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Mint Euler angles

This commit is contained in:
Dzmitry Malyshau 2017-07-25 11:55:54 -04:00 committed by Sébastien Crozet
parent b0127ab5dc
commit ce2063c191
2 changed files with 16 additions and 3 deletions
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4
src/geometry/quaternion_conversion.rs
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@ -177,8 +177,8 @@ impl<N, S> From<mint::Quaternion<N>> for QuaternionBase<N, S>
where
N: Real,
S: OwnedStorage<N, U4, U1>,
S::Alloc: OwnedAllocator<N, U4, U1, S>,
{
S::Alloc: OwnedAllocator<N, U4, U1, S> {
fn from(q: mint::Quaternion<N>) -> Self {
QuaternionBase::new(q.s, q.v.x, q.v.y, q.v.z)
}

15
src/geometry/rotation_conversion.rs
View File

@ -22,7 +22,9 @@ use geometry::{Point, Translation, Rotation, UnitQuaternion, UnitComplex, Isomet
* Rotation -> Similarity
* Rotation -> Transform
* Rotation -> Matrix (homogeneous)
*/
* mint::EulerAngles -> RotationBase
*/
impl<N1, N2, D: DimName> SubsetOf<Rotation<N2, D>> for Rotation<N1, D>
@ -201,3 +203,14 @@ impl<N1, N2, D> SubsetOf<MatrixN<N2, DimNameSum<D, U1>>> for Rotation<N1, D>
Self::from_matrix_unchecked(::convert_unchecked(r.into_owned()))
}
}
#[cfg(feature = "mint")]
impl<N, S> From<mint::EulerAngles<N, mint::IntraXYZ>> for RotationBase<N, U3, S>
where N: Real,
S: OwnedStorage<N, U3, U3>,
S::Alloc: OwnedAllocator<N, U3, U3, S> {
fn from(euler: mint::EulerAngles<N, mint::IntraXYZ>) -> Self {
Self::from_euler_angles(euler.a, euler.b, euler.c)
}
}