Declare the rest of the constructors to be const

This requires removing trait bounds from the constructors, and for Euler, removing the trait bound from the struct.

src/euler.rs

@@ -78,7 +78,7 @@ use num::BaseFloat;
 #[repr(C)]
 #[derive(Copy, Clone, Debug, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct Euler<A: Angle> {
+pub struct Euler<A> {
     /// The angle to apply around the _x_ axis. Also known at the _pitch_.
     pub x: A,
     /// The angle to apply around the _y_ axis. Also known at the _yaw_.
@@ -87,7 +87,7 @@ pub struct Euler<A: Angle> {
     pub z: A,
 }
 
-impl<A: Angle> Euler<A> {
+impl<A> Euler<A> {
     /// Construct a set of euler angles.
     ///
     /// # Arguments
@@ -95,7 +95,7 @@ impl<A: Angle> Euler<A> {
     /// * `x` - The angle to apply around the _x_ axis. Also known at the _pitch_.
     /// * `y` - The angle to apply around the _y_ axis. Also known at the _yaw_.
     /// * `z` - The angle to apply around the _z_ axis. Also known at the _roll_.
-    pub fn new(x: A, y: A, z: A) -> Euler<A> {
+    pub const fn new(x: A, y: A, z: A) -> Euler<A> {
         Euler { x: x, y: y, z: z }
     }
 }

src/matrix.rs

@@ -81,19 +81,21 @@ pub struct Matrix4<S> {
     pub w: Vector4<S>,
 }
 
-impl<S: BaseFloat> Matrix2<S> {
+impl<S> Matrix2<S> {
     /// Create a new matrix, providing values for each index.
     #[inline]
-    pub fn new(c0r0: S, c0r1: S, c1r0: S, c1r1: S) -> Matrix2<S> {
+    pub const fn new(c0r0: S, c0r1: S, c1r0: S, c1r1: S) -> Matrix2<S> {
         Matrix2::from_cols(Vector2::new(c0r0, c0r1), Vector2::new(c1r0, c1r1))
     }
 
     /// Create a new matrix, providing columns.
     #[inline]
-    pub fn from_cols(c0: Vector2<S>, c1: Vector2<S>) -> Matrix2<S> {
+    pub const fn from_cols(c0: Vector2<S>, c1: Vector2<S>) -> Matrix2<S> {
         Matrix2 { x: c0, y: c1 }
     }
+}
 
+impl<S: BaseFloat> Matrix2<S> {
     /// Create a transformation matrix that will cause a vector to point at
     /// `dir`, using `up` for orientation.
     pub fn look_at(dir: Vector2<S>, up: Vector2<S>) -> Matrix2<S> {
@@ -114,11 +116,11 @@ impl<S: BaseFloat> Matrix2<S> {
     }
 }
 
-impl<S: BaseFloat> Matrix3<S> {
+impl<S> Matrix3<S> {
     /// Create a new matrix, providing values for each index.
     #[inline]
     #[cfg_attr(rustfmt, rustfmt_skip)]
-    pub fn new(
+    pub const fn new(
         c0r0:S, c0r1:S, c0r2:S,
         c1r0:S, c1r1:S, c1r2:S,
         c2r0:S, c2r1:S, c2r2:S,
@@ -132,14 +134,16 @@ impl<S: BaseFloat> Matrix3<S> {
 
     /// Create a new matrix, providing columns.
     #[inline]
-    pub fn from_cols(c0: Vector3<S>, c1: Vector3<S>, c2: Vector3<S>) -> Matrix3<S> {
+    pub const fn from_cols(c0: Vector3<S>, c1: Vector3<S>, c2: Vector3<S>) -> Matrix3<S> {
         Matrix3 {
             x: c0,
             y: c1,
             z: c2,
         }
     }
+}
 
+impl<S: BaseFloat> Matrix3<S> {
     /// Create a rotation matrix that will cause a vector to point at
     /// `dir`, using `up` for orientation.
     pub fn look_at(dir: Vector3<S>, up: Vector3<S>) -> Matrix3<S> {
@@ -218,11 +222,11 @@ impl<S: BaseFloat> Matrix3<S> {
     }
 }
 
-impl<S: BaseFloat> Matrix4<S> {
+impl<S> Matrix4<S> {
     /// Create a new matrix, providing values for each index.
     #[inline]
     #[cfg_attr(rustfmt, rustfmt_skip)]
-    pub fn new(
+    pub const fn new(
         c0r0: S, c0r1: S, c0r2: S, c0r3: S,
         c1r0: S, c1r1: S, c1r2: S, c1r3: S,
         c2r0: S, c2r1: S, c2r2: S, c2r3: S,
@@ -238,7 +242,7 @@ impl<S: BaseFloat> Matrix4<S> {
 
     /// Create a new matrix, providing columns.
     #[inline]
-    pub fn from_cols(c0: Vector4<S>, c1: Vector4<S>, c2: Vector4<S>, c3: Vector4<S>) -> Matrix4<S> {
+    pub const fn from_cols(c0: Vector4<S>, c1: Vector4<S>, c2: Vector4<S>, c3: Vector4<S>) -> Matrix4<S> {
         Matrix4 {
             x: c0,
             y: c1,
@@ -246,7 +250,9 @@ impl<S: BaseFloat> Matrix4<S> {
             w: c3,
         }
     }
+}
 
+impl<S: BaseFloat> Matrix4<S> {
     /// Create a homogeneous transformation matrix from a translation vector.
     #[inline]
     pub fn from_translation(v: Vector3<S>) -> Matrix4<S> {

src/quaternion.rs

@@ -76,20 +76,22 @@ impl Into<Simdf32x4> for Quaternion<f32> {
     }
 }
 
-impl<S: BaseFloat> Quaternion<S> {
+impl<S> Quaternion<S> {
     /// Construct a new quaternion from one scalar component and three
     /// imaginary components.
     #[inline]
-    pub fn new(w: S, xi: S, yj: S, zk: S) -> Quaternion<S> {
+    pub const fn new(w: S, xi: S, yj: S, zk: S) -> Quaternion<S> {
         Quaternion::from_sv(w, Vector3::new(xi, yj, zk))
     }
 
     /// Construct a new quaternion from a scalar and a vector.
     #[inline]
-    pub fn from_sv(s: S, v: Vector3<S>) -> Quaternion<S> {
+    pub const fn from_sv(s: S, v: Vector3<S>) -> Quaternion<S> {
         Quaternion { s: s, v: v }
     }
+}
 
+impl<S: BaseFloat> Quaternion<S> {
     /// Construct a new quaternion as a closest arc between two vectors
     ///
     /// Return the closest rotation that turns `src` vector into `dst`.