feat: derive bytemuck traits for Isometry and Similarity

Cargo.toml

@@ -35,7 +35,7 @@ macros = ["nalgebra-macros"]
 
 # Conversion
 convert-mint = ["mint"]
-convert-bytemuck = ["bytemuck"]
+convert-bytemuck = ["bytemuck", "num-complex/bytemuck"]
 convert-glam014 = ["glam014"]
 convert-glam015 = ["glam015"]
 convert-glam016 = ["glam016"]

src/geometry/isometry.rs

@@ -14,6 +14,8 @@ use crate::base::storage::Owned;
 use crate::base::{Const, DefaultAllocator, OMatrix, SVector, Scalar, Unit};
 use crate::geometry::{AbstractRotation, Point, Translation};
 
+use crate::{Isometry3, Quaternion, Vector3, Vector4};
+
 #[cfg(feature = "rkyv-serialize")]
 use rkyv::bytecheck;
 
@@ -99,6 +101,23 @@ where
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T: Scalar, R, const D: usize> bytemuck::Zeroable for Isometry<T, R, D>
+where
+    SVector<T, D>: bytemuck::Zeroable,
+    R: bytemuck::Zeroable,
+{
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T: Scalar, R, const D: usize> bytemuck::Pod for Isometry<T, R, D>
+where
+    SVector<T, D>: bytemuck::Pod,
+    R: bytemuck::Pod,
+    T: Copy,
+{
+}
+
 /// # From the translation and rotation parts
 impl<T: Scalar, R: AbstractRotation<T, D>, const D: usize> Isometry<T, R, D> {
     /// Creates a new isometry from its rotational and translational parts.

src/geometry/similarity.rs

@@ -65,6 +65,21 @@ where
     }
 }
 
+#[cfg(feature = "bytemuck")]
+unsafe impl<T: Scalar, R, const D: usize> bytemuck::Zeroable for Similarity<T, R, D> where
+    Isometry<T, R, D>: bytemuck::Zeroable
+{
+}
+
+#[cfg(feature = "bytemuck")]
+unsafe impl<T: Scalar, R, const D: usize> bytemuck::Pod for Similarity<T, R, D>
+where
+    Isometry<T, R, D>: bytemuck::Pod,
+    R: Copy,
+    T: Copy,
+{
+}
+
 impl<T: Scalar + Zero, R, const D: usize> Similarity<T, R, D>
 where
     R: AbstractRotation<T, D>,