M-Labs
/
nalgebra
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Implement From<Vector> for Translation and Quaternion.

This commit is contained in:
sebcrozet 2018-10-28 07:33:39 +01:00 committed by Sébastien Crozet
parent 96db8e564a
commit 911ddca588
16 changed files with 83 additions and 70 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
nalgebra-glm/src/gtc/type_ptr.rs
View File

@ -113,7 +113,7 @@ pub fn mat4_to_mat2<N: Scalar>(m: &TMat4<N>) -> TMat2<N> {
/// Creates a quaternion from a slice arranged as `[x, y, z, w]`.
pub fn make_quat<N: Real>(ptr: &[N]) -> Qua<N> {
Quaternion::from_vector(TVec4::from_column_slice(ptr))
Quaternion::from(TVec4::from_column_slice(ptr))
}
/// Creates a 1D vector from a slice.

5
src/geometry/isometry_alga.rs
View File

@ -143,10 +143,7 @@ where
#[inline]
fn append_rotation(&self, r: &Self::Rotation) -> Self {
let shift = r.transform_vector(&self.translation.vector);
Isometry::from_parts(
Translation::from_vector(shift),
r.clone() * self.rotation.clone(),
)
Isometry::from_parts(Translation::from(shift), r.clone() * self.rotation.clone())
}
#[inline]

14
src/geometry/isometry_construction.rs
View File

@ -58,7 +58,7 @@ where DefaultAllocator: Allocator<N, D>
#[inline]
pub fn rotation_wrt_point(r: R, p: Point<N, D>) -> Self {
let shift = r.transform_vector(&-&p.coords);
Self::from_parts(Translation::from_vector(shift + p.coords), r)
Self::from_parts(Translation::from(shift + p.coords), r)
}
}
@ -122,7 +122,7 @@ impl<N: Real> Isometry<N, U2, Rotation2<N>> {
#[inline]
pub fn new(translation: Vector2<N>, angle: N) -> Self {
Self::from_parts(
Translation::from_vector(translation),
Translation::from(translation),
Rotation::<N, U2>::new(angle),
)
}
@ -145,7 +145,7 @@ impl<N: Real> Isometry<N, U2, UnitComplex<N>> {
#[inline]
pub fn new(translation: Vector2<N>, angle: N) -> Self {
Self::from_parts(
Translation::from_vector(translation),
Translation::from(translation),
UnitComplex::from_angle(angle),
)
}
@ -183,7 +183,7 @@ macro_rules! isometry_construction_impl(
#[inline]
pub fn new(translation: Vector3<N>, axisangle: Vector3<N>) -> Self {
Self::from_parts(
Translation::from_vector(translation),
Translation::from(translation),
$RotId::<$($RotParams),*>::from_scaled_axis(axisangle))
}
@ -225,7 +225,7 @@ macro_rules! isometry_construction_impl(
up: &Vector3<N>)
-> Self {
Self::from_parts(
Translation::from_vector(eye.coords.clone()),
Translation::from(eye.coords.clone()),
$RotId::new_observer_frame(&(target - eye), up))
}
@ -270,7 +270,7 @@ macro_rules! isometry_construction_impl(
let rotation = $RotId::look_at_rh(&(target - eye), up);
let trans = &rotation * (-eye);
Self::from_parts(Translation::from_vector(trans.coords), rotation)
Self::from_parts(Translation::from(trans.coords), rotation)
}
/// Builds a left-handed look-at view matrix.
@ -314,7 +314,7 @@ macro_rules! isometry_construction_impl(
let rotation = $RotId::look_at_lh(&(target - eye), up);
let trans = &rotation * (-eye);
Self::from_parts(Translation::from_vector(trans.coords), rotation)
Self::from_parts(Translation::from(trans.coords), rotation)
}
}
}

4
src/geometry/isometry_conversion.rs
View File

@ -141,7 +141,9 @@ where
#[inline]
unsafe fn from_superset_unchecked(m: &MatrixN<N2, DimNameSum<D, U1>>) -> Self {
let t = m.fixed_slice::<D, U1>(0, D::dim()).into_owned();
let t = Translation::from_vector(::convert_unchecked(t));
let t = Translation {
vector: ::convert_unchecked(t),
};
Self::from_parts(t, ::convert_unchecked(m.clone_owned()))
}

24
src/geometry/isometry_ops.rs
View File

@ -142,7 +142,7 @@ isometry_binop_impl_all!(
[ref ref] => {
let shift = self.rotation.transform_vector(&rhs.translation.vector);
Isometry::from_parts(Translation::from_vector(&self.translation.vector + shift),
Isometry::from_parts(Translation::from(&self.translation.vector + shift),
self.rotation.clone() * rhs.rotation.clone()) // FIXME: too bad we have to clone.
};
);
@ -267,7 +267,7 @@ isometry_binop_impl_all!(
[val ref] => &self * right;
[ref ref] => {
let new_tr = &self.translation.vector + self.rotation.transform_vector(&right.vector);
Isometry::from_parts(Translation::from_vector(new_tr), self.rotation.clone())
Isometry::from_parts(Translation::from(new_tr), self.rotation.clone())
};
);
@ -339,10 +339,10 @@ isometry_from_composition_impl_all!(
Mul, mul;
(D, D), (D, U1) for D: DimName;
self: Rotation<N, D>, right: Translation<N, D>, Output = Isometry<N, D, Rotation<N, D>>;
[val val] => Isometry::from_parts(Translation::from_vector(&self * right.vector), self);
[ref val] => Isometry::from_parts(Translation::from_vector(self * right.vector), self.clone());
[val ref] => Isometry::from_parts(Translation::from_vector(&self * &right.vector), self);
[ref ref] => Isometry::from_parts(Translation::from_vector(self * &right.vector), self.clone());
[val val] => Isometry::from_parts(Translation::from(&self * right.vector), self);
[ref val] => Isometry::from_parts(Translation::from(self * right.vector), self.clone());
[val ref] => Isometry::from_parts(Translation::from(&self * &right.vector), self);
[ref ref] => Isometry::from_parts(Translation::from(self * &right.vector), self.clone());
);
// UnitQuaternion × Translation
@ -351,10 +351,10 @@ isometry_from_composition_impl_all!(
(U4, U1), (U3, U1);
self: UnitQuaternion<N>, right: Translation<N, U3>,
Output = Isometry<N, U3, UnitQuaternion<N>>;
[val val] => Isometry::from_parts(Translation::from_vector(&self * right.vector), self);
[ref val] => Isometry::from_parts(Translation::from_vector( self * right.vector), self.clone());
[val ref] => Isometry::from_parts(Translation::from_vector(&self * &right.vector), self);
[ref ref] => Isometry::from_parts(Translation::from_vector( self * &right.vector), self.clone());
[val val] => Isometry::from_parts(Translation::from(&self * right.vector), self);
[ref val] => Isometry::from_parts(Translation::from( self * right.vector), self.clone());
[val ref] => Isometry::from_parts(Translation::from(&self * &right.vector), self);
[ref ref] => Isometry::from_parts(Translation::from( self * &right.vector), self.clone());
);
// Rotation × Isometry
@ -368,7 +368,7 @@ isometry_from_composition_impl_all!(
[val ref] => &self * right;
[ref ref] => {
let shift = self * &right.translation.vector;
Isometry::from_parts(Translation::from_vector(shift), self * &right.rotation)
Isometry::from_parts(Translation::from(shift), self * &right.rotation)
};
);
@ -396,7 +396,7 @@ isometry_from_composition_impl_all!(
[val ref] => &self * right;
[ref ref] => {
let shift = self * &right.translation.vector;
Isometry::from_parts(Translation::from_vector(shift), self * &right.rotation)
Isometry::from_parts(Translation::from(shift), self * &right.rotation)
};
);

2
src/geometry/point_construction.rs
View File

@ -158,7 +158,7 @@ macro_rules! componentwise_constructors_impl(
($($doc: expr; $D: ty, $($args: ident:$irow: expr),*);* $(;)*) => {$(
impl<N: Scalar> Point<N, $D>
where DefaultAllocator: Allocator<N, $D> {
#[doc = "Initializes this matrix from its components."]
#[doc = "Initializes this point from its components."]
#[doc = "# Example\n```"]
#[doc = $doc]
#[doc = "```"]

26
src/geometry/quaternion.rs
View File

@ -68,7 +68,7 @@ impl<N: Real> Copy for Quaternion<N> {}
impl<N: Real> Clone for Quaternion<N> {
#[inline]
fn clone(&self) -> Self {
Quaternion::from_vector(self.coords.clone())
Quaternion::from(self.coords.clone())
}
}
@ -90,7 +90,7 @@ where Owned<N, U4>: Deserialize<'a>
where Des: Deserializer<'a> {
let coords = Vector4::<N>::deserialize(deserializer)?;
Ok(Quaternion::from_vector(coords))
Ok(Quaternion::from(coords))
}
}
@ -106,7 +106,7 @@ impl<N: Real> Quaternion<N> {
#[inline]
#[deprecated(note = "This method is a no-op and will be removed in a future release.")]
pub fn clone_owned(&self) -> Quaternion<N> {
Quaternion::from_vector(self.coords.clone_owned())
Quaternion::from(self.coords.clone_owned())
}
/// Normalizes this quaternion.
@ -122,7 +122,7 @@ impl<N: Real> Quaternion<N> {
/// ```
#[inline]
pub fn normalize(&self) -> Quaternion<N> {
Quaternion::from_vector(self.coords.normalize())
Quaternion::from(self.coords.normalize())
}
/// The conjugate of this quaternion.
@ -142,7 +142,7 @@ impl<N: Real> Quaternion<N> {
-self.coords[2],
self.coords[3],
);
Quaternion::from_vector(v)
Quaternion::from(v)
}
/// Inverts this quaternion if it is not zero.
@ -166,7 +166,7 @@ impl<N: Real> Quaternion<N> {
/// ```
#[inline]
pub fn try_inverse(&self) -> Option<Quaternion<N>> {
let mut res = Quaternion::from_vector(self.coords.clone_owned());
let mut res = Quaternion::from(self.coords.clone_owned());
if res.try_inverse_mut() {
Some(res)
@ -405,7 +405,6 @@ impl<N: Real> Quaternion<N> {
}
}
/// Raise the quaternion to a given floating power.
///
/// # Example
@ -585,14 +584,18 @@ pub type UnitQuaternion<N> = Unit<Quaternion<N>>;
impl<N: Real> UnitQuaternion<N> {
/// Moves this unit quaternion into one that owns its data.
#[inline]
#[deprecated(note = "This method is unnecessary and will be removed in a future release. Use `.clone()` instead.")]
#[deprecated(
note = "This method is unnecessary and will be removed in a future release. Use `.clone()` instead."
)]
pub fn into_owned(self) -> UnitQuaternion<N> {
self
}
/// Clones this unit quaternion into one that owns its data.
#[inline]
#[deprecated(note = "This method is unnecessary and will be removed in a future release. Use `.clone()` instead.")]
#[deprecated(
note = "This method is unnecessary and will be removed in a future release. Use `.clone()` instead."
)]
pub fn clone_owned(&self) -> UnitQuaternion<N> {
*self
}
@ -741,7 +744,7 @@ impl<N: Real> UnitQuaternion<N> {
/// is not well-defined). Use `.try_slerp` instead to avoid the panic.
#[inline]
pub fn slerp(&self, other: &UnitQuaternion<N>, t: N) -> UnitQuaternion<N> {
Unit::new_unchecked(Quaternion::from_vector(
Unit::new_unchecked(Quaternion::from(
Unit::new_unchecked(self.coords)
.slerp(&Unit::new_unchecked(other.coords), t)
.unwrap(),
@ -768,7 +771,7 @@ impl<N: Real> UnitQuaternion<N> {
{
Unit::new_unchecked(self.coords)
.try_slerp(&Unit::new_unchecked(other.coords), t, epsilon)
.map(|q| Unit::new_unchecked(Quaternion::from_vector(q.unwrap())))
.map(|q| Unit::new_unchecked(Quaternion::from(q.unwrap())))
}
/// Compute the conjugate of this unit quaternion in-place.
@ -993,7 +996,6 @@ impl<N: Real> UnitQuaternion<N> {
self.to_rotation_matrix().to_euler_angles()
}
/// Retrieves the euler angles corresponding to this unit quaternion.
///
/// The angles are produced in the form (roll, pitch, yaw).

6
src/geometry/quaternion_alga.rs
View File

@ -98,7 +98,7 @@ impl<N: Real> FiniteDimVectorSpace for Quaternion<N> {
#[inline]
fn canonical_basis_element(i: usize) -> Self {
Self::from_vector(Vector4::canonical_basis_element(i))
Self::from(Vector4::canonical_basis_element(i))
}
#[inline]
@ -131,7 +131,7 @@ impl<N: Real> NormedSpace for Quaternion<N> {
#[inline]
fn normalize(&self) -> Self {
let v = self.coords.normalize();
Self::from_vector(v)
Self::from(v)
}
#[inline]
@ -142,7 +142,7 @@ impl<N: Real> NormedSpace for Quaternion<N> {
#[inline]
fn try_normalize(&self, min_norm: N) -> Option<Self> {
if let Some(v) = self.coords.try_normalize(min_norm) {
Some(Self::from_vector(v))
Some(Self::from(v))
} else {
None
}

3
src/geometry/quaternion_construction.rs
View File

@ -23,6 +23,7 @@ impl<N: Real> Quaternion<N> {
/// Creates a quaternion from a 4D vector. The quaternion scalar part corresponds to the `w`
/// vector component.
#[inline]
#[deprecated(note = "Use `::from` instead.")]
pub fn from_vector(vector: Vector4<N>) -> Self {
Quaternion { coords: vector }
}
@ -34,7 +35,7 @@ impl<N: Real> Quaternion<N> {
#[inline]
pub fn new(w: N, x: N, y: N, z: N) -> Self {
let v = Vector4::<N>::new(x, y, z, w);
Self::from_vector(v)
Self::from(v)
}
/// Creates a new quaternion from its scalar and vector parts. Note that the arguments order does

13
src/geometry/quaternion_conversion.rs
View File

@ -39,7 +39,7 @@ where
{
#[inline]
fn to_superset(&self) -> Quaternion<N2> {
Quaternion::from_vector(self.coords.to_superset())
Quaternion::from(self.coords.to_superset())
}
#[inline]
@ -49,7 +49,9 @@ where
#[inline]
unsafe fn from_superset_unchecked(q: &Quaternion<N2>) -> Self {
Self::from_vector(q.coords.to_subset_unchecked())
Self {
coords: q.coords.to_subset_unchecked(),
}
}
}
@ -229,3 +231,10 @@ impl<N: Real> From<UnitQuaternion<N>> for Matrix3<N> {
q.to_rotation_matrix().unwrap()
}
}
impl<N: Real> From<Vector4<N>> for Quaternion<N> {
#[inline]
fn from(coords: Vector4<N>) -> Self {
Quaternion { coords }
}
}

28
src/geometry/quaternion_ops.rs
View File

@ -103,28 +103,28 @@ quaternion_op_impl!(
Add, add;
(U4, U1), (U4, U1);
self: &'a Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
Quaternion::from_vector(&self.coords + &rhs.coords);
Quaternion::from(&self.coords + &rhs.coords);
'a, 'b);
quaternion_op_impl!(
Add, add;
(U4, U1), (U4, U1);
self: &'a Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
Quaternion::from_vector(&self.coords + rhs.coords);
Quaternion::from(&self.coords + rhs.coords);
'a);
quaternion_op_impl!(
Add, add;
(U4, U1), (U4, U1);
self: Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
Quaternion::from_vector(self.coords + &rhs.coords);
Quaternion::from(self.coords + &rhs.coords);
'b);
quaternion_op_impl!(
Add, add;
(U4, U1), (U4, U1);
self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
Quaternion::from_vector(self.coords + rhs.coords);
Quaternion::from(self.coords + rhs.coords);
);
// Quaternion - Quaternion
@ -132,28 +132,28 @@ quaternion_op_impl!(
Sub, sub;
(U4, U1), (U4, U1);
self: &'a Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
Quaternion::from_vector(&self.coords - &rhs.coords);
Quaternion::from(&self.coords - &rhs.coords);
'a, 'b);
quaternion_op_impl!(
Sub, sub;
(U4, U1), (U4, U1);
self: &'a Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
Quaternion::from_vector(&self.coords - rhs.coords);
Quaternion::from(&self.coords - rhs.coords);
'a);
quaternion_op_impl!(
Sub, sub;
(U4, U1), (U4, U1);
self: Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
Quaternion::from_vector(self.coords - &rhs.coords);
Quaternion::from(self.coords - &rhs.coords);
'b);
quaternion_op_impl!(
Sub, sub;
(U4, U1), (U4, U1);
self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
Quaternion::from_vector(self.coords - rhs.coords);
Quaternion::from(self.coords - rhs.coords);
);
// Quaternion × Quaternion
@ -495,7 +495,7 @@ macro_rules! scalar_op_impl(
#[inline]
fn $op(self, n: N) -> Self::Output {
Quaternion::from_vector(self.coords.$op(n))
Quaternion::from(self.coords.$op(n))
}
}
@ -504,7 +504,7 @@ macro_rules! scalar_op_impl(
#[inline]
fn $op(self, n: N) -> Self::Output {
Quaternion::from_vector((&self.coords).$op(n))
Quaternion::from((&self.coords).$op(n))
}
}
@ -530,7 +530,7 @@ macro_rules! left_scalar_mul_impl(
#[inline]
fn mul(self, right: Quaternion<$T>) -> Self::Output {
Quaternion::from_vector(self * right.coords)
Quaternion::from(self * right.coords)
}
}
@ -539,7 +539,7 @@ macro_rules! left_scalar_mul_impl(
#[inline]
fn mul(self, right: &'b Quaternion<$T>) -> Self::Output {
Quaternion::from_vector(self * &right.coords)
Quaternion::from(self * &right.coords)
}
}
)*}
@ -552,7 +552,7 @@ impl<N: Real> Neg for Quaternion<N> {
#[inline]
fn neg(self) -> Self::Output {
Quaternion::from_vector(-self.coords)
Quaternion::from(-self.coords)
}
}
@ -561,7 +561,7 @@ impl<'a, N: Real> Neg for &'a Quaternion<N> {
#[inline]
fn neg(self) -> Self::Output {
Quaternion::from_vector(-&self.coords)
Quaternion::from(-&self.coords)
}
}

2
src/geometry/similarity.rs
View File

@ -184,7 +184,7 @@ where
);
Self::from_parts(
Translation::from_vector(&self.isometry.translation.vector * scaling),
Translation::from(&self.isometry.translation.vector * scaling),
self.isometry.rotation.clone(),
self.scaling * scaling,
)

6
src/geometry/similarity_construction.rs
View File

@ -70,7 +70,7 @@ where
#[inline]
pub fn rotation_wrt_point(r: R, p: Point<N, D>, scaling: N) -> Self {
let shift = r.transform_vector(&-&p.coords);
Self::from_parts(Translation::from_vector(shift + p.coords), r, scaling)
Self::from_parts(Translation::from(shift + p.coords), r, scaling)
}
}
@ -105,7 +105,7 @@ impl<N: Real> Similarity<N, U2, Rotation2<N>> {
#[inline]
pub fn new(translation: Vector2<N>, angle: N, scaling: N) -> Self {
Self::from_parts(
Translation::from_vector(translation),
Translation::from(translation),
Rotation2::new(angle),
scaling,
)
@ -117,7 +117,7 @@ impl<N: Real> Similarity<N, U2, UnitComplex<N>> {
#[inline]
pub fn new(translation: Vector2<N>, angle: N, scaling: N) -> Self {
Self::from_parts(
Translation::from_vector(translation),
Translation::from(translation),
UnitComplex::new(angle),
scaling,
)

4
src/geometry/similarity_conversion.rs
View File

@ -155,7 +155,9 @@ where
}
let t = m.fixed_slice::<D, U1>(0, D::dim()).into_owned();
let t = Translation::from_vector(::convert_unchecked(t));
let t = Translation {
vector: ::convert_unchecked(t),
};
Self::from_parts(t, ::convert_unchecked(mm), ::convert_unchecked(scale))
}

4
src/geometry/similarity_ops.rs
View File

@ -269,7 +269,7 @@ similarity_binop_impl_all!(
[ref ref] => {
let shift = self.isometry.rotation.transform_vector(&rhs.translation.vector) * self.scaling();
Similarity::from_parts(
Translation::from_vector(&self.isometry.translation.vector + shift),
Translation::from(&self.isometry.translation.vector + shift),
self.isometry.rotation.clone() * rhs.rotation.clone(),
self.scaling())
};
@ -352,7 +352,7 @@ similarity_binop_impl_all!(
[ref ref] => {
let shift = self.isometry.rotation.transform_vector(&right.vector) * self.scaling();
Similarity::from_parts(
Translation::from_vector(&self.isometry.translation.vector + shift),
Translation::from(&self.isometry.translation.vector + shift),
self.isometry.rotation.clone(),
self.scaling())
};

10
src/geometry/unit_complex_ops.rs
View File

@ -260,7 +260,7 @@ complex_op_impl_all!(
[val ref] => &self * rhs;
[ref ref] => {
let shift = self * &rhs.translation.vector;
Isometry::from_parts(Translation::from_vector(shift), self * &rhs.rotation)
Isometry::from_parts(Translation::from(shift), self * &rhs.rotation)
};
);
@ -282,10 +282,10 @@ complex_op_impl_all!(
(U2, U1);
self: UnitComplex<N>, rhs: Translation<N, U2>,
Output = Isometry<N, U2, UnitComplex<N>>;
[val val] => Isometry::from_parts(Translation::from_vector(&self * rhs.vector), self);
[ref val] => Isometry::from_parts(Translation::from_vector( self * rhs.vector), self.clone());
[val ref] => Isometry::from_parts(Translation::from_vector(&self * &rhs.vector), self);
[ref ref] => Isometry::from_parts(Translation::from_vector( self * &rhs.vector), self.clone());
[val val] => Isometry::from_parts(Translation::from(&self * rhs.vector), self);
[ref val] => Isometry::from_parts(Translation::from( self * rhs.vector), self.clone());
[val ref] => Isometry::from_parts(Translation::from(&self * &rhs.vector), self);
[ref ref] => Isometry::from_parts(Translation::from( self * &rhs.vector), self.clone());
);
// Translation × UnitComplex