMat3 {
+    #[inline]
+    fn from(m: DAffine2) -> DMat3 {
+        Self::from_cols(
+            m.matrix2.x_axis.extend(0.0),
+            m.matrix2.y_axis.extend(0.0),
+            m.translation.extend(1.0),
+        )
+    }
+}
+
+impl Mul<DMat3> for DAffine2 {
+    type Output = DMat3;
+
+    #[inline]
+    fn mul(self, rhs: DMat3) -> Self::Output {
+        DMat3::from(self) * rhs
+    }
+}
+
+impl Mul<DAffine2> for DMat3 {
+    type Output = DMat3;
+
+    #[inline]
+    fn mul(self, rhs: DAffine2) -> Self::Output {
+        self * DMat3::from(rhs)
+    }
+}

vendor/glam/src/f64/daffine3.rs

@@ -0,0 +1,566 @@
+// Generated from affine.rs.tera template. Edit the template, not the generated file.
+
+use crate::{DMat3, DMat4, DQuat, DVec3};
+use core::ops::{Deref, DerefMut, Mul, MulAssign};
+
+/// A 3D affine transform, which can represent translation, rotation, scaling and shear.
+#[derive(Copy, Clone)]
+#[repr(C)]
+pub struct DAffine3 {
+    pub matrix3: DMat3,
+    pub translation: DVec3,
+}
+
+impl DAffine3 {
+    /// The degenerate zero transform.
+    ///
+    /// This transforms any finite vector and point to zero.
+    /// The zero transform is non-invertible.
+    pub const ZERO: Self = Self {
+        matrix3: DMat3::ZERO,
+        translation: DVec3::ZERO,
+    };
+
+    /// The identity transform.
+    ///
+    /// Multiplying a vector with this returns the same vector.
+    pub const IDENTITY: Self = Self {
+        matrix3: DMat3::IDENTITY,
+        translation: DVec3::ZERO,
+    };
+
+    /// All NAN:s.
+    pub const NAN: Self = Self {
+        matrix3: DMat3::NAN,
+        translation: DVec3::NAN,
+    };
+
+    /// Creates an affine transform from three column vectors.
+    #[inline(always)]
+    #[must_use]
+    pub const fn from_cols(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3, w_axis: DVec3) -> Self {
+        Self {
+            matrix3: DMat3::from_cols(x_axis, y_axis, z_axis),
+            translation: w_axis,
+        }
+    }
+
+    /// Creates an affine transform from a `[f64; 12]` array stored in column major order.
+    #[inline]
+    #[must_use]
+    pub fn from_cols_array(m: &[f64; 12]) -> Self {
+        Self {
+            matrix3: DMat3::from_cols_array(&[
+                m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8],
+            ]),
+            translation: DVec3::from_array([m[9], m[10], m[11]]),
+        }
+    }
+
+    /// Creates a `[f64; 12]` array storing data in column major order.
+    #[inline]
+    #[must_use]
+    pub fn to_cols_array(&self) -> [f64; 12] {
+        let x = &self.matrix3.x_axis;
+        let y = &self.matrix3.y_axis;
+        let z = &self.matrix3.z_axis;
+        let w = &self.translation;
+        [x.x, x.y, x.z, y.x, y.y, y.z, z.x, z.y, z.z, w.x, w.y, w.z]
+    }
+
+    /// Creates an affine transform from a `[[f64; 3]; 4]`
+    /// 3D array stored in column major order.
+    /// If your data is in row major order you will need to `transpose` the returned
+    /// matrix.
+    #[inline]
+    #[must_use]
+    pub fn from_cols_array_2d(m: &[[f64; 3]; 4]) -> Self {
+        Self {
+            matrix3: DMat3::from_cols(m[0].into(), m[1].into(), m[2].into()),
+            translation: m[3].into(),
+        }
+    }
+
+    /// Creates a `[[f64; 3]; 4]` 3D array storing data in
+    /// column major order.
+    /// If you require data in row major order `transpose` the matrix first.
+    #[inline]
+    #[must_use]
+    pub fn to_cols_array_2d(&self) -> [[f64; 3]; 4] {
+        [
+            self.matrix3.x_axis.into(),
+            self.matrix3.y_axis.into(),
+            self.matrix3.z_axis.into(),
+            self.translation.into(),
+        ]
+    }
+
+    /// Creates an affine transform from the first 12 values in `slice`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `slice` is less than 12 elements long.
+    #[inline]
+    #[must_use]
+    pub fn from_cols_slice(slice: &[f64]) -> Self {
+        Self {
+            matrix3: DMat3::from_cols_slice(&slice[0..9]),
+            translation: DVec3::from_slice(&slice[9..12]),
+        }
+    }
+
+    /// Writes the columns of `self` to the first 12 elements in `slice`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `slice` is less than 12 elements long.
+    #[inline]
+    pub fn write_cols_to_slice(self, slice: &mut [f64]) {
+        self.matrix3.write_cols_to_slice(&mut slice[0..9]);
+        self.translation.write_to_slice(&mut slice[9..12]);
+    }
+
+    /// Creates an affine transform that changes scale.
+    /// Note that if any scale is zero the transform will be non-invertible.
+    #[inline]
+    #[must_use]
+    pub fn from_scale(scale: DVec3) -> Self {
+        Self {
+            matrix3: DMat3::from_diagonal(scale),
+            translation: DVec3::ZERO,
+        }
+    }
+    /// Creates an affine transform from the given `rotation` quaternion.
+    #[inline]
+    #[must_use]
+    pub fn from_quat(rotation: DQuat) -> Self {
+        Self {
+            matrix3: DMat3::from_quat(rotation),
+            translation: DVec3::ZERO,
+        }
+    }
+
+    /// Creates an affine transform containing a 3D rotation around a normalized
+    /// rotation `axis` of `angle` (in radians).
+    #[inline]
+    #[must_use]
+    pub fn from_axis_angle(axis: DVec3, angle: f64) -> Self {
+        Self {
+            matrix3: DMat3::from_axis_angle(axis, angle),
+            translation: DVec3::ZERO,
+        }
+    }
+
+    /// Creates an affine transform containing a 3D rotation around the x axis of
+    /// `angle` (in radians).
+    #[inline]
+    #[must_use]
+    pub fn from_rotation_x(angle: f64) -> Self {
+        Self {
+            matrix3: DMat3::from_rotation_x(angle),
+            translation: DVec3::ZERO,
+        }
+    }
+
+    /// Creates an affine transform containing a 3D rotation around the y axis of
+    /// `angle` (in radians).
+    #[inline]
+    #[must_use]
+    pub fn from_rotation_y(angle: f64) -> Self {
+        Self {
+            matrix3: DMat3::from_rotation_y(angle),
+            translation: DVec3::ZERO,
+        }
+    }
+
+    /// Creates an affine transform containing a 3D rotation around the z axis of
+    /// `angle` (in radians).
+    #[inline]
+    #[must_use]
+    pub fn from_rotation_z(angle: f64) -> Self {
+        Self {
+            matrix3: DMat3::from_rotation_z(angle),
+            translation: DVec3::ZERO,
+        }
+    }
+
+    /// Creates an affine transformation from the given 3D `translation`.
+    #[inline]
+    #[must_use]
+    pub fn from_translation(translation: DVec3) -> Self {
+        #[allow(clippy::useless_conversion)]
+        Self {
+            matrix3: DMat3::IDENTITY,
+            translation: translation.into(),
+        }
+    }
+
+    /// Creates an affine transform from a 3x3 matrix (expressing scale, shear and
+    /// rotation)
+    #[inline]
+    #[must_use]
+    pub fn from_mat3(mat3: DMat3) -> Self {
+        #[allow(clippy::useless_conversion)]
+        Self {
+            matrix3: mat3.into(),
+            translation: DVec3::ZERO,
+        }
+    }
+
+    /// Creates an affine transform from a 3x3 matrix (expressing scale, shear and rotation)
+    /// and a translation vector.
+    ///
+    /// Equivalent to `DAffine3::from_translation(translation) * DAffine3::from_mat3(mat3)`
+    #[inline]
+    #[must_use]
+    pub fn from_mat3_translation(mat3: DMat3, translation: DVec3) -> Self {
+        #[allow(clippy::useless_conversion)]
+        Self {
+            matrix3: mat3.into(),
+            translation: translation.into(),
+        }
+    }
+
+    /// Creates an affine transform from the given 3D `scale`, `rotation` and
+    /// `translation`.
+    ///
+    /// Equivalent to `DAffine3::from_translation(translation) *
+    /// DAffine3::from_quat(rotation) * DAffine3::from_scale(scale)`
+    #[inline]
+    #[must_use]
+    pub fn from_scale_rotation_translation(
+        scale: DVec3,
+        rotation: DQuat,
+        translation: DVec3,
+    ) -> Self {
+        let rotation = DMat3::from_quat(rotation);
+        #[allow(clippy::useless_conversion)]
+        Self {
+            matrix3: DMat3::from_cols(
+                rotation.x_axis * scale.x,
+                rotation.y_axis * scale.y,
+                rotation.z_axis * scale.z,
+            ),
+            translation: translation.into(),
+        }
+    }
+
+    /// Creates an affine transform from the given 3D `rotation` and `translation`.
+    ///
+    /// Equivalent to `DAffine3::from_translation(translation) * DAffine3::from_quat(rotation)`
+    #[inline]
+    #[must_use]
+    pub fn from_rotation_translation(rotation: DQuat, translation: DVec3) -> Self {
+        #[allow(clippy::useless_conversion)]
+        Self {
+            matrix3: DMat3::from_quat(rotation),
+            translation: translation.into(),
+        }
+    }
+
+    /// The given `DMat4` must be an affine transform,
+    /// i.e. contain no perspective transform.
+    #[inline]
+    #[must_use]
+    pub fn from_mat4(m: DMat4) -> Self {
+        Self {
+            matrix3: DMat3::from_cols(
+                DVec3::from_vec4(m.x_axis),
+                DVec3::from_vec4(m.y_axis),
+                DVec3::from_vec4(m.z_axis),
+            ),
+            translation: DVec3::from_vec4(m.w_axis),
+        }
+    }
+
+    /// Extracts `scale`, `rotation` and `translation` from `self`.
+    ///
+    /// The transform is expected to be non-degenerate and without shearing, or the output
+    /// will be invalid.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if the determinant `self.matrix3` is zero or if the resulting scale
+    /// vector contains any zero elements when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn to_scale_rotation_translation(&self) -> (DVec3, DQuat, DVec3) {
+        use crate::f64::math;
+        let det = self.matrix3.determinant();
+        glam_assert!(det != 0.0);
+
+        let scale = DVec3::new(
+            self.matrix3.x_axis.length() * math::signum(det),
+            self.matrix3.y_axis.length(),
+            self.matrix3.z_axis.length(),
+        );
+
+        glam_assert!(scale.cmpne(DVec3::ZERO).all());
+
+        let inv_scale = scale.recip();
+
+        #[allow(clippy::useless_conversion)]
+        let rotation = DQuat::from_mat3(&DMat3::from_cols(
+            (self.matrix3.x_axis * inv_scale.x).into(),
+            (self.matrix3.y_axis * inv_scale.y).into(),
+            (self.matrix3.z_axis * inv_scale.z).into(),
+        ));
+
+        #[allow(clippy::useless_conversion)]
+        (scale, rotation, self.translation.into())
+    }
+
+    /// Creates a left-handed view transform using a camera position, an up direction, and a facing
+    /// direction.
+    ///
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
+    #[inline]
+    #[must_use]
+    pub fn look_to_lh(eye: DVec3, dir: DVec3, up: DVec3) -> Self {
+        Self::look_to_rh(eye, -dir, up)
+    }
+
+    /// Creates a right-handed view transform using a camera position, an up direction, and a facing
+    /// direction.
+    ///
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
+    #[inline]
+    #[must_use]
+    pub fn look_to_rh(eye: DVec3, dir: DVec3, up: DVec3) -> Self {
+        let f = dir.normalize();
+        let s = f.cross(up).normalize();
+        let u = s.cross(f);
+
+        Self {
+            matrix3: DMat3::from_cols(
+                DVec3::new(s.x, u.x, -f.x),
+                DVec3::new(s.y, u.y, -f.y),
+                DVec3::new(s.z, u.z, -f.z),
+            ),
+            translation: DVec3::new(-eye.dot(s), -eye.dot(u), eye.dot(f)),
+        }
+    }
+
+    /// Creates a left-handed view transform using a camera position, an up direction, and a focal
+    /// point.
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn look_at_lh(eye: DVec3, center: DVec3, up: DVec3) -> Self {
+        glam_assert!(up.is_normalized());
+        Self::look_to_lh(eye, center - eye, up)
+    }
+
+    /// Creates a right-handed view transform using a camera position, an up direction, and a focal
+    /// point.
+    /// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `up` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn look_at_rh(eye: DVec3, center: DVec3, up: DVec3) -> Self {
+        glam_assert!(up.is_normalized());
+        Self::look_to_rh(eye, center - eye, up)
+    }
+
+    /// Transforms the given 3D points, applying shear, scale, rotation and translation.
+    #[inline]
+    pub fn transform_point3(&self, rhs: DVec3) -> DVec3 {
+        #[allow(clippy::useless_conversion)]
+        ((self.matrix3.x_axis * rhs.x)
+            + (self.matrix3.y_axis * rhs.y)
+            + (self.matrix3.z_axis * rhs.z)
+            + self.translation)
+            .into()
+    }
+
+    /// Transforms the given 3D vector, applying shear, scale and rotation (but NOT
+    /// translation).
+    ///
+    /// To also apply translation, use [`Self::transform_point3()`] instead.
+    #[inline]
+    #[must_use]
+    pub fn transform_vector3(&self, rhs: DVec3) -> DVec3 {
+        #[allow(clippy::useless_conversion)]
+        ((self.matrix3.x_axis * rhs.x)
+            + (self.matrix3.y_axis * rhs.y)
+            + (self.matrix3.z_axis * rhs.z))
+            .into()
+    }
+
+    /// Returns `true` if, and only if, all elements are finite.
+    ///
+    /// If any element is either `NaN`, positive or negative infinity, this will return
+    /// `false`.
+    #[inline]
+    #[must_use]
+    pub fn is_finite(&self) -> bool {
+        self.matrix3.is_finite() && self.translation.is_finite()
+    }
+
+    /// Returns `true` if any elements are `NaN`.
+    #[inline]
+    #[must_use]
+    pub fn is_nan(&self) -> bool {
+        self.matrix3.is_nan() || self.translation.is_nan()
+    }
+
+    /// Returns true if the absolute difference of all elements between `self` and `rhs`
+    /// is less than or equal to `max_abs_diff`.
+    ///
+    /// This can be used to compare if two 3x4 matrices contain similar elements. It works
+    /// best when comparing with a known value. The `max_abs_diff` that should be used used
+    /// depends on the values being compared against.
+    ///
+    /// For more see
+    /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
+    #[inline]
+    #[must_use]
+    pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f64) -> bool {
+        self.matrix3.abs_diff_eq(rhs.matrix3, max_abs_diff)
+            && self.translation.abs_diff_eq(rhs.translation, max_abs_diff)
+    }
+
+    /// Return the inverse of this transform.
+    ///
+    /// Note that if the transform is not invertible the result will be invalid.
+    #[inline]
+    #[must_use]
+    pub fn inverse(&self) -> Self {
+        let matrix3 = self.matrix3.inverse();
+        // transform negative translation by the matrix inverse:
+        let translation = -(matrix3 * self.translation);
+
+        Self {
+            matrix3,
+            translation,
+        }
+    }
+}
+
+impl Default for DAffine3 {
+    #[inline(always)]
+    fn default() -> Self {
+        Self::IDENTITY
+    }
+}
+
+impl Deref for DAffine3 {
+    type Target = crate::deref::Cols4<DVec3>;
+    #[inline(always)]
+    fn deref(&self) -> &Self::Target {
+        unsafe { &*(self as *const Self as *const Self::Target) }
+    }
+}
+
+impl DerefMut for DAffine3 {
+    #[inline(always)]
+    fn deref_mut(&mut self) -> &mut Self::Target {
+        unsafe { &mut *(self as *mut Self as *mut Self::Target) }
+    }
+}
+
+impl PartialEq for DAffine3 {
+    #[inline]
+    fn eq(&self, rhs: &Self) -> bool {
+        self.matrix3.eq(&rhs.matrix3) && self.translation.eq(&rhs.translation)
+    }
+}
+
+impl core::fmt::Debug for DAffine3 {
+    fn fmt(&self, fmt: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        fmt.debug_struct(stringify!(DAffine3))
+            .field("matrix3", &self.matrix3)
+            .field("translation", &self.translation)
+            .finish()
+    }
+}
+
+impl core::fmt::Display for DAffine3 {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        if let Some(p) = f.precision() {
+            write!(
+                f,
+                "[{:.*}, {:.*}, {:.*}, {:.*}]",
+                p,
+                self.matrix3.x_axis,
+                p,
+                self.matrix3.y_axis,
+                p,
+                self.matrix3.z_axis,
+                p,
+                self.translation
+            )
+        } else {
+            write!(
+                f,
+                "[{}, {}, {}, {}]",
+                self.matrix3.x_axis, self.matrix3.y_axis, self.matrix3.z_axis, self.translation
+            )
+        }
+    }
+}
+
+impl<'a> core::iter::Product<&'a Self> for DAffine3 {
+    fn product<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = &'a Self>,
+    {
+        iter.fold(Self::IDENTITY, |a, &b| a * b)
+    }
+}
+
+impl Mul for DAffine3 {
+    type Output = DAffine3;
+
+    #[inline]
+    fn mul(self, rhs: DAffine3) -> Self::Output {
+        Self {
+            matrix3: self.matrix3 * rhs.matrix3,
+            translation: self.matrix3 * rhs.translation + self.translation,
+        }
+    }
+}
+
+impl MulAssign for DAffine3 {
+    #[inline]
+    fn mul_assign(&mut self, rhs: DAffine3) {
+        *self = self.mul(rhs);
+    }
+}
+
+impl From<DAffine3> for DMat4 {
+    #[inline]
+    fn from(m: DAffine3) -> DMat4 {
+        DMat4::from_cols(
+            m.matrix3.x_axis.extend(0.0),
+            m.matrix3.y_axis.extend(0.0),
+            m.matrix3.z_axis.extend(0.0),
+            m.translation.extend(1.0),
+        )
+    }
+}
+
+impl Mul<DMat4> for DAffine3 {
+    type Output = DMat4;
+
+    #[inline]
+    fn mul(self, rhs: DMat4) -> Self::Output {
+        DMat4::from(self) * rhs
+    }
+}
+
+impl Mul<DAffine3> for DMat4 {
+    type Output = DMat4;
+
+    #[inline]
+    fn mul(self, rhs: DAffine3) -> Self::Output {
+        self * DMat4::from(rhs)
+    }
+}

vendor/glam/src/f64/dmat2.rs

@@ -0,0 +1,529 @@
+// Generated from mat.rs.tera template. Edit the template, not the generated file.
+
+use crate::{f64::math, swizzles::*, DMat3, DVec2, Mat2};
+use core::fmt;
+use core::iter::{Product, Sum};
+use core::ops::{Add, AddAssign, Div, DivAssign, Mul, MulAssign, Neg, Sub, SubAssign};
+
+/// Creates a 2x2 matrix from two column vectors.
+#[inline(always)]
+#[must_use]
+pub const fn dmat2(x_axis: DVec2, y_axis: DVec2) -> DMat2 {
+    DMat2::from_cols(x_axis, y_axis)
+}
+
+/// A 2x2 column major matrix.
+#[derive(Clone, Copy)]
+#[cfg_attr(feature = "cuda", repr(align(16)))]
+#[repr(C)]
+pub struct DMat2 {
+    pub x_axis: DVec2,
+    pub y_axis: DVec2,
+}
+
+impl DMat2 {
+    /// A 2x2 matrix with all elements set to `0.0`.
+    pub const ZERO: Self = Self::from_cols(DVec2::ZERO, DVec2::ZERO);
+
+    /// A 2x2 identity matrix, where all diagonal elements are `1`, and all off-diagonal elements are `0`.
+    pub const IDENTITY: Self = Self::from_cols(DVec2::X, DVec2::Y);
+
+    /// All NAN:s.
+    pub const NAN: Self = Self::from_cols(DVec2::NAN, DVec2::NAN);
+
+    #[allow(clippy::too_many_arguments)]
+    #[inline(always)]
+    #[must_use]
+    const fn new(m00: f64, m01: f64, m10: f64, m11: f64) -> Self {
+        Self {
+            x_axis: DVec2::new(m00, m01),
+            y_axis: DVec2::new(m10, m11),
+        }
+    }
+
+    /// Creates a 2x2 matrix from two column vectors.
+    #[inline(always)]
+    #[must_use]
+    pub const fn from_cols(x_axis: DVec2, y_axis: DVec2) -> Self {
+        Self { x_axis, y_axis }
+    }
+
+    /// Creates a 2x2 matrix from a `[f64; 4]` array stored in column major order.
+    /// If your data is stored in row major you will need to `transpose` the returned
+    /// matrix.
+    #[inline]
+    #[must_use]
+    pub const fn from_cols_array(m: &[f64; 4]) -> Self {
+        Self::new(m[0], m[1], m[2], m[3])
+    }
+
+    /// Creates a `[f64; 4]` array storing data in column major order.
+    /// If you require data in row major order `transpose` the matrix first.
+    #[inline]
+    #[must_use]
+    pub const fn to_cols_array(&self) -> [f64; 4] {
+        [self.x_axis.x, self.x_axis.y, self.y_axis.x, self.y_axis.y]
+    }
+
+    /// Creates a 2x2 matrix from a `[[f64; 2]; 2]` 2D array stored in column major order.
+    /// If your data is in row major order you will need to `transpose` the returned
+    /// matrix.
+    #[inline]
+    #[must_use]
+    pub const fn from_cols_array_2d(m: &[[f64; 2]; 2]) -> Self {
+        Self::from_cols(DVec2::from_array(m[0]), DVec2::from_array(m[1]))
+    }
+
+    /// Creates a `[[f64; 2]; 2]` 2D array storing data in column major order.
+    /// If you require data in row major order `transpose` the matrix first.
+    #[inline]
+    #[must_use]
+    pub const fn to_cols_array_2d(&self) -> [[f64; 2]; 2] {
+        [self.x_axis.to_array(), self.y_axis.to_array()]
+    }
+
+    /// Creates a 2x2 matrix with its diagonal set to `diagonal` and all other entries set to 0.
+    #[doc(alias = "scale")]
+    #[inline]
+    #[must_use]
+    pub const fn from_diagonal(diagonal: DVec2) -> Self {
+        Self::new(diagonal.x, 0.0, 0.0, diagonal.y)
+    }
+
+    /// Creates a 2x2 matrix containing the combining non-uniform `scale` and rotation of
+    /// `angle` (in radians).
+    #[inline]
+    #[must_use]
+    pub fn from_scale_angle(scale: DVec2, angle: f64) -> Self {
+        let (sin, cos) = math::sin_cos(angle);
+        Self::new(cos * scale.x, sin * scale.x, -sin * scale.y, cos * scale.y)
+    }
+
+    /// Creates a 2x2 matrix containing a rotation of `angle` (in radians).
+    #[inline]
+    #[must_use]
+    pub fn from_angle(angle: f64) -> Self {
+        let (sin, cos) = math::sin_cos(angle);
+        Self::new(cos, sin, -sin, cos)
+    }
+
+    /// Creates a 2x2 matrix from a 3x3 matrix, discarding the 2nd row and column.
+    #[inline]
+    #[must_use]
+    pub fn from_mat3(m: DMat3) -> Self {
+        Self::from_cols(m.x_axis.xy(), m.y_axis.xy())
+    }
+
+    /// Creates a 2x2 matrix from the minor of the given 3x3 matrix, discarding the `i`th column
+    /// and `j`th row.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `i` or `j` is greater than 2.
+    #[inline]
+    #[must_use]
+    pub fn from_mat3_minor(m: DMat3, i: usize, j: usize) -> Self {
+        match (i, j) {
+            (0, 0) => Self::from_cols(m.y_axis.yz(), m.z_axis.yz()),
+            (0, 1) => Self::from_cols(m.y_axis.xz(), m.z_axis.xz()),
+            (0, 2) => Self::from_cols(m.y_axis.xy(), m.z_axis.xy()),
+            (1, 0) => Self::from_cols(m.x_axis.yz(), m.z_axis.yz()),
+            (1, 1) => Self::from_cols(m.x_axis.xz(), m.z_axis.xz()),
+            (1, 2) => Self::from_cols(m.x_axis.xy(), m.z_axis.xy()),
+            (2, 0) => Self::from_cols(m.x_axis.yz(), m.y_axis.yz()),
+            (2, 1) => Self::from_cols(m.x_axis.xz(), m.y_axis.xz()),
+            (2, 2) => Self::from_cols(m.x_axis.xy(), m.y_axis.xy()),
+            _ => panic!("index out of bounds"),
+        }
+    }
+
+    /// Creates a 2x2 matrix from the first 4 values in `slice`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `slice` is less than 4 elements long.
+    #[inline]
+    #[must_use]
+    pub const fn from_cols_slice(slice: &[f64]) -> Self {
+        Self::new(slice[0], slice[1], slice[2], slice[3])
+    }
+
+    /// Writes the columns of `self` to the first 4 elements in `slice`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `slice` is less than 4 elements long.
+    #[inline]
+    pub fn write_cols_to_slice(self, slice: &mut [f64]) {
+        slice[0] = self.x_axis.x;
+        slice[1] = self.x_axis.y;
+        slice[2] = self.y_axis.x;
+        slice[3] = self.y_axis.y;
+    }
+
+    /// Returns the matrix column for the given `index`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `index` is greater than 1.
+    #[inline]
+    #[must_use]
+    pub fn col(&self, index: usize) -> DVec2 {
+        match index {
+            0 => self.x_axis,
+            1 => self.y_axis,
+            _ => panic!("index out of bounds"),
+        }
+    }
+
+    /// Returns a mutable reference to the matrix column for the given `index`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `index` is greater than 1.
+    #[inline]
+    pub fn col_mut(&mut self, index: usize) -> &mut DVec2 {
+        match index {
+            0 => &mut self.x_axis,
+            1 => &mut self.y_axis,
+            _ => panic!("index out of bounds"),
+        }
+    }
+
+    /// Returns the matrix row for the given `index`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `index` is greater than 1.
+    #[inline]
+    #[must_use]
+    pub fn row(&self, index: usize) -> DVec2 {
+        match index {
+            0 => DVec2::new(self.x_axis.x, self.y_axis.x),
+            1 => DVec2::new(self.x_axis.y, self.y_axis.y),
+            _ => panic!("index out of bounds"),
+        }
+    }
+
+    /// Returns `true` if, and only if, all elements are finite.
+    /// If any element is either `NaN`, positive or negative infinity, this will return `false`.
+    #[inline]
+    #[must_use]
+    pub fn is_finite(&self) -> bool {
+        self.x_axis.is_finite() && self.y_axis.is_finite()
+    }
+
+    /// Returns `true` if any elements are `NaN`.
+    #[inline]
+    #[must_use]
+    pub fn is_nan(&self) -> bool {
+        self.x_axis.is_nan() || self.y_axis.is_nan()
+    }
+
+    /// Returns the transpose of `self`.
+    #[inline]
+    #[must_use]
+    pub fn transpose(&self) -> Self {
+        Self {
+            x_axis: DVec2::new(self.x_axis.x, self.y_axis.x),
+            y_axis: DVec2::new(self.x_axis.y, self.y_axis.y),
+        }
+    }
+
+    /// Returns the determinant of `self`.
+    #[inline]
+    #[must_use]
+    pub fn determinant(&self) -> f64 {
+        self.x_axis.x * self.y_axis.y - self.x_axis.y * self.y_axis.x
+    }
+
+    /// Returns the inverse of `self`.
+    ///
+    /// If the matrix is not invertible the returned matrix will be invalid.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if the determinant of `self` is zero when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn inverse(&self) -> Self {
+        let inv_det = {
+            let det = self.determinant();
+            glam_assert!(det != 0.0);
+            det.recip()
+        };
+        Self::new(
+            self.y_axis.y * inv_det,
+            self.x_axis.y * -inv_det,
+            self.y_axis.x * -inv_det,
+            self.x_axis.x * inv_det,
+        )
+    }
+
+    /// Transforms a 2D vector.
+    #[inline]
+    #[must_use]
+    pub fn mul_vec2(&self, rhs: DVec2) -> DVec2 {
+        #[allow(clippy::suspicious_operation_groupings)]
+        DVec2::new(
+            (self.x_axis.x * rhs.x) + (self.y_axis.x * rhs.y),
+            (self.x_axis.y * rhs.x) + (self.y_axis.y * rhs.y),
+        )
+    }
+
+    /// Multiplies two 2x2 matrices.
+    #[inline]
+    #[must_use]
+    pub fn mul_mat2(&self, rhs: &Self) -> Self {
+        Self::from_cols(self.mul(rhs.x_axis), self.mul(rhs.y_axis))
+    }
+
+    /// Adds two 2x2 matrices.
+    #[inline]
+    #[must_use]
+    pub fn add_mat2(&self, rhs: &Self) -> Self {
+        Self::from_cols(self.x_axis.add(rhs.x_axis), self.y_axis.add(rhs.y_axis))
+    }
+
+    /// Subtracts two 2x2 matrices.
+    #[inline]
+    #[must_use]
+    pub fn sub_mat2(&self, rhs: &Self) -> Self {
+        Self::from_cols(self.x_axis.sub(rhs.x_axis), self.y_axis.sub(rhs.y_axis))
+    }
+
+    /// Multiplies a 2x2 matrix by a scalar.
+    #[inline]
+    #[must_use]
+    pub fn mul_scalar(&self, rhs: f64) -> Self {
+        Self::from_cols(self.x_axis.mul(rhs), self.y_axis.mul(rhs))
+    }
+
+    /// Divides a 2x2 matrix by a scalar.
+    #[inline]
+    #[must_use]
+    pub fn div_scalar(&self, rhs: f64) -> Self {
+        let rhs = DVec2::splat(rhs);
+        Self::from_cols(self.x_axis.div(rhs), self.y_axis.div(rhs))
+    }
+
+    /// Returns true if the absolute difference of all elements between `self` and `rhs`
+    /// is less than or equal to `max_abs_diff`.
+    ///
+    /// This can be used to compare if two matrices contain similar elements. It works best
+    /// when comparing with a known value. The `max_abs_diff` that should be used used
+    /// depends on the values being compared against.
+    ///
+    /// For more see
+    /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
+    #[inline]
+    #[must_use]
+    pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f64) -> bool {
+        self.x_axis.abs_diff_eq(rhs.x_axis, max_abs_diff)
+            && self.y_axis.abs_diff_eq(rhs.y_axis, max_abs_diff)
+    }
+
+    /// Takes the absolute value of each element in `self`
+    #[inline]
+    #[must_use]
+    pub fn abs(&self) -> Self {
+        Self::from_cols(self.x_axis.abs(), self.y_axis.abs())
+    }
+
+    #[inline]
+    pub fn as_mat2(&self) -> Mat2 {
+        Mat2::from_cols(self.x_axis.as_vec2(), self.y_axis.as_vec2())
+    }
+}
+
+impl Default for DMat2 {
+    #[inline]
+    fn default() -> Self {
+        Self::IDENTITY
+    }
+}
+
+impl Add<DMat2> for DMat2 {
+    type Output = Self;
+    #[inline]
+    fn add(self, rhs: Self) -> Self::Output {
+        self.add_mat2(&rhs)
+    }
+}
+
+impl AddAssign<DMat2> for DMat2 {
+    #[inline]
+    fn add_assign(&mut self, rhs: Self) {
+        *self = self.add_mat2(&rhs);
+    }
+}
+
+impl Sub<DMat2> for DMat2 {
+    type Output = Self;
+    #[inline]
+    fn sub(self, rhs: Self) -> Self::Output {
+        self.sub_mat2(&rhs)
+    }
+}
+
+impl SubAssign<DMat2> for DMat2 {
+    #[inline]
+    fn sub_assign(&mut self, rhs: Self) {
+        *self = self.sub_mat2(&rhs);
+    }
+}
+
+impl Neg for DMat2 {
+    type Output = Self;
+    #[inline]
+    fn neg(self) -> Self::Output {
+        Self::from_cols(self.x_axis.neg(), self.y_axis.neg())
+    }
+}
+
+impl Mul<DMat2> for DMat2 {
+    type Output = Self;
+    #[inline]
+    fn mul(self, rhs: Self) -> Self::Output {
+        self.mul_mat2(&rhs)
+    }
+}
+
+impl MulAssign<DMat2> for DMat2 {
+    #[inline]
+    fn mul_assign(&mut self, rhs: Self) {
+        *self = self.mul_mat2(&rhs);
+    }
+}
+
+impl Mul<DVec2> for DMat2 {
+    type Output = DVec2;
+    #[inline]
+    fn mul(self, rhs: DVec2) -> Self::Output {
+        self.mul_vec2(rhs)
+    }
+}
+
+impl Mul<DMat2> for f64 {
+    type Output = DMat2;
+    #[inline]
+    fn mul(self, rhs: DMat2) -> Self::Output {
+        rhs.mul_scalar(self)
+    }
+}
+
+impl Mul<f64> for DMat2 {
+    type Output = Self;
+    #[inline]
+    fn mul(self, rhs: f64) -> Self::Output {
+        self.mul_scalar(rhs)
+    }
+}
+
+impl MulAssign<f64> for DMat2 {
+    #[inline]
+    fn mul_assign(&mut self, rhs: f64) {
+        *self = self.mul_scalar(rhs);
+    }
+}
+
+impl Div<DMat2> for f64 {
+    type Output = DMat2;
+    #[inline]
+    fn div(self, rhs: DMat2) -> Self::Output {
+        rhs.div_scalar(self)
+    }
+}
+
+impl Div<f64> for DMat2 {
+    type Output = Self;
+    #[inline]
+    fn div(self, rhs: f64) -> Self::Output {
+        self.div_scalar(rhs)
+    }
+}
+
+impl DivAssign<f64> for DMat2 {
+    #[inline]
+    fn div_assign(&mut self, rhs: f64) {
+        *self = self.div_scalar(rhs);
+    }
+}
+
+impl Sum<Self> for DMat2 {
+    fn sum<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = Self>,
+    {
+        iter.fold(Self::ZERO, Self::add)
+    }
+}
+
+impl<'a> Sum<&'a Self> for DMat2 {
+    fn sum<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = &'a Self>,
+    {
+        iter.fold(Self::ZERO, |a, &b| Self::add(a, b))
+    }
+}
+
+impl Product for DMat2 {
+    fn product<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = Self>,
+    {
+        iter.fold(Self::IDENTITY, Self::mul)
+    }
+}
+
+impl<'a> Product<&'a Self> for DMat2 {
+    fn product<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = &'a Self>,
+    {
+        iter.fold(Self::IDENTITY, |a, &b| Self::mul(a, b))
+    }
+}
+
+impl PartialEq for DMat2 {
+    #[inline]
+    fn eq(&self, rhs: &Self) -> bool {
+        self.x_axis.eq(&rhs.x_axis) && self.y_axis.eq(&rhs.y_axis)
+    }
+}
+
+#[cfg(not(target_arch = "spirv"))]
+impl AsRef<[f64; 4]> for DMat2 {
+    #[inline]
+    fn as_ref(&self) -> &[f64; 4] {
+        unsafe { &*(self as *const Self as *const [f64; 4]) }
+    }
+}
+
+#[cfg(not(target_arch = "spirv"))]
+impl AsMut<[f64; 4]> for DMat2 {
+    #[inline]
+    fn as_mut(&mut self) -> &mut [f64; 4] {
+        unsafe { &mut *(self as *mut Self as *mut [f64; 4]) }
+    }
+}
+
+impl fmt::Debug for DMat2 {
+    fn fmt(&self, fmt: &mut fmt::Formatter<'_>) -> fmt::Result {
+        fmt.debug_struct(stringify!(DMat2))
+            .field("x_axis", &self.x_axis)
+            .field("y_axis", &self.y_axis)
+            .finish()
+    }
+}
+
+impl fmt::Display for DMat2 {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        if let Some(p) = f.precision() {
+            write!(f, "[{:.*}, {:.*}]", p, self.x_axis, p, self.y_axis)
+        } else {
+            write!(f, "[{}, {}]", self.x_axis, self.y_axis)
+        }
+    }
+}

vendor/glam/src/f64/dmat3.rs

@@ -0,0 +1,850 @@
+// Generated from mat.rs.tera template. Edit the template, not the generated file.
+
+use crate::{
+    euler::{FromEuler, ToEuler},
+    f64::math,
+    swizzles::*,
+    DMat2, DMat4, DQuat, DVec2, DVec3, EulerRot, Mat3,
+};
+use core::fmt;
+use core::iter::{Product, Sum};
+use core::ops::{Add, AddAssign, Div, DivAssign, Mul, MulAssign, Neg, Sub, SubAssign};
+
+/// Creates a 3x3 matrix from three column vectors.
+#[inline(always)]
+#[must_use]
+pub const fn dmat3(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3) -> DMat3 {
+    DMat3::from_cols(x_axis, y_axis, z_axis)
+}
+
+/// A 3x3 column major matrix.
+///
+/// This 3x3 matrix type features convenience methods for creating and using linear and
+/// affine transformations. If you are primarily dealing with 2D affine transformations the
+/// [`DAffine2`](crate::DAffine2) type is much faster and more space efficient than
+/// using a 3x3 matrix.
+///
+/// Linear transformations including 3D rotation and scale can be created using methods
+/// such as [`Self::from_diagonal()`], [`Self::from_quat()`], [`Self::from_axis_angle()`],
+/// [`Self::from_rotation_x()`], [`Self::from_rotation_y()`], or
+/// [`Self::from_rotation_z()`].
+///
+/// The resulting matrices can be use to transform 3D vectors using regular vector
+/// multiplication.
+///
+/// Affine transformations including 2D translation, rotation and scale can be created
+/// using methods such as [`Self::from_translation()`], [`Self::from_angle()`],
+/// [`Self::from_scale()`] and [`Self::from_scale_angle_translation()`].
+///
+/// The [`Self::transform_point2()`] and [`Self::transform_vector2()`] convenience methods
+/// are provided for performing affine transforms on 2D vectors and points. These multiply
+/// 2D inputs as 3D vectors with an implicit `z` value of `1` for points and `0` for
+/// vectors respectively. These methods assume that `Self` contains a valid affine
+/// transform.
+#[derive(Clone, Copy)]
+#[repr(C)]
+pub struct DMat3 {
+    pub x_axis: DVec3,
+    pub y_axis: DVec3,
+    pub z_axis: DVec3,
+}
+
+impl DMat3 {
+    /// A 3x3 matrix with all elements set to `0.0`.
+    pub const ZERO: Self = Self::from_cols(DVec3::ZERO, DVec3::ZERO, DVec3::ZERO);
+
+    /// A 3x3 identity matrix, where all diagonal elements are `1`, and all off-diagonal elements are `0`.
+    pub const IDENTITY: Self = Self::from_cols(DVec3::X, DVec3::Y, DVec3::Z);
+
+    /// All NAN:s.
+    pub const NAN: Self = Self::from_cols(DVec3::NAN, DVec3::NAN, DVec3::NAN);
+
+    #[allow(clippy::too_many_arguments)]
+    #[inline(always)]
+    #[must_use]
+    const fn new(
+        m00: f64,
+        m01: f64,
+        m02: f64,
+        m10: f64,
+        m11: f64,
+        m12: f64,
+        m20: f64,
+        m21: f64,
+        m22: f64,
+    ) -> Self {
+        Self {
+            x_axis: DVec3::new(m00, m01, m02),
+            y_axis: DVec3::new(m10, m11, m12),
+            z_axis: DVec3::new(m20, m21, m22),
+        }
+    }
+
+    /// Creates a 3x3 matrix from three column vectors.
+    #[inline(always)]
+    #[must_use]
+    pub const fn from_cols(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3) -> Self {
+        Self {
+            x_axis,
+            y_axis,
+            z_axis,
+        }
+    }
+
+    /// Creates a 3x3 matrix from a `[f64; 9]` array stored in column major order.
+    /// If your data is stored in row major you will need to `transpose` the returned
+    /// matrix.
+    #[inline]
+    #[must_use]
+    pub const fn from_cols_array(m: &[f64; 9]) -> Self {
+        Self::new(m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8])
+    }
+
+    /// Creates a `[f64; 9]` array storing data in column major order.
+    /// If you require data in row major order `transpose` the matrix first.
+    #[inline]
+    #[must_use]
+    pub const fn to_cols_array(&self) -> [f64; 9] {
+        [
+            self.x_axis.x,
+            self.x_axis.y,
+            self.x_axis.z,
+            self.y_axis.x,
+            self.y_axis.y,
+            self.y_axis.z,
+            self.z_axis.x,
+            self.z_axis.y,
+            self.z_axis.z,
+        ]
+    }
+
+    /// Creates a 3x3 matrix from a `[[f64; 3]; 3]` 3D array stored in column major order.
+    /// If your data is in row major order you will need to `transpose` the returned
+    /// matrix.
+    #[inline]
+    #[must_use]
+    pub const fn from_cols_array_2d(m: &[[f64; 3]; 3]) -> Self {
+        Self::from_cols(
+            DVec3::from_array(m[0]),
+            DVec3::from_array(m[1]),
+            DVec3::from_array(m[2]),
+        )
+    }
+
+    /// Creates a `[[f64; 3]; 3]` 3D array storing data in column major order.
+    /// If you require data in row major order `transpose` the matrix first.
+    #[inline]
+    #[must_use]
+    pub const fn to_cols_array_2d(&self) -> [[f64; 3]; 3] {
+        [
+            self.x_axis.to_array(),
+            self.y_axis.to_array(),
+            self.z_axis.to_array(),
+        ]
+    }
+
+    /// Creates a 3x3 matrix with its diagonal set to `diagonal` and all other entries set to 0.
+    #[doc(alias = "scale")]
+    #[inline]
+    #[must_use]
+    pub const fn from_diagonal(diagonal: DVec3) -> Self {
+        Self::new(
+            diagonal.x, 0.0, 0.0, 0.0, diagonal.y, 0.0, 0.0, 0.0, diagonal.z,
+        )
+    }
+
+    /// Creates a 3x3 matrix from a 4x4 matrix, discarding the 4th row and column.
+    #[inline]
+    #[must_use]
+    pub fn from_mat4(m: DMat4) -> Self {
+        Self::from_cols(
+            DVec3::from_vec4(m.x_axis),
+            DVec3::from_vec4(m.y_axis),
+            DVec3::from_vec4(m.z_axis),
+        )
+    }
+
+    /// Creates a 3x3 matrix from the minor of the given 4x4 matrix, discarding the `i`th column
+    /// and `j`th row.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `i` or `j` is greater than 3.
+    #[inline]
+    #[must_use]
+    pub fn from_mat4_minor(m: DMat4, i: usize, j: usize) -> Self {
+        match (i, j) {
+            (0, 0) => Self::from_cols(m.y_axis.yzw(), m.z_axis.yzw(), m.w_axis.yzw()),
+            (0, 1) => Self::from_cols(m.y_axis.xzw(), m.z_axis.xzw(), m.w_axis.xzw()),
+            (0, 2) => Self::from_cols(m.y_axis.xyw(), m.z_axis.xyw(), m.w_axis.xyw()),
+            (0, 3) => Self::from_cols(m.y_axis.xyz(), m.z_axis.xyz(), m.w_axis.xyz()),
+            (1, 0) => Self::from_cols(m.x_axis.yzw(), m.z_axis.yzw(), m.w_axis.yzw()),
+            (1, 1) => Self::from_cols(m.x_axis.xzw(), m.z_axis.xzw(), m.w_axis.xzw()),
+            (1, 2) => Self::from_cols(m.x_axis.xyw(), m.z_axis.xyw(), m.w_axis.xyw()),
+            (1, 3) => Self::from_cols(m.x_axis.xyz(), m.z_axis.xyz(), m.w_axis.xyz()),
+            (2, 0) => Self::from_cols(m.x_axis.yzw(), m.y_axis.yzw(), m.w_axis.yzw()),
+            (2, 1) => Self::from_cols(m.x_axis.xzw(), m.y_axis.xzw(), m.w_axis.xzw()),
+            (2, 2) => Self::from_cols(m.x_axis.xyw(), m.y_axis.xyw(), m.w_axis.xyw()),
+            (2, 3) => Self::from_cols(m.x_axis.xyz(), m.y_axis.xyz(), m.w_axis.xyz()),
+            (3, 0) => Self::from_cols(m.x_axis.yzw(), m.y_axis.yzw(), m.z_axis.yzw()),
+            (3, 1) => Self::from_cols(m.x_axis.xzw(), m.y_axis.xzw(), m.z_axis.xzw()),
+            (3, 2) => Self::from_cols(m.x_axis.xyw(), m.y_axis.xyw(), m.z_axis.xyw()),
+            (3, 3) => Self::from_cols(m.x_axis.xyz(), m.y_axis.xyz(), m.z_axis.xyz()),
+            _ => panic!("index out of bounds"),
+        }
+    }
+
+    /// Creates a 3D rotation matrix from the given quaternion.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `rotation` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn from_quat(rotation: DQuat) -> Self {
+        glam_assert!(rotation.is_normalized());
+
+        let x2 = rotation.x + rotation.x;
+        let y2 = rotation.y + rotation.y;
+        let z2 = rotation.z + rotation.z;
+        let xx = rotation.x * x2;
+        let xy = rotation.x * y2;
+        let xz = rotation.x * z2;
+        let yy = rotation.y * y2;
+        let yz = rotation.y * z2;
+        let zz = rotation.z * z2;
+        let wx = rotation.w * x2;
+        let wy = rotation.w * y2;
+        let wz = rotation.w * z2;
+
+        Self::from_cols(
+            DVec3::new(1.0 - (yy + zz), xy + wz, xz - wy),
+            DVec3::new(xy - wz, 1.0 - (xx + zz), yz + wx),
+            DVec3::new(xz + wy, yz - wx, 1.0 - (xx + yy)),
+        )
+    }
+
+    /// Creates a 3D rotation matrix from a normalized rotation `axis` and `angle` (in
+    /// radians).
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `axis` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn from_axis_angle(axis: DVec3, angle: f64) -> Self {
+        glam_assert!(axis.is_normalized());
+
+        let (sin, cos) = math::sin_cos(angle);
+        let (xsin, ysin, zsin) = axis.mul(sin).into();
+        let (x, y, z) = axis.into();
+        let (x2, y2, z2) = axis.mul(axis).into();
+        let omc = 1.0 - cos;
+        let xyomc = x * y * omc;
+        let xzomc = x * z * omc;
+        let yzomc = y * z * omc;
+        Self::from_cols(
+            DVec3::new(x2 * omc + cos, xyomc + zsin, xzomc - ysin),
+            DVec3::new(xyomc - zsin, y2 * omc + cos, yzomc + xsin),
+            DVec3::new(xzomc + ysin, yzomc - xsin, z2 * omc + cos),
+        )
+    }
+
+    /// Creates a 3D rotation matrix from the given euler rotation sequence and the angles (in
+    /// radians).
+    #[inline]
+    #[must_use]
+    pub fn from_euler(order: EulerRot, a: f64, b: f64, c: f64) -> Self {
+        Self::from_euler_angles(order, a, b, c)
+    }
+
+    /// Extract Euler angles with the given Euler rotation order.
+    ///
+    /// Note if the input matrix contains scales, shears, or other non-rotation transformations then
+    /// the resulting Euler angles will be ill-defined.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if any input matrix column is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn to_euler(&self, order: EulerRot) -> (f64, f64, f64) {
+        glam_assert!(
+            self.x_axis.is_normalized()
+                && self.y_axis.is_normalized()
+                && self.z_axis.is_normalized()
+        );
+        self.to_euler_angles(order)
+    }
+
+    /// Creates a 3D rotation matrix from `angle` (in radians) around the x axis.
+    #[inline]
+    #[must_use]
+    pub fn from_rotation_x(angle: f64) -> Self {
+        let (sina, cosa) = math::sin_cos(angle);
+        Self::from_cols(
+            DVec3::X,
+            DVec3::new(0.0, cosa, sina),
+            DVec3::new(0.0, -sina, cosa),
+        )
+    }
+
+    /// Creates a 3D rotation matrix from `angle` (in radians) around the y axis.
+    #[inline]
+    #[must_use]
+    pub fn from_rotation_y(angle: f64) -> Self {
+        let (sina, cosa) = math::sin_cos(angle);
+        Self::from_cols(
+            DVec3::new(cosa, 0.0, -sina),
+            DVec3::Y,
+            DVec3::new(sina, 0.0, cosa),
+        )
+    }
+
+    /// Creates a 3D rotation matrix from `angle` (in radians) around the z axis.
+    #[inline]
+    #[must_use]
+    pub fn from_rotation_z(angle: f64) -> Self {
+        let (sina, cosa) = math::sin_cos(angle);
+        Self::from_cols(
+            DVec3::new(cosa, sina, 0.0),
+            DVec3::new(-sina, cosa, 0.0),
+            DVec3::Z,
+        )
+    }
+
+    /// Creates an affine transformation matrix from the given 2D `translation`.
+    ///
+    /// The resulting matrix can be used to transform 2D points and vectors. See
+    /// [`Self::transform_point2()`] and [`Self::transform_vector2()`].
+    #[inline]
+    #[must_use]
+    pub fn from_translation(translation: DVec2) -> Self {
+        Self::from_cols(
+            DVec3::X,
+            DVec3::Y,
+            DVec3::new(translation.x, translation.y, 1.0),
+        )
+    }
+
+    /// Creates an affine transformation matrix from the given 2D rotation `angle` (in
+    /// radians).
+    ///
+    /// The resulting matrix can be used to transform 2D points and vectors. See
+    /// [`Self::transform_point2()`] and [`Self::transform_vector2()`].
+    #[inline]
+    #[must_use]
+    pub fn from_angle(angle: f64) -> Self {
+        let (sin, cos) = math::sin_cos(angle);
+        Self::from_cols(
+            DVec3::new(cos, sin, 0.0),
+            DVec3::new(-sin, cos, 0.0),
+            DVec3::Z,
+        )
+    }
+
+    /// Creates an affine transformation matrix from the given 2D `scale`, rotation `angle` (in
+    /// radians) and `translation`.
+    ///
+    /// The resulting matrix can be used to transform 2D points and vectors. See
+    /// [`Self::transform_point2()`] and [`Self::transform_vector2()`].
+    #[inline]
+    #[must_use]
+    pub fn from_scale_angle_translation(scale: DVec2, angle: f64, translation: DVec2) -> Self {
+        let (sin, cos) = math::sin_cos(angle);
+        Self::from_cols(
+            DVec3::new(cos * scale.x, sin * scale.x, 0.0),
+            DVec3::new(-sin * scale.y, cos * scale.y, 0.0),
+            DVec3::new(translation.x, translation.y, 1.0),
+        )
+    }
+
+    /// Creates an affine transformation matrix from the given non-uniform 2D `scale`.
+    ///
+    /// The resulting matrix can be used to transform 2D points and vectors. See
+    /// [`Self::transform_point2()`] and [`Self::transform_vector2()`].
+    ///
+    /// # Panics
+    ///
+    /// Will panic if all elements of `scale` are zero when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn from_scale(scale: DVec2) -> Self {
+        // Do not panic as long as any component is non-zero
+        glam_assert!(scale.cmpne(DVec2::ZERO).any());
+
+        Self::from_cols(
+            DVec3::new(scale.x, 0.0, 0.0),
+            DVec3::new(0.0, scale.y, 0.0),
+            DVec3::Z,
+        )
+    }
+
+    /// Creates an affine transformation matrix from the given 2x2 matrix.
+    ///
+    /// The resulting matrix can be used to transform 2D points and vectors. See
+    /// [`Self::transform_point2()`] and [`Self::transform_vector2()`].
+    #[inline]
+    pub fn from_mat2(m: DMat2) -> Self {
+        Self::from_cols((m.x_axis, 0.0).into(), (m.y_axis, 0.0).into(), DVec3::Z)
+    }
+
+    /// Creates a 3x3 matrix from the first 9 values in `slice`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `slice` is less than 9 elements long.
+    #[inline]
+    #[must_use]
+    pub const fn from_cols_slice(slice: &[f64]) -> Self {
+        Self::new(
+            slice[0], slice[1], slice[2], slice[3], slice[4], slice[5], slice[6], slice[7],
+            slice[8],
+        )
+    }
+
+    /// Writes the columns of `self` to the first 9 elements in `slice`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `slice` is less than 9 elements long.
+    #[inline]
+    pub fn write_cols_to_slice(self, slice: &mut [f64]) {
+        slice[0] = self.x_axis.x;
+        slice[1] = self.x_axis.y;
+        slice[2] = self.x_axis.z;
+        slice[3] = self.y_axis.x;
+        slice[4] = self.y_axis.y;
+        slice[5] = self.y_axis.z;
+        slice[6] = self.z_axis.x;
+        slice[7] = self.z_axis.y;
+        slice[8] = self.z_axis.z;
+    }
+
+    /// Returns the matrix column for the given `index`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `index` is greater than 2.
+    #[inline]
+    #[must_use]
+    pub fn col(&self, index: usize) -> DVec3 {
+        match index {
+            0 => self.x_axis,
+            1 => self.y_axis,
+            2 => self.z_axis,
+            _ => panic!("index out of bounds"),
+        }
+    }
+
+    /// Returns a mutable reference to the matrix column for the given `index`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `index` is greater than 2.
+    #[inline]
+    pub fn col_mut(&mut self, index: usize) -> &mut DVec3 {
+        match index {
+            0 => &mut self.x_axis,
+            1 => &mut self.y_axis,
+            2 => &mut self.z_axis,
+            _ => panic!("index out of bounds"),
+        }
+    }
+
+    /// Returns the matrix row for the given `index`.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `index` is greater than 2.
+    #[inline]
+    #[must_use]
+    pub fn row(&self, index: usize) -> DVec3 {
+        match index {
+            0 => DVec3::new(self.x_axis.x, self.y_axis.x, self.z_axis.x),
+            1 => DVec3::new(self.x_axis.y, self.y_axis.y, self.z_axis.y),
+            2 => DVec3::new(self.x_axis.z, self.y_axis.z, self.z_axis.z),
+            _ => panic!("index out of bounds"),
+        }
+    }
+
+    /// Returns `true` if, and only if, all elements are finite.
+    /// If any element is either `NaN`, positive or negative infinity, this will return `false`.
+    #[inline]
+    #[must_use]
+    pub fn is_finite(&self) -> bool {
+        self.x_axis.is_finite() && self.y_axis.is_finite() && self.z_axis.is_finite()
+    }
+
+    /// Returns `true` if any elements are `NaN`.
+    #[inline]
+    #[must_use]
+    pub fn is_nan(&self) -> bool {
+        self.x_axis.is_nan() || self.y_axis.is_nan() || self.z_axis.is_nan()
+    }
+
+    /// Returns the transpose of `self`.
+    #[inline]
+    #[must_use]
+    pub fn transpose(&self) -> Self {
+        Self {
+            x_axis: DVec3::new(self.x_axis.x, self.y_axis.x, self.z_axis.x),
+            y_axis: DVec3::new(self.x_axis.y, self.y_axis.y, self.z_axis.y),
+            z_axis: DVec3::new(self.x_axis.z, self.y_axis.z, self.z_axis.z),
+        }
+    }
+
+    /// Returns the determinant of `self`.
+    #[inline]
+    #[must_use]
+    pub fn determinant(&self) -> f64 {
+        self.z_axis.dot(self.x_axis.cross(self.y_axis))
+    }
+
+    /// Returns the inverse of `self`.
+    ///
+    /// If the matrix is not invertible the returned matrix will be invalid.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if the determinant of `self` is zero when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn inverse(&self) -> Self {
+        let tmp0 = self.y_axis.cross(self.z_axis);
+        let tmp1 = self.z_axis.cross(self.x_axis);
+        let tmp2 = self.x_axis.cross(self.y_axis);
+        let det = self.z_axis.dot(tmp2);
+        glam_assert!(det != 0.0);
+        let inv_det = DVec3::splat(det.recip());
+        Self::from_cols(tmp0.mul(inv_det), tmp1.mul(inv_det), tmp2.mul(inv_det)).transpose()
+    }
+
+    /// Transforms the given 2D vector as a point.
+    ///
+    /// This is the equivalent of multiplying `rhs` as a 3D vector where `z` is `1`.
+    ///
+    /// This method assumes that `self` contains a valid affine transform.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if the 2nd row of `self` is not `(0, 0, 1)` when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn transform_point2(&self, rhs: DVec2) -> DVec2 {
+        glam_assert!(self.row(2).abs_diff_eq(DVec3::Z, 1e-6));
+        DMat2::from_cols(self.x_axis.xy(), self.y_axis.xy()) * rhs + self.z_axis.xy()
+    }
+
+    /// Rotates the given 2D vector.
+    ///
+    /// This is the equivalent of multiplying `rhs` as a 3D vector where `z` is `0`.
+    ///
+    /// This method assumes that `self` contains a valid affine transform.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if the 2nd row of `self` is not `(0, 0, 1)` when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn transform_vector2(&self, rhs: DVec2) -> DVec2 {
+        glam_assert!(self.row(2).abs_diff_eq(DVec3::Z, 1e-6));
+        DMat2::from_cols(self.x_axis.xy(), self.y_axis.xy()) * rhs
+    }
+
+    /// Transforms a 3D vector.
+    #[inline]
+    #[must_use]
+    pub fn mul_vec3(&self, rhs: DVec3) -> DVec3 {
+        let mut res = self.x_axis.mul(rhs.x);
+        res = res.add(self.y_axis.mul(rhs.y));
+        res = res.add(self.z_axis.mul(rhs.z));
+        res
+    }
+
+    /// Multiplies two 3x3 matrices.
+    #[inline]
+    #[must_use]
+    pub fn mul_mat3(&self, rhs: &Self) -> Self {
+        Self::from_cols(
+            self.mul(rhs.x_axis),
+            self.mul(rhs.y_axis),
+            self.mul(rhs.z_axis),
+        )
+    }
+
+    /// Adds two 3x3 matrices.
+    #[inline]
+    #[must_use]
+    pub fn add_mat3(&self, rhs: &Self) -> Self {
+        Self::from_cols(
+            self.x_axis.add(rhs.x_axis),
+            self.y_axis.add(rhs.y_axis),
+            self.z_axis.add(rhs.z_axis),
+        )
+    }
+
+    /// Subtracts two 3x3 matrices.
+    #[inline]
+    #[must_use]
+    pub fn sub_mat3(&self, rhs: &Self) -> Self {
+        Self::from_cols(
+            self.x_axis.sub(rhs.x_axis),
+            self.y_axis.sub(rhs.y_axis),
+            self.z_axis.sub(rhs.z_axis),
+        )
+    }
+
+    /// Multiplies a 3x3 matrix by a scalar.
+    #[inline]
+    #[must_use]
+    pub fn mul_scalar(&self, rhs: f64) -> Self {
+        Self::from_cols(
+            self.x_axis.mul(rhs),
+            self.y_axis.mul(rhs),
+            self.z_axis.mul(rhs),
+        )
+    }
+
+    /// Divides a 3x3 matrix by a scalar.
+    #[inline]
+    #[must_use]
+    pub fn div_scalar(&self, rhs: f64) -> Self {
+        let rhs = DVec3::splat(rhs);
+        Self::from_cols(
+            self.x_axis.div(rhs),
+            self.y_axis.div(rhs),
+            self.z_axis.div(rhs),
+        )
+    }
+
+    /// Returns true if the absolute difference of all elements between `self` and `rhs`
+    /// is less than or equal to `max_abs_diff`.
+    ///
+    /// This can be used to compare if two matrices contain similar elements. It works best
+    /// when comparing with a known value. The `max_abs_diff` that should be used used
+    /// depends on the values being compared against.
+    ///
+    /// For more see
+    /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
+    #[inline]
+    #[must_use]
+    pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f64) -> bool {
+        self.x_axis.abs_diff_eq(rhs.x_axis, max_abs_diff)
+            && self.y_axis.abs_diff_eq(rhs.y_axis, max_abs_diff)
+            && self.z_axis.abs_diff_eq(rhs.z_axis, max_abs_diff)
+    }
+
+    /// Takes the absolute value of each element in `self`
+    #[inline]
+    #[must_use]
+    pub fn abs(&self) -> Self {
+        Self::from_cols(self.x_axis.abs(), self.y_axis.abs(), self.z_axis.abs())
+    }
+
+    #[inline]
+    pub fn as_mat3(&self) -> Mat3 {
+        Mat3::from_cols(
+            self.x_axis.as_vec3(),
+            self.y_axis.as_vec3(),
+            self.z_axis.as_vec3(),
+        )
+    }
+}
+
+impl Default for DMat3 {
+    #[inline]
+    fn default() -> Self {
+        Self::IDENTITY
+    }
+}
+
+impl Add<DMat3> for DMat3 {
+    type Output = Self;
+    #[inline]
+    fn add(self, rhs: Self) -> Self::Output {
+        self.add_mat3(&rhs)
+    }
+}
+
+impl AddAssign<DMat3> for DMat3 {
+    #[inline]
+    fn add_assign(&mut self, rhs: Self) {
+        *self = self.add_mat3(&rhs);
+    }
+}
+
+impl Sub<DMat3> for DMat3 {
+    type Output = Self;
+    #[inline]
+    fn sub(self, rhs: Self) -> Self::Output {
+        self.sub_mat3(&rhs)
+    }
+}
+
+impl SubAssign<DMat3> for DMat3 {
+    #[inline]
+    fn sub_assign(&mut self, rhs: Self) {
+        *self = self.sub_mat3(&rhs);
+    }
+}
+
+impl Neg for DMat3 {
+    type Output = Self;
+    #[inline]
+    fn neg(self) -> Self::Output {
+        Self::from_cols(self.x_axis.neg(), self.y_axis.neg(), self.z_axis.neg())
+    }
+}
+
+impl Mul<DMat3> for DMat3 {
+    type Output = Self;
+    #[inline]
+    fn mul(self, rhs: Self) -> Self::Output {
+        self.mul_mat3(&rhs)
+    }
+}
+
+impl MulAssign<DMat3> for DMat3 {
+    #[inline]
+    fn mul_assign(&mut self, rhs: Self) {
+        *self = self.mul_mat3(&rhs);
+    }
+}
+
+impl Mul<DVec3> for DMat3 {
+    type Output = DVec3;
+    #[inline]
+    fn mul(self, rhs: DVec3) -> Self::Output {
+        self.mul_vec3(rhs)
+    }
+}
+
+impl Mul<DMat3> for f64 {
+    type Output = DMat3;
+    #[inline]
+    fn mul(self, rhs: DMat3) -> Self::Output {
+        rhs.mul_scalar(self)
+    }
+}
+
+impl Mul<f64> for DMat3 {
+    type Output = Self;
+    #[inline]
+    fn mul(self, rhs: f64) -> Self::Output {
+        self.mul_scalar(rhs)
+    }
+}
+
+impl MulAssign<f64> for DMat3 {
+    #[inline]
+    fn mul_assign(&mut self, rhs: f64) {
+        *self = self.mul_scalar(rhs);
+    }
+}
+
+impl Div<DMat3> for f64 {
+    type Output = DMat3;
+    #[inline]
+    fn div(self, rhs: DMat3) -> Self::Output {
+        rhs.div_scalar(self)
+    }
+}
+
+impl Div<f64> for DMat3 {
+    type Output = Self;
+    #[inline]
+    fn div(self, rhs: f64) -> Self::Output {
+        self.div_scalar(rhs)
+    }
+}
+
+impl DivAssign<f64> for DMat3 {
+    #[inline]
+    fn div_assign(&mut self, rhs: f64) {
+        *self = self.div_scalar(rhs);
+    }
+}
+
+impl Sum<Self> for DMat3 {
+    fn sum<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = Self>,
+    {
+        iter.fold(Self::ZERO, Self::add)
+    }
+}
+
+impl<'a> Sum<&'a Self> for DMat3 {
+    fn sum<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = &'a Self>,
+    {
+        iter.fold(Self::ZERO, |a, &b| Self::add(a, b))
+    }
+}
+
+impl Product for DMat3 {
+    fn product<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = Self>,
+    {
+        iter.fold(Self::IDENTITY, Self::mul)
+    }
+}
+
+impl<'a> Product<&'a Self> for DMat3 {
+    fn product<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = &'a Self>,
+    {
+        iter.fold(Self::IDENTITY, |a, &b| Self::mul(a, b))
+    }
+}
+
+impl PartialEq for DMat3 {
+    #[inline]
+    fn eq(&self, rhs: &Self) -> bool {
+        self.x_axis.eq(&rhs.x_axis) && self.y_axis.eq(&rhs.y_axis) && self.z_axis.eq(&rhs.z_axis)
+    }
+}
+
+#[cfg(not(target_arch = "spirv"))]
+impl AsRef<[f64; 9]> for DMat3 {
+    #[inline]
+    fn as_ref(&self) -> &[f64; 9] {
+        unsafe { &*(self as *const Self as *const [f64; 9]) }
+    }
+}
+
+#[cfg(not(target_arch = "spirv"))]
+impl AsMut<[f64; 9]> for DMat3 {
+    #[inline]
+    fn as_mut(&mut self) -> &mut [f64; 9] {
+        unsafe { &mut *(self as *mut Self as *mut [f64; 9]) }
+    }
+}
+
+impl fmt::Debug for DMat3 {
+    fn fmt(&self, fmt: &mut fmt::Formatter<'_>) -> fmt::Result {
+        fmt.debug_struct(stringify!(DMat3))
+            .field("x_axis", &self.x_axis)
+            .field("y_axis", &self.y_axis)
+            .field("z_axis", &self.z_axis)
+            .finish()
+    }
+}
+
+impl fmt::Display for DMat3 {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        if let Some(p) = f.precision() {
+            write!(
+                f,
+                "[{:.*}, {:.*}, {:.*}]",
+                p, self.x_axis, p, self.y_axis, p, self.z_axis
+            )
+        } else {
+            write!(f, "[{}, {}, {}]", self.x_axis, self.y_axis, self.z_axis)
+        }
+    }
+}

vendor/glam/src/f64/dquat.rs

@@ -0,0 +1,940 @@
+// Generated from quat.rs.tera template. Edit the template, not the generated file.
+
+use crate::{
+    euler::{EulerRot, FromEuler, ToEuler},
+    f64::math,
+    DMat3, DMat4, DVec2, DVec3, DVec4, Quat,
+};
+
+use core::fmt;
+use core::iter::{Product, Sum};
+use core::ops::{Add, Div, Mul, MulAssign, Neg, Sub};
+
+/// Creates a quaternion from `x`, `y`, `z` and `w` values.
+///
+/// This should generally not be called manually unless you know what you are doing. Use
+/// one of the other constructors instead such as `identity` or `from_axis_angle`.
+#[inline]
+#[must_use]
+pub const fn dquat(x: f64, y: f64, z: f64, w: f64) -> DQuat {
+    DQuat::from_xyzw(x, y, z, w)
+}
+
+/// A quaternion representing an orientation.
+///
+/// This quaternion is intended to be of unit length but may denormalize due to
+/// floating point "error creep" which can occur when successive quaternion
+/// operations are applied.
+#[derive(Clone, Copy)]
+#[cfg_attr(not(target_arch = "spirv"), repr(C))]
+#[cfg_attr(target_arch = "spirv", repr(simd))]
+pub struct DQuat {
+    pub x: f64,
+    pub y: f64,
+    pub z: f64,
+    pub w: f64,
+}
+
+impl DQuat {
+    /// All zeros.
+    const ZERO: Self = Self::from_array([0.0; 4]);
+
+    /// The identity quaternion. Corresponds to no rotation.
+    pub const IDENTITY: Self = Self::from_xyzw(0.0, 0.0, 0.0, 1.0);
+
+    /// All NANs.
+    pub const NAN: Self = Self::from_array([f64::NAN; 4]);
+
+    /// Creates a new rotation quaternion.
+    ///
+    /// This should generally not be called manually unless you know what you are doing.
+    /// Use one of the other constructors instead such as `identity` or `from_axis_angle`.
+    ///
+    /// `from_xyzw` is mostly used by unit tests and `serde` deserialization.
+    ///
+    /// # Preconditions
+    ///
+    /// This function does not check if the input is normalized, it is up to the user to
+    /// provide normalized input or to normalized the resulting quaternion.
+    #[inline(always)]
+    #[must_use]
+    pub const fn from_xyzw(x: f64, y: f64, z: f64, w: f64) -> Self {
+        Self { x, y, z, w }
+    }
+
+    /// Creates a rotation quaternion from an array.
+    ///
+    /// # Preconditions
+    ///
+    /// This function does not check if the input is normalized, it is up to the user to
+    /// provide normalized input or to normalized the resulting quaternion.
+    #[inline]
+    #[must_use]
+    pub const fn from_array(a: [f64; 4]) -> Self {
+        Self::from_xyzw(a[0], a[1], a[2], a[3])
+    }
+
+    /// Creates a new rotation quaternion from a 4D vector.
+    ///
+    /// # Preconditions
+    ///
+    /// This function does not check if the input is normalized, it is up to the user to
+    /// provide normalized input or to normalized the resulting quaternion.
+    #[inline]
+    #[must_use]
+    pub const fn from_vec4(v: DVec4) -> Self {
+        Self {
+            x: v.x,
+            y: v.y,
+            z: v.z,
+            w: v.w,
+        }
+    }
+
+    /// Creates a rotation quaternion from a slice.
+    ///
+    /// # Preconditions
+    ///
+    /// This function does not check if the input is normalized, it is up to the user to
+    /// provide normalized input or to normalized the resulting quaternion.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `slice` length is less than 4.
+    #[inline]
+    #[must_use]
+    pub fn from_slice(slice: &[f64]) -> Self {
+        Self::from_xyzw(slice[0], slice[1], slice[2], slice[3])
+    }
+
+    /// Writes the quaternion to an unaligned slice.
+    ///
+    /// # Panics
+    ///
+    /// Panics if `slice` length is less than 4.
+    #[inline]
+    pub fn write_to_slice(self, slice: &mut [f64]) {
+        slice[0] = self.x;
+        slice[1] = self.y;
+        slice[2] = self.z;
+        slice[3] = self.w;
+    }
+
+    /// Create a quaternion for a normalized rotation `axis` and `angle` (in radians).
+    ///
+    /// The axis must be a unit vector.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `axis` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn from_axis_angle(axis: DVec3, angle: f64) -> Self {
+        glam_assert!(axis.is_normalized());
+        let (s, c) = math::sin_cos(angle * 0.5);
+        let v = axis * s;
+        Self::from_xyzw(v.x, v.y, v.z, c)
+    }
+
+    /// Create a quaternion that rotates `v.length()` radians around `v.normalize()`.
+    ///
+    /// `from_scaled_axis(Vec3::ZERO)` results in the identity quaternion.
+    #[inline]
+    #[must_use]
+    pub fn from_scaled_axis(v: DVec3) -> Self {
+        let length = v.length();
+        if length == 0.0 {
+            Self::IDENTITY
+        } else {
+            Self::from_axis_angle(v / length, length)
+        }
+    }
+
+    /// Creates a quaternion from the `angle` (in radians) around the x axis.
+    #[inline]
+    #[must_use]
+    pub fn from_rotation_x(angle: f64) -> Self {
+        let (s, c) = math::sin_cos(angle * 0.5);
+        Self::from_xyzw(s, 0.0, 0.0, c)
+    }
+
+    /// Creates a quaternion from the `angle` (in radians) around the y axis.
+    #[inline]
+    #[must_use]
+    pub fn from_rotation_y(angle: f64) -> Self {
+        let (s, c) = math::sin_cos(angle * 0.5);
+        Self::from_xyzw(0.0, s, 0.0, c)
+    }
+
+    /// Creates a quaternion from the `angle` (in radians) around the z axis.
+    #[inline]
+    #[must_use]
+    pub fn from_rotation_z(angle: f64) -> Self {
+        let (s, c) = math::sin_cos(angle * 0.5);
+        Self::from_xyzw(0.0, 0.0, s, c)
+    }
+
+    /// Creates a quaternion from the given Euler rotation sequence and the angles (in radians).
+    #[inline]
+    #[must_use]
+    pub fn from_euler(euler: EulerRot, a: f64, b: f64, c: f64) -> Self {
+        Self::from_euler_angles(euler, a, b, c)
+    }
+
+    /// From the columns of a 3x3 rotation matrix.
+    ///
+    /// Note if the input axes contain scales, shears, or other non-rotation transformations then
+    /// the output of this function is ill-defined.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if any axis is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub(crate) fn from_rotation_axes(x_axis: DVec3, y_axis: DVec3, z_axis: DVec3) -> Self {
+        glam_assert!(x_axis.is_normalized() && y_axis.is_normalized() && z_axis.is_normalized());
+        // Based on https://github.com/microsoft/DirectXMath `XMQuaternionRotationMatrix`
+        let (m00, m01, m02) = x_axis.into();
+        let (m10, m11, m12) = y_axis.into();
+        let (m20, m21, m22) = z_axis.into();
+        if m22 <= 0.0 {
+            // x^2 + y^2 >= z^2 + w^2
+            let dif10 = m11 - m00;
+            let omm22 = 1.0 - m22;
+            if dif10 <= 0.0 {
+                // x^2 >= y^2
+                let four_xsq = omm22 - dif10;
+                let inv4x = 0.5 / math::sqrt(four_xsq);
+                Self::from_xyzw(
+                    four_xsq * inv4x,
+                    (m01 + m10) * inv4x,
+                    (m02 + m20) * inv4x,
+                    (m12 - m21) * inv4x,
+                )
+            } else {
+                // y^2 >= x^2
+                let four_ysq = omm22 + dif10;
+                let inv4y = 0.5 / math::sqrt(four_ysq);
+                Self::from_xyzw(
+                    (m01 + m10) * inv4y,
+                    four_ysq * inv4y,
+                    (m12 + m21) * inv4y,
+                    (m20 - m02) * inv4y,
+                )
+            }
+        } else {
+            // z^2 + w^2 >= x^2 + y^2
+            let sum10 = m11 + m00;
+            let opm22 = 1.0 + m22;
+            if sum10 <= 0.0 {
+                // z^2 >= w^2
+                let four_zsq = opm22 - sum10;
+                let inv4z = 0.5 / math::sqrt(four_zsq);
+                Self::from_xyzw(
+                    (m02 + m20) * inv4z,
+                    (m12 + m21) * inv4z,
+                    four_zsq * inv4z,
+                    (m01 - m10) * inv4z,
+                )
+            } else {
+                // w^2 >= z^2
+                let four_wsq = opm22 + sum10;
+                let inv4w = 0.5 / math::sqrt(four_wsq);
+                Self::from_xyzw(
+                    (m12 - m21) * inv4w,
+                    (m20 - m02) * inv4w,
+                    (m01 - m10) * inv4w,
+                    four_wsq * inv4w,
+                )
+            }
+        }
+    }
+
+    /// Creates a quaternion from a 3x3 rotation matrix.
+    ///
+    /// Note if the input matrix contain scales, shears, or other non-rotation transformations then
+    /// the resulting quaternion will be ill-defined.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if any input matrix column is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn from_mat3(mat: &DMat3) -> Self {
+        Self::from_rotation_axes(mat.x_axis, mat.y_axis, mat.z_axis)
+    }
+
+    /// Creates a quaternion from the upper 3x3 rotation matrix inside a homogeneous 4x4 matrix.
+    ///
+    /// Note if the upper 3x3 matrix contain scales, shears, or other non-rotation transformations
+    /// then the resulting quaternion will be ill-defined.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if any column of the upper 3x3 rotation matrix is not normalized when
+    /// `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn from_mat4(mat: &DMat4) -> Self {
+        Self::from_rotation_axes(
+            mat.x_axis.truncate(),
+            mat.y_axis.truncate(),
+            mat.z_axis.truncate(),
+        )
+    }
+
+    /// Gets the minimal rotation for transforming `from` to `to`.  The rotation is in the
+    /// plane spanned by the two vectors.  Will rotate at most 180 degrees.
+    ///
+    /// The inputs must be unit vectors.
+    ///
+    /// `from_rotation_arc(from, to) * from ≈ to`.
+    ///
+    /// For near-singular cases (from≈to and from≈-to) the current implementation
+    /// is only accurate to about 0.001 (for `f32`).
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `from` or `to` are not normalized when `glam_assert` is enabled.
+    #[must_use]
+    pub fn from_rotation_arc(from: DVec3, to: DVec3) -> Self {
+        glam_assert!(from.is_normalized());
+        glam_assert!(to.is_normalized());
+
+        const ONE_MINUS_EPS: f64 = 1.0 - 2.0 * f64::EPSILON;
+        let dot = from.dot(to);
+        if dot > ONE_MINUS_EPS {
+            // 0° singularity: from ≈ to
+            Self::IDENTITY
+        } else if dot < -ONE_MINUS_EPS {
+            // 180° singularity: from ≈ -to
+            use core::f64::consts::PI; // half a turn = 𝛕/2 = 180°
+            Self::from_axis_angle(from.any_orthonormal_vector(), PI)
+        } else {
+            let c = from.cross(to);
+            Self::from_xyzw(c.x, c.y, c.z, 1.0 + dot).normalize()
+        }
+    }
+
+    /// Gets the minimal rotation for transforming `from` to either `to` or `-to`.  This means
+    /// that the resulting quaternion will rotate `from` so that it is colinear with `to`.
+    ///
+    /// The rotation is in the plane spanned by the two vectors.  Will rotate at most 90
+    /// degrees.
+    ///
+    /// The inputs must be unit vectors.
+    ///
+    /// `to.dot(from_rotation_arc_colinear(from, to) * from).abs() ≈ 1`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `from` or `to` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn from_rotation_arc_colinear(from: DVec3, to: DVec3) -> Self {
+        if from.dot(to) < 0.0 {
+            Self::from_rotation_arc(from, -to)
+        } else {
+            Self::from_rotation_arc(from, to)
+        }
+    }
+
+    /// Gets the minimal rotation for transforming `from` to `to`.  The resulting rotation is
+    /// around the z axis. Will rotate at most 180 degrees.
+    ///
+    /// The inputs must be unit vectors.
+    ///
+    /// `from_rotation_arc_2d(from, to) * from ≈ to`.
+    ///
+    /// For near-singular cases (from≈to and from≈-to) the current implementation
+    /// is only accurate to about 0.001 (for `f32`).
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `from` or `to` are not normalized when `glam_assert` is enabled.
+    #[must_use]
+    pub fn from_rotation_arc_2d(from: DVec2, to: DVec2) -> Self {
+        glam_assert!(from.is_normalized());
+        glam_assert!(to.is_normalized());
+
+        const ONE_MINUS_EPSILON: f64 = 1.0 - 2.0 * f64::EPSILON;
+        let dot = from.dot(to);
+        if dot > ONE_MINUS_EPSILON {
+            // 0° singularity: from ≈ to
+            Self::IDENTITY
+        } else if dot < -ONE_MINUS_EPSILON {
+            // 180° singularity: from ≈ -to
+            const COS_FRAC_PI_2: f64 = 0.0;
+            const SIN_FRAC_PI_2: f64 = 1.0;
+            // rotation around z by PI radians
+            Self::from_xyzw(0.0, 0.0, SIN_FRAC_PI_2, COS_FRAC_PI_2)
+        } else {
+            // vector3 cross where z=0
+            let z = from.x * to.y - to.x * from.y;
+            let w = 1.0 + dot;
+            // calculate length with x=0 and y=0 to normalize
+            let len_rcp = 1.0 / math::sqrt(z * z + w * w);
+            Self::from_xyzw(0.0, 0.0, z * len_rcp, w * len_rcp)
+        }
+    }
+
+    /// Returns the rotation axis (normalized) and angle (in radians) of `self`.
+    #[inline]
+    #[must_use]
+    pub fn to_axis_angle(self) -> (DVec3, f64) {
+        const EPSILON: f64 = 1.0e-8;
+        let v = DVec3::new(self.x, self.y, self.z);
+        let length = v.length();
+        if length >= EPSILON {
+            let angle = 2.0 * math::atan2(length, self.w);
+            let axis = v / length;
+            (axis, angle)
+        } else {
+            (DVec3::X, 0.0)
+        }
+    }
+
+    /// Returns the rotation axis scaled by the rotation in radians.
+    #[inline]
+    #[must_use]
+    pub fn to_scaled_axis(self) -> DVec3 {
+        let (axis, angle) = self.to_axis_angle();
+        axis * angle
+    }
+
+    /// Returns the rotation angles for the given euler rotation sequence.
+    #[inline]
+    #[must_use]
+    pub fn to_euler(self, order: EulerRot) -> (f64, f64, f64) {
+        self.to_euler_angles(order)
+    }
+
+    /// `[x, y, z, w]`
+    #[inline]
+    #[must_use]
+    pub fn to_array(&self) -> [f64; 4] {
+        [self.x, self.y, self.z, self.w]
+    }
+
+    /// Returns the vector part of the quaternion.
+    #[inline]
+    #[must_use]
+    pub fn xyz(self) -> DVec3 {
+        DVec3::new(self.x, self.y, self.z)
+    }
+
+    /// Returns the quaternion conjugate of `self`. For a unit quaternion the
+    /// conjugate is also the inverse.
+    #[inline]
+    #[must_use]
+    pub fn conjugate(self) -> Self {
+        Self {
+            x: -self.x,
+            y: -self.y,
+            z: -self.z,
+            w: self.w,
+        }
+    }
+
+    /// Returns the inverse of a normalized quaternion.
+    ///
+    /// Typically quaternion inverse returns the conjugate of a normalized quaternion.
+    /// Because `self` is assumed to already be unit length this method *does not* normalize
+    /// before returning the conjugate.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `self` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn inverse(self) -> Self {
+        glam_assert!(self.is_normalized());
+        self.conjugate()
+    }
+
+    /// Computes the dot product of `self` and `rhs`. The dot product is
+    /// equal to the cosine of the angle between two quaternion rotations.
+    #[inline]
+    #[must_use]
+    pub fn dot(self, rhs: Self) -> f64 {
+        DVec4::from(self).dot(DVec4::from(rhs))
+    }
+
+    /// Computes the length of `self`.
+    #[doc(alias = "magnitude")]
+    #[inline]
+    #[must_use]
+    pub fn length(self) -> f64 {
+        DVec4::from(self).length()
+    }
+
+    /// Computes the squared length of `self`.
+    ///
+    /// This is generally faster than `length()` as it avoids a square
+    /// root operation.
+    #[doc(alias = "magnitude2")]
+    #[inline]
+    #[must_use]
+    pub fn length_squared(self) -> f64 {
+        DVec4::from(self).length_squared()
+    }
+
+    /// Computes `1.0 / length()`.
+    ///
+    /// For valid results, `self` must _not_ be of length zero.
+    #[inline]
+    #[must_use]
+    pub fn length_recip(self) -> f64 {
+        DVec4::from(self).length_recip()
+    }
+
+    /// Returns `self` normalized to length 1.0.
+    ///
+    /// For valid results, `self` must _not_ be of length zero.
+    ///
+    /// Panics
+    ///
+    /// Will panic if `self` is zero length when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn normalize(self) -> Self {
+        Self::from_vec4(DVec4::from(self).normalize())
+    }
+
+    /// Returns `true` if, and only if, all elements are finite.
+    /// If any element is either `NaN`, positive or negative infinity, this will return `false`.
+    #[inline]
+    #[must_use]
+    pub fn is_finite(self) -> bool {
+        DVec4::from(self).is_finite()
+    }
+
+    /// Returns `true` if any elements are `NAN`.
+    #[inline]
+    #[must_use]
+    pub fn is_nan(self) -> bool {
+        DVec4::from(self).is_nan()
+    }
+
+    /// Returns whether `self` of length `1.0` or not.
+    ///
+    /// Uses a precision threshold of `1e-6`.
+    #[inline]
+    #[must_use]
+    pub fn is_normalized(self) -> bool {
+        DVec4::from(self).is_normalized()
+    }
+
+    #[inline]
+    #[must_use]
+    pub fn is_near_identity(self) -> bool {
+        // Based on https://github.com/nfrechette/rtm `rtm::quat_near_identity`
+        let threshold_angle = 0.002_847_144_6;
+        // Because of floating point precision, we cannot represent very small rotations.
+        // The closest f32 to 1.0 that is not 1.0 itself yields:
+        // 0.99999994.acos() * 2.0  = 0.000690533954 rad
+        //
+        // An error threshold of 1.e-6 is used by default.
+        // (1.0 - 1.e-6).acos() * 2.0 = 0.00284714461 rad
+        // (1.0 - 1.e-7).acos() * 2.0 = 0.00097656250 rad
+        //
+        // We don't really care about the angle value itself, only if it's close to 0.
+        // This will happen whenever quat.w is close to 1.0.
+        // If the quat.w is close to -1.0, the angle will be near 2*PI which is close to
+        // a negative 0 rotation. By forcing quat.w to be positive, we'll end up with
+        // the shortest path.
+        let positive_w_angle = math::acos_approx(math::abs(self.w)) * 2.0;
+        positive_w_angle < threshold_angle
+    }
+
+    /// Returns the angle (in radians) for the minimal rotation
+    /// for transforming this quaternion into another.
+    ///
+    /// Both quaternions must be normalized.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `self` or `rhs` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn angle_between(self, rhs: Self) -> f64 {
+        glam_assert!(self.is_normalized() && rhs.is_normalized());
+        math::acos_approx(math::abs(self.dot(rhs))) * 2.0
+    }
+
+    /// Rotates towards `rhs` up to `max_angle` (in radians).
+    ///
+    /// When `max_angle` is `0.0`, the result will be equal to `self`. When `max_angle` is equal to
+    /// `self.angle_between(rhs)`, the result will be equal to `rhs`. If `max_angle` is negative,
+    /// rotates towards the exact opposite of `rhs`. Will not go past the target.
+    ///
+    /// Both quaternions must be normalized.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `self` or `rhs` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn rotate_towards(&self, rhs: Self, max_angle: f64) -> Self {
+        glam_assert!(self.is_normalized() && rhs.is_normalized());
+        let angle = self.angle_between(rhs);
+        if angle <= 1e-4 {
+            return *self;
+        }
+        let s = (max_angle / angle).clamp(-1.0, 1.0);
+        self.slerp(rhs, s)
+    }
+
+    /// Returns true if the absolute difference of all elements between `self` and `rhs`
+    /// is less than or equal to `max_abs_diff`.
+    ///
+    /// This can be used to compare if two quaternions contain similar elements. It works
+    /// best when comparing with a known value. The `max_abs_diff` that should be used used
+    /// depends on the values being compared against.
+    ///
+    /// For more see
+    /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
+    #[inline]
+    #[must_use]
+    pub fn abs_diff_eq(self, rhs: Self, max_abs_diff: f64) -> bool {
+        DVec4::from(self).abs_diff_eq(DVec4::from(rhs), max_abs_diff)
+    }
+
+    #[inline(always)]
+    #[must_use]
+    fn lerp_impl(self, end: Self, s: f64) -> Self {
+        (self * (1.0 - s) + end * s).normalize()
+    }
+
+    /// Performs a linear interpolation between `self` and `rhs` based on
+    /// the value `s`.
+    ///
+    /// When `s` is `0.0`, the result will be equal to `self`.  When `s`
+    /// is `1.0`, the result will be equal to `rhs`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `self` or `end` are not normalized when `glam_assert` is enabled.
+    #[doc(alias = "mix")]
+    #[inline]
+    #[must_use]
+    pub fn lerp(self, end: Self, s: f64) -> Self {
+        glam_assert!(self.is_normalized());
+        glam_assert!(end.is_normalized());
+
+        let dot = self.dot(end);
+        let bias = if dot >= 0.0 { 1.0 } else { -1.0 };
+        self.lerp_impl(end * bias, s)
+    }
+
+    /// Performs a spherical linear interpolation between `self` and `end`
+    /// based on the value `s`.
+    ///
+    /// When `s` is `0.0`, the result will be equal to `self`.  When `s`
+    /// is `1.0`, the result will be equal to `end`.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `self` or `end` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn slerp(self, mut end: Self, s: f64) -> Self {
+        // http://number-none.com/product/Understanding%20Slerp,%20Then%20Not%20Using%20It/
+        glam_assert!(self.is_normalized());
+        glam_assert!(end.is_normalized());
+
+        // Note that a rotation can be represented by two quaternions: `q` and
+        // `-q`. The slerp path between `q` and `end` will be different from the
+        // path between `-q` and `end`. One path will take the long way around and
+        // one will take the short way. In order to correct for this, the `dot`
+        // product between `self` and `end` should be positive. If the `dot`
+        // product is negative, slerp between `self` and `-end`.
+        let mut dot = self.dot(end);
+        if dot < 0.0 {
+            end = -end;
+            dot = -dot;
+        }
+
+        const DOT_THRESHOLD: f64 = 1.0 - f64::EPSILON;
+        if dot > DOT_THRESHOLD {
+            // if above threshold perform linear interpolation to avoid divide by zero
+            self.lerp_impl(end, s)
+        } else {
+            let theta = math::acos_approx(dot);
+
+            let scale1 = math::sin(theta * (1.0 - s));
+            let scale2 = math::sin(theta * s);
+            let theta_sin = math::sin(theta);
+            ((self * scale1) + (end * scale2)) * (1.0 / theta_sin)
+        }
+    }
+
+    /// Multiplies a quaternion and a 3D vector, returning the rotated vector.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `self` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn mul_vec3(self, rhs: DVec3) -> DVec3 {
+        glam_assert!(self.is_normalized());
+
+        let w = self.w;
+        let b = DVec3::new(self.x, self.y, self.z);
+        let b2 = b.dot(b);
+        rhs.mul(w * w - b2)
+            .add(b.mul(rhs.dot(b) * 2.0))
+            .add(b.cross(rhs).mul(w * 2.0))
+    }
+
+    /// Multiplies two quaternions. If they each represent a rotation, the result will
+    /// represent the combined rotation.
+    ///
+    /// Note that due to floating point rounding the result may not be perfectly normalized.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `self` or `rhs` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    #[must_use]
+    pub fn mul_quat(self, rhs: Self) -> Self {
+        let (x0, y0, z0, w0) = self.into();
+        let (x1, y1, z1, w1) = rhs.into();
+        Self::from_xyzw(
+            w0 * x1 + x0 * w1 + y0 * z1 - z0 * y1,
+            w0 * y1 - x0 * z1 + y0 * w1 + z0 * x1,
+            w0 * z1 + x0 * y1 - y0 * x1 + z0 * w1,
+            w0 * w1 - x0 * x1 - y0 * y1 - z0 * z1,
+        )
+    }
+
+    /// Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.
+    ///
+    /// Note if the input affine matrix contain scales, shears, or other non-rotation
+    /// transformations then the resulting quaternion will be ill-defined.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if any input affine matrix column is not normalized when `glam_assert` is
+    /// enabled.
+    #[inline]
+    #[must_use]
+    pub fn from_affine3(a: &crate::DAffine3) -> Self {
+        #[allow(clippy::useless_conversion)]
+        Self::from_rotation_axes(
+            a.matrix3.x_axis.into(),
+            a.matrix3.y_axis.into(),
+            a.matrix3.z_axis.into(),
+        )
+    }
+
+    #[inline]
+    #[must_use]
+    pub fn as_quat(self) -> Quat {
+        Quat::from_xyzw(self.x as f32, self.y as f32, self.z as f32, self.w as f32)
+    }
+}
+
+impl fmt::Debug for DQuat {
+    fn fmt(&self, fmt: &mut fmt::Formatter<'_>) -> fmt::Result {
+        fmt.debug_tuple(stringify!(DQuat))
+            .field(&self.x)
+            .field(&self.y)
+            .field(&self.z)
+            .field(&self.w)
+            .finish()
+    }
+}
+
+impl fmt::Display for DQuat {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        if let Some(p) = f.precision() {
+            write!(
+                f,
+                "[{:.*}, {:.*}, {:.*}, {:.*}]",
+                p, self.x, p, self.y, p, self.z, p, self.w
+            )
+        } else {
+            write!(f, "[{}, {}, {}, {}]", self.x, self.y, self.z, self.w)
+        }
+    }
+}
+
+impl Add<DQuat> for DQuat {
+    type Output = Self;
+    /// Adds two quaternions.
+    ///
+    /// The sum is not guaranteed to be normalized.
+    ///
+    /// Note that addition is not the same as combining the rotations represented by the
+    /// two quaternions! That corresponds to multiplication.
+    #[inline]
+    fn add(self, rhs: Self) -> Self {
+        Self::from_vec4(DVec4::from(self) + DVec4::from(rhs))
+    }
+}
+
+impl Sub<DQuat> for DQuat {
+    type Output = Self;
+    /// Subtracts the `rhs` quaternion from `self`.
+    ///
+    /// The difference is not guaranteed to be normalized.
+    #[inline]
+    fn sub(self, rhs: Self) -> Self {
+        Self::from_vec4(DVec4::from(self) - DVec4::from(rhs))
+    }
+}
+
+impl Mul<f64> for DQuat {
+    type Output = Self;
+    /// Multiplies a quaternion by a scalar value.
+    ///
+    /// The product is not guaranteed to be normalized.
+    #[inline]
+    fn mul(self, rhs: f64) -> Self {
+        Self::from_vec4(DVec4::from(self) * rhs)
+    }
+}
+
+impl Div<f64> for DQuat {
+    type Output = Self;
+    /// Divides a quaternion by a scalar value.
+    /// The quotient is not guaranteed to be normalized.
+    #[inline]
+    fn div(self, rhs: f64) -> Self {
+        Self::from_vec4(DVec4::from(self) / rhs)
+    }
+}
+
+impl Mul<DQuat> for DQuat {
+    type Output = Self;
+    /// Multiplies two quaternions. If they each represent a rotation, the result will
+    /// represent the combined rotation.
+    ///
+    /// Note that due to floating point rounding the result may not be perfectly
+    /// normalized.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `self` or `rhs` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    fn mul(self, rhs: Self) -> Self {
+        self.mul_quat(rhs)
+    }
+}
+
+impl MulAssign<DQuat> for DQuat {
+    /// Multiplies two quaternions. If they each represent a rotation, the result will
+    /// represent the combined rotation.
+    ///
+    /// Note that due to floating point rounding the result may not be perfectly
+    /// normalized.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `self` or `rhs` are not normalized when `glam_assert` is enabled.
+    #[inline]
+    fn mul_assign(&mut self, rhs: Self) {
+        *self = self.mul_quat(rhs);
+    }
+}
+
+impl Mul<DVec3> for DQuat {
+    type Output = DVec3;
+    /// Multiplies a quaternion and a 3D vector, returning the rotated vector.
+    ///
+    /// # Panics
+    ///
+    /// Will panic if `self` is not normalized when `glam_assert` is enabled.
+    #[inline]
+    fn mul(self, rhs: DVec3) -> Self::Output {
+        self.mul_vec3(rhs)
+    }
+}
+
+impl Neg for DQuat {
+    type Output = Self;
+    #[inline]
+    fn neg(self) -> Self {
+        self * -1.0
+    }
+}
+
+impl Default for DQuat {
+    #[inline]
+    fn default() -> Self {
+        Self::IDENTITY
+    }
+}
+
+impl PartialEq for DQuat {
+    #[inline]
+    fn eq(&self, rhs: &Self) -> bool {
+        DVec4::from(*self).eq(&DVec4::from(*rhs))
+    }
+}
+
+#[cfg(not(target_arch = "spirv"))]
+impl AsRef<[f64; 4]> for DQuat {
+    #[inline]
+    fn as_ref(&self) -> &[f64; 4] {
+        unsafe { &*(self as *const Self as *const [f64; 4]) }
+    }
+}
+
+impl Sum<Self> for DQuat {
+    fn sum<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = Self>,
+    {
+        iter.fold(Self::ZERO, Self::add)
+    }
+}
+
+impl<'a> Sum<&'a Self> for DQuat {
+    fn sum<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = &'a Self>,
+    {
+        iter.fold(Self::ZERO, |a, &b| Self::add(a, b))
+    }
+}
+
+impl Product for DQuat {
+    fn product<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = Self>,
+    {
+        iter.fold(Self::IDENTITY, Self::mul)
+    }
+}
+
+impl<'a> Product<&'a Self> for DQuat {
+    fn product<I>(iter: I) -> Self
+    where
+        I: Iterator<Item = &'a Self>,
+    {
+        iter.fold(Self::IDENTITY, |a, &b| Self::mul(a, b))
+    }
+}
+
+impl From<DQuat> for DVec4 {
+    #[inline]
+    fn from(q: DQuat) -> Self {
+        Self::new(q.x, q.y, q.z, q.w)
+    }
+}
+
+impl From<DQuat> for (f64, f64, f64, f64) {
+    #[inline]
+    fn from(q: DQuat) -> Self {
+        (q.x, q.y, q.z, q.w)
+    }
+}
+
+impl From<DQuat> for [f64; 4] {
+    #[inline]
+    fn from(q: DQuat) -> Self {
+        [q.x, q.y, q.z, q.w]
+    }
+}

vendor/glam/src/f64/float.rs

@@ -0,0 +1,21 @@
+// Generated from float.rs.tera template. Edit the template, not the generated file.
+
+use crate::float::FloatExt;
+
+impl FloatExt for f64 {
+    #[inline]
+    fn lerp(self, rhs: f64, t: f64) -> f64 {
+        self + (rhs - self) * t
+    }
+
+    #[inline]
+    fn inverse_lerp(a: f64, b: f64, v: f64) -> f64 {
+        (v - a) / (b - a)
+    }
+
+    #[inline]
+    fn remap(self, in_start: f64, in_end: f64, out_start: f64, out_end: f64) -> f64 {
+        let t = f64::inverse_lerp(in_start, in_end, self);
+        f64::lerp(out_start, out_end, t)
+    }
+}

vendor/glam/src/f64/math.rs

@@ -0,0 +1,205 @@
+#[cfg(any(feature = "libm", all(feature = "nostd-libm", not(feature = "std"))))]
+mod libm_math {
+    #[inline(always)]
+    pub(crate) fn abs(f: f64) -> f64 {
+        libm::fabs(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn acos_approx(f: f64) -> f64 {
+        libm::acos(f.clamp(-1.0, 1.0))
+    }
+
+    #[inline(always)]
+    pub(crate) fn atan2(f: f64, other: f64) -> f64 {
+        libm::atan2(f, other)
+    }
+
+    #[inline(always)]
+    pub(crate) fn sin(f: f64) -> f64 {
+        libm::sin(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn sin_cos(f: f64) -> (f64, f64) {
+        libm::sincos(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn tan(f: f64) -> f64 {
+        libm::tan(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn sqrt(f: f64) -> f64 {
+        libm::sqrt(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn copysign(f: f64, sign: f64) -> f64 {
+        libm::copysign(f, sign)
+    }
+
+    #[inline(always)]
+    pub(crate) fn signum(f: f64) -> f64 {
+        if f.is_nan() {
+            f64::NAN
+        } else {
+            copysign(1.0, f)
+        }
+    }
+
+    #[inline(always)]
+    pub(crate) fn round(f: f64) -> f64 {
+        libm::round(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn trunc(f: f64) -> f64 {
+        libm::trunc(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn ceil(f: f64) -> f64 {
+        libm::ceil(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn floor(f: f64) -> f64 {
+        libm::floor(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn exp(f: f64) -> f64 {
+        libm::exp(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn powf(f: f64, n: f64) -> f64 {
+        libm::pow(f, n)
+    }
+
+    #[inline(always)]
+    pub(crate) fn mul_add(a: f64, b: f64, c: f64) -> f64 {
+        libm::fma(a, b, c)
+    }
+
+    #[inline]
+    pub fn div_euclid(a: f64, b: f64) -> f64 {
+        // Based on https://doc.rust-lang.org/src/std/f64.rs.html#293
+        let q = libm::trunc(a / b);
+        if a % b < 0.0 {
+            return if b > 0.0 { q - 1.0 } else { q + 1.0 };
+        }
+        q
+    }
+
+    #[inline]
+    pub fn rem_euclid(a: f64, b: f64) -> f64 {
+        let r = a % b;
+        if r < 0.0 {
+            r + abs(b)
+        } else {
+            r
+        }
+    }
+}
+
+#[cfg(all(not(feature = "libm"), feature = "std"))]
+mod std_math {
+    #[inline(always)]
+    pub(crate) fn abs(f: f64) -> f64 {
+        f64::abs(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn acos_approx(f: f64) -> f64 {
+        f64::acos(f64::clamp(f, -1.0, 1.0))
+    }
+
+    #[inline(always)]
+    pub(crate) fn atan2(f: f64, other: f64) -> f64 {
+        f64::atan2(f, other)
+    }
+
+    #[inline(always)]
+    pub(crate) fn sin(f: f64) -> f64 {
+        f64::sin(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn sin_cos(f: f64) -> (f64, f64) {
+        f64::sin_cos(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn tan(f: f64) -> f64 {
+        f64::tan(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn sqrt(f: f64) -> f64 {
+        f64::sqrt(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn copysign(f: f64, sign: f64) -> f64 {
+        f64::copysign(f, sign)
+    }
+
+    #[inline(always)]
+    pub(crate) fn signum(f: f64) -> f64 {
+        f64::signum(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn round(f: f64) -> f64 {
+        f64::round(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn trunc(f: f64) -> f64 {
+        f64::trunc(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn ceil(f: f64) -> f64 {
+        f64::ceil(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn floor(f: f64) -> f64 {
+        f64::floor(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn exp(f: f64) -> f64 {
+        f64::exp(f)
+    }
+
+    #[inline(always)]
+    pub(crate) fn powf(f: f64, n: f64) -> f64 {
+        f64::powf(f, n)
+    }
+
+    #[inline(always)]
+    pub(crate) fn mul_add(a: f64, b: f64, c: f64) -> f64 {
+        f64::mul_add(a, b, c)
+    }
+
+    #[inline]
+    pub fn div_euclid(a: f64, b: f64) -> f64 {
+        f64::div_euclid(a, b)
+    }
+
+    #[inline]
+    pub fn rem_euclid(a: f64, b: f64) -> f64 {
+        f64::rem_euclid(a, b)
+    }
+}
+
+#[cfg(any(feature = "libm", all(feature = "nostd-libm", not(feature = "std"))))]
+pub(crate) use libm_math::*;
+
+#[cfg(all(not(feature = "libm"), feature = "std"))]
+pub(crate) use std_math::*;