Change the name of methods on the Transform trait to avoid clashes

Transform::invert becomes Transform::inverse_transform, and Transform::invert_self becomes Transform::to_inverse. Tests passing for me now

src/matrix.rs

@@ -778,7 +778,7 @@ impl<S: BaseFloat> Transform<Point2<S>> for Matrix3<S> {
     self * other
   }
 
-  fn invert(&self) -> Option<Matrix3<S>> {
+  fn inverse_transform(&self) -> Option<Matrix3<S>> {
     SquareMatrix::invert(self)
   }
 }
@@ -805,7 +805,7 @@ impl<S: BaseFloat> Transform<Point3<S>> for Matrix3<S> {
     self * other
   }
 
-  fn invert(&self) -> Option<Matrix3<S>> {
+  fn inverse_transform(&self) -> Option<Matrix3<S>> {
     SquareMatrix::invert(self)
   }
 }
@@ -831,7 +831,7 @@ impl<S: BaseFloat> Transform<Point3<S>> for Matrix4<S> {
     self * other
   }
 
-  fn invert(&self) -> Option<Matrix4<S>> {
+  fn inverse_transform(&self) -> Option<Matrix4<S>> {
     SquareMatrix::invert(self)
   }
 }

src/transform.rs

@@ -53,7 +53,7 @@ pub trait Transform<P: EuclideanSpace>: Sized {
     fn concat(&self, other: &Self) -> Self;
 
     /// Create a transform that "un-does" this one.
-    fn invert(&self) -> Option<Self>;
+    fn inverse_transform(&self) -> Option<Self>;
 
     /// Combine this transform with another, in-place.
     #[inline]
@@ -64,8 +64,8 @@ pub trait Transform<P: EuclideanSpace>: Sized {
     /// Invert this transform in-place, failing if the transformation is not
     /// invertible.
     #[inline]
-    fn invert_self(&mut self) {
-        *self = self.invert().unwrap()
+    fn to_inverse(&mut self) {
+        *self = self.inverse_transform().unwrap()
     }
 }
 
@@ -122,7 +122,7 @@ impl<P: EuclideanSpace, R: Rotation<P>> Transform<P> for Decomposed<P::Diff, R>
         }
     }
 
-    fn invert(&self) -> Option<Decomposed<P::Diff, R>> {
+    fn inverse_transform(&self) -> Option<Decomposed<P::Diff, R>> {
         if self.scale.approx_eq(&P::Scalar::zero()) {
             None
         } else {
@@ -196,7 +196,7 @@ impl<S: BaseFloat> Transform<Point3<S>> for AffineMatrix3<S> {
     }
 
     #[inline]
-    fn invert(&self) -> Option<AffineMatrix3<S>> {
+    fn inverse_transform(&self) -> Option<AffineMatrix3<S>> {
         SquareMatrix::invert(& self.mat).map(|m| AffineMatrix3{ mat: m })
     }
 }

tests/transform.rs

@@ -26,7 +26,7 @@ fn test_invert() {
         rot: Quaternion::new(0.5f64,0.5,0.5,0.5),
         disp: Vector3::new(6.0f64,-7.0,8.0)
     };
-	let ti = t.invert().expect("Expected successful inversion");
+	let ti = t.inverse_transform().expect("Expected successful inversion");
 	let vt = t.transform_vector(v);
     assert!(v.approx_eq(&ti.transform_vector(vt)));
 }