196 lines
6.9 KiB
Rust
196 lines
6.9 KiB
Rust
|
use num::Zero;
|
||
|
|
|
||
|
|
use alga::general::{Real, SubsetOf, SupersetOf};
|
||
|
|
use alga::linear::Rotation as AlgaRotation;
|
||
|
|
|
||
|
|
use core::{Matrix, SquareMatrix};
|
||
|
|
use core::dimension::{DimName, DimNameSum, DimNameAdd, U1, U3, U4};
|
||
|
|
use core::storage::OwnedStorage;
|
||
|
|
use core::allocator::{OwnedAllocator, Allocator};
|
||
|
|
|
||
|
|
use geometry::{PointBase, TranslationBase, RotationBase, UnitQuaternionBase, OwnedUnitQuaternionBase, IsometryBase,
|
||
|
|
SimilarityBase, TransformBase, SuperTCategoryOf, TAffine};
|
||
|
|
|
||
|
|
/*
|
||
|
|
* This file provides the following conversions:
|
||
|
|
* =============================================
|
||
|
|
*
|
||
|
|
* RotationBase -> RotationBase
|
||
|
|
* Rotation3 -> UnitQuaternion
|
||
|
|
* RotationBase -> IsometryBase
|
||
|
|
* RotationBase -> SimilarityBase
|
||
|
|
* RotationBase -> TransformBase
|
||
|
|
* RotationBase -> Matrix (homogeneous)
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
impl<N1, N2, D: DimName, SA, SB> SubsetOf<RotationBase<N2, D, SB>> for RotationBase<N1, D, SA>
|
||
|
|
where N1: Real,
|
||
|
|
N2: Real + SupersetOf<N1>,
|
||
|
|
SA: OwnedStorage<N1, D, D>,
|
||
|
|
SB: OwnedStorage<N2, D, D>,
|
||
|
|
SA::Alloc: OwnedAllocator<N1, D, D, SA>,
|
||
|
|
SB::Alloc: OwnedAllocator<N2, D, D, SB> {
|
||
|
|
#[inline]
|
||
|
|
fn to_superset(&self) -> RotationBase<N2, D, SB> {
|
||
|
|
RotationBase::from_matrix_unchecked(self.matrix().to_superset())
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
fn is_in_subset(rot: &RotationBase<N2, D, SB>) -> bool {
|
||
|
|
::is_convertible::<_, Matrix<N1, D, D, SA>>(rot.matrix())
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
unsafe fn from_superset_unchecked(rot: &RotationBase<N2, D, SB>) -> Self {
|
||
|
|
RotationBase::from_matrix_unchecked(rot.matrix().to_subset_unchecked())
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
impl<N1, N2, SA, SB> SubsetOf<UnitQuaternionBase<N2, SB>> for RotationBase<N1, U3, SA>
|
||
|
|
where N1: Real,
|
||
|
|
N2: Real + SupersetOf<N1>,
|
||
|
|
SA: OwnedStorage<N1, U3, U3>,
|
||
|
|
SB: OwnedStorage<N2, U4, U1>,
|
||
|
|
SA::Alloc: OwnedAllocator<N1, U3, U3, SA> +
|
||
|
|
Allocator<N1, U4, U1> +
|
||
|
|
Allocator<N1, U3, U1>,
|
||
|
|
SB::Alloc: OwnedAllocator<N2, U4, U1, SB> +
|
||
|
|
Allocator<N2, U3, U3> {
|
||
|
|
#[inline]
|
||
|
|
fn to_superset(&self) -> UnitQuaternionBase<N2, SB> {
|
||
|
|
let q = OwnedUnitQuaternionBase::<N1, SA::Alloc>::from_rotation_matrix(self);
|
||
|
|
q.to_superset()
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
fn is_in_subset(q: &UnitQuaternionBase<N2, SB>) -> bool {
|
||
|
|
::is_convertible::<_, OwnedUnitQuaternionBase<N1, SA::Alloc>>(q)
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
unsafe fn from_superset_unchecked(q: &UnitQuaternionBase<N2, SB>) -> Self {
|
||
|
|
let q: OwnedUnitQuaternionBase<N1, SA::Alloc> = ::convert_ref_unchecked(q);
|
||
|
|
q.to_rotation_matrix()
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
impl<N1, N2, D: DimName, SA, SB, R> SubsetOf<IsometryBase<N2, D, SB, R>> for RotationBase<N1, D, SA>
|
||
|
|
where N1: Real,
|
||
|
|
N2: Real + SupersetOf<N1>,
|
||
|
|
SA: OwnedStorage<N1, D, D>,
|
||
|
|
SB: OwnedStorage<N2, D, U1>,
|
||
|
|
R: AlgaRotation<PointBase<N2, D, SB>> + SupersetOf<RotationBase<N1, D, SA>>,
|
||
|
|
SA::Alloc: OwnedAllocator<N1, D, D, SA>,
|
||
|
|
SB::Alloc: OwnedAllocator<N2, D, U1, SB> {
|
||
|
|
#[inline]
|
||
|
|
fn to_superset(&self) -> IsometryBase<N2, D, SB, R> {
|
||
|
|
IsometryBase::from_parts(TranslationBase::identity(), ::convert_ref(self))
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
fn is_in_subset(iso: &IsometryBase<N2, D, SB, R>) -> bool {
|
||
|
|
iso.translation.vector.is_zero()
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
unsafe fn from_superset_unchecked(iso: &IsometryBase<N2, D, SB, R>) -> Self {
|
||
|
|
::convert_ref_unchecked(&iso.rotation)
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
impl<N1, N2, D: DimName, SA, SB, R> SubsetOf<SimilarityBase<N2, D, SB, R>> for RotationBase<N1, D, SA>
|
||
|
|
where N1: Real,
|
||
|
|
N2: Real + SupersetOf<N1>,
|
||
|
|
SA: OwnedStorage<N1, D, D>,
|
||
|
|
SB: OwnedStorage<N2, D, U1>,
|
||
|
|
R: AlgaRotation<PointBase<N2, D, SB>> + SupersetOf<RotationBase<N1, D, SA>>,
|
||
|
|
SA::Alloc: OwnedAllocator<N1, D, D, SA>,
|
||
|
|
SB::Alloc: OwnedAllocator<N2, D, U1, SB> {
|
||
|
|
#[inline]
|
||
|
|
fn to_superset(&self) -> SimilarityBase<N2, D, SB, R> {
|
||
|
|
SimilarityBase::from_parts(TranslationBase::identity(), ::convert_ref(self), N2::one())
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
fn is_in_subset(sim: &SimilarityBase<N2, D, SB, R>) -> bool {
|
||
|
|
sim.isometry.translation.vector.is_zero() &&
|
||
|
|
sim.scaling() == N2::one()
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
unsafe fn from_superset_unchecked(sim: &SimilarityBase<N2, D, SB, R>) -> Self {
|
||
|
|
::convert_ref_unchecked(&sim.isometry.rotation)
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
impl<N1, N2, D, SA, SB, C> SubsetOf<TransformBase<N2, D, SB, C>> for RotationBase<N1, D, SA>
|
||
|
|
where N1: Real,
|
||
|
|
N2: Real + SupersetOf<N1>,
|
||
|
|
SA: OwnedStorage<N1, D, D>,
|
||
|
|
SB: OwnedStorage<N2, DimNameSum<D, U1>, DimNameSum<D, U1>>,
|
||
|
|
C: SuperTCategoryOf<TAffine>,
|
||
|
|
D: DimNameAdd<U1>,
|
||
|
|
SA::Alloc: OwnedAllocator<N1, D, D, SA> +
|
||
|
|
Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>>,
|
||
|
|
SB::Alloc: OwnedAllocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>, SB> +
|
||
|
|
Allocator<N2, D, D> +
|
||
|
|
Allocator<N2, U1, D> {
|
||
|
|
#[inline]
|
||
|
|
fn to_superset(&self) -> TransformBase<N2, D, SB, C> {
|
||
|
|
TransformBase::from_matrix_unchecked(self.to_homogeneous().to_superset())
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
fn is_in_subset(t: &TransformBase<N2, D, SB, C>) -> bool {
|
||
|
|
<Self as SubsetOf<_>>::is_in_subset(t.matrix())
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
unsafe fn from_superset_unchecked(t: &TransformBase<N2, D, SB, C>) -> Self {
|
||
|
|
Self::from_superset_unchecked(t.matrix())
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
impl<N1, N2, D, SA, SB> SubsetOf<SquareMatrix<N2, DimNameSum<D, U1>, SB>> for RotationBase<N1, D, SA>
|
||
|
|
where N1: Real,
|
||
|
|
N2: Real + SupersetOf<N1>,
|
||
|
|
SA: OwnedStorage<N1, D, D>,
|
||
|
|
SB: OwnedStorage<N2, DimNameSum<D, U1>, DimNameSum<D, U1>>,
|
||
|
|
D: DimNameAdd<U1>,
|
||
|
|
SA::Alloc: OwnedAllocator<N1, D, D, SA> +
|
||
|
|
Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>>,
|
||
|
|
SB::Alloc: OwnedAllocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>, SB> +
|
||
|
|
Allocator<N2, D, D> +
|
||
|
|
Allocator<N2, U1, D> {
|
||
|
|
#[inline]
|
||
|
|
fn to_superset(&self) -> SquareMatrix<N2, DimNameSum<D, U1>, SB> {
|
||
|
|
self.to_homogeneous().to_superset()
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
fn is_in_subset(m: &SquareMatrix<N2, DimNameSum<D, U1>, SB>) -> bool {
|
||
|
|
let rot = m.fixed_slice::<D, D>(0, 0);
|
||
|
|
let bottom = m.fixed_slice::<U1, D>(D::dim(), 0);
|
||
|
|
|
||
|
|
// Scalar types agree.
|
||
|
|
m.iter().all(|e| SupersetOf::<N1>::is_in_subset(e)) &&
|
||
|
|
// The block part is a rotation.
|
||
|
|
rot.is_special_orthogonal(N2::default_epsilon() * ::convert(100.0)) &&
|
||
|
|
// The bottom row is (0, 0, ..., 1)
|
||
|
|
bottom.iter().all(|e| e.is_zero()) &&
|
||
|
|
m[(D::dim(), D::dim())] == N2::one()
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
unsafe fn from_superset_unchecked(m: &SquareMatrix<N2, DimNameSum<D, U1>, SB>) -> Self {
|
||
|
|
let r = m.fixed_slice::<D, D>(0, 0);
|
||
|
|
Self::from_matrix_unchecked(::convert_unchecked(r.into_owned()))
|
||
|
|
}
|
||
|
|
}
|