Associativity issue because w is not multiplied

src/matrix4d.rs

@@ -369,10 +369,10 @@ where T: Copy + Clone +
     /// The input point must be use the unit Src, and the returned point has the unit Dst.
     #[inline]
     pub fn transform_point4d(&self, p: &TypedPoint4D<T, Src>) -> TypedPoint4D<T, Dst> {
-        let x = p.x * self.m11 + p.y * self.m21 + p.z * self.m31 + self.m41;
-        let y = p.x * self.m12 + p.y * self.m22 + p.z * self.m32 + self.m42;
-        let z = p.x * self.m13 + p.y * self.m23 + p.z * self.m33 + self.m43;
-        let w = p.x * self.m14 + p.y * self.m24 + p.z * self.m34 + self.m44;
+        let x = p.x * self.m11 + p.y * self.m21 + p.z * self.m31 + p.w * self.m41;
+        let y = p.x * self.m12 + p.y * self.m22 + p.z * self.m32 + p.w * self.m42;
+        let z = p.x * self.m13 + p.y * self.m23 + p.z * self.m33 + p.w * self.m43;
+        let w = p.x * self.m14 + p.y * self.m24 + p.z * self.m34 + p.w * self.m44;
         TypedPoint4D::new(x, y, z, w)
     }
 
@@ -553,11 +553,11 @@ impl<T: Copy + fmt::Debug, Src, Dst> fmt::Debug for TypedMatrix4D<T, Src, Dst> {
 
 #[cfg(test)]
 mod tests {
-    use point::{Point2D, Point3D};
+    use approxeq::ApproxEq;
     use matrix2d::Matrix2D;
+    use point::{Point2D, Point3D, Point4D};
     use Radians;
     use super::*;
-    use approxeq::ApproxEq;
 
     use std::f32::consts::FRAC_PI_2;
 
@@ -743,4 +743,21 @@ mod tests {
         assert_eq!(size_of::<Matrix4D<f32>>(), 16*size_of::<f32>());
         assert_eq!(size_of::<Matrix4D<f64>>(), 16*size_of::<f64>());
     }
+
+    #[test]
+    pub fn test_transform_associativity() {
+        let m1 = Mf32::row_major(3.0, 2.0, 1.5, 1.0,
+                                 0.0, 4.5, -1.0, -4.0,
+                                 0.0, 3.5, 2.5, 40.0,
+                                 0.0, 3.0, 0.0, 1.0);
+        let m2 = Mf32::row_major(1.0, -1.0, 3.0, 0.0,
+                                 -1.0, 0.5, 0.0, 2.0,
+                                 1.5, -2.0, 6.0, 0.0,
+                                 -2.5, 6.0, 1.0, 1.0);
+
+        let p = Point4D::new(1.0, 3.0, 5.0, 1.0);
+        let p1 = m2.pre_mul(&m1).transform_point4d(&p);
+        let p2 = m2.transform_point4d(&m1.transform_point4d(&p));
+        assert!(p1.approx_eq(&p2));
+    }
 }

src/point.rs

@@ -8,11 +8,11 @@
 // except according to those terms.
 
 use super::UnknownUnit;
+use approxeq::ApproxEq;
 use length::Length;
 use scale_factor::ScaleFactor;
 use size::TypedSize2D;
 use num::*;
-use approxeq::ApproxEq;
 use num_traits::{Float, NumCast};
 use std::fmt;
 use std::ops::{Add, Neg, Mul, Sub, Div};
@@ -731,6 +731,23 @@ impl<T: NumCast + Copy, U> TypedPoint4D<T, U> {
     }
 }
 
+impl<T: ApproxEq<T>, U> ApproxEq<T> for TypedPoint4D<T, U> {
+    fn approx_epsilon() -> T {
+        T::approx_epsilon()
+    }
+
+    fn approx_eq_eps(&self, other: &Self, approx_epsilon: &T) -> bool {
+        self.x.approx_eq_eps(&other.x, approx_epsilon)
+        && self.y.approx_eq_eps(&other.y, approx_epsilon)
+        && self.z.approx_eq_eps(&other.z, approx_epsilon)
+        && self.w.approx_eq_eps(&other.w, approx_epsilon)
+    }
+
+    fn approx_eq(&self, other: &Self) -> bool {
+        self.approx_eq_eps(&other, &Self::approx_epsilon())
+    }
+}
+
 #[cfg(test)]
 mod point2d {
     use super::Point2D;