309 lines
8.8 KiB
Rust
309 lines
8.8 KiB
Rust
use num::{One, Zero};
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use simba::scalar::{RealField, SubsetOf, SupersetOf};
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use simba::simd::PrimitiveSimdValue;
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use crate::base::allocator::Allocator;
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use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
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use crate::base::{Const, DefaultAllocator, DimName, OMatrix, OVector, SVector, Scalar};
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use crate::geometry::{
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AbstractRotation, Isometry, Similarity, SuperTCategoryOf, TAffine, Transform, Translation,
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Translation3, UnitDualQuaternion, UnitQuaternion,
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};
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use crate::Point;
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/*
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* This file provides the following conversions:
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* =============================================
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*
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* Translation -> Translation
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* Translation -> Isometry
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* Translation3 -> UnitDualQuaternion
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* Translation -> Similarity
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* Translation -> Transform
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* Translation -> Matrix (homogeneous)
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*/
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impl<T1, T2, const D: usize> SubsetOf<Translation<T2, D>> for Translation<T1, D>
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where
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T1: Scalar,
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T2: Scalar + SupersetOf<T1>,
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{
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#[inline]
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fn to_superset(&self) -> Translation<T2, D> {
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Translation::from(self.vector.to_superset())
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}
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#[inline]
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fn is_in_subset(rot: &Translation<T2, D>) -> bool {
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crate::is_convertible::<_, SVector<T1, D>>(&rot.vector)
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}
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#[inline]
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fn from_superset_unchecked(rot: &Translation<T2, D>) -> Self {
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Translation {
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vector: rot.vector.to_subset_unchecked(),
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}
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}
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}
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impl<T1, T2, R, const D: usize> SubsetOf<Isometry<T2, R, D>> for Translation<T1, D>
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where
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T1: RealField,
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T2: RealField + SupersetOf<T1>,
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R: AbstractRotation<T2, D>,
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{
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#[inline]
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fn to_superset(&self) -> Isometry<T2, R, D> {
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Isometry::from_parts(self.to_superset(), R::identity())
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}
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#[inline]
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fn is_in_subset(iso: &Isometry<T2, R, D>) -> bool {
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iso.rotation == R::identity()
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}
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#[inline]
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fn from_superset_unchecked(iso: &Isometry<T2, R, D>) -> Self {
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Self::from_superset_unchecked(&iso.translation)
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}
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}
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impl<T1, T2> SubsetOf<UnitDualQuaternion<T2>> for Translation3<T1>
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where
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T1: RealField,
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T2: RealField + SupersetOf<T1>,
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{
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#[inline]
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fn to_superset(&self) -> UnitDualQuaternion<T2> {
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let dq = UnitDualQuaternion::<T1>::from_parts(self.clone(), UnitQuaternion::identity());
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dq.to_superset()
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}
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#[inline]
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fn is_in_subset(dq: &UnitDualQuaternion<T2>) -> bool {
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crate::is_convertible::<_, Translation<T1, 3>>(&dq.translation())
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&& dq.rotation() == UnitQuaternion::identity()
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}
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#[inline]
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fn from_superset_unchecked(dq: &UnitDualQuaternion<T2>) -> Self {
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let dq: UnitDualQuaternion<T1> = crate::convert_ref_unchecked(dq);
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dq.translation()
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}
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}
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impl<T1, T2, R, const D: usize> SubsetOf<Similarity<T2, R, D>> for Translation<T1, D>
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where
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T1: RealField,
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T2: RealField + SupersetOf<T1>,
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R: AbstractRotation<T2, D>,
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{
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#[inline]
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fn to_superset(&self) -> Similarity<T2, R, D> {
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Similarity::from_parts(self.to_superset(), R::identity(), T2::one())
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}
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#[inline]
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fn is_in_subset(sim: &Similarity<T2, R, D>) -> bool {
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sim.isometry.rotation == R::identity() && sim.scaling() == T2::one()
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}
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#[inline]
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fn from_superset_unchecked(sim: &Similarity<T2, R, D>) -> Self {
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Self::from_superset_unchecked(&sim.isometry.translation)
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}
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}
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impl<T1, T2, C, const D: usize> SubsetOf<Transform<T2, C, D>> for Translation<T1, D>
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where
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T1: RealField,
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T2: RealField + SupersetOf<T1>,
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C: SuperTCategoryOf<TAffine>,
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Const<D>: DimNameAdd<U1>,
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DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
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+ Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
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{
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#[inline]
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fn to_superset(&self) -> Transform<T2, C, D> {
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Transform::from_matrix_unchecked(self.to_homogeneous().to_superset())
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}
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#[inline]
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fn is_in_subset(t: &Transform<T2, C, D>) -> bool {
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<Self as SubsetOf<_>>::is_in_subset(t.matrix())
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}
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#[inline]
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fn from_superset_unchecked(t: &Transform<T2, C, D>) -> Self {
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Self::from_superset_unchecked(t.matrix())
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}
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}
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impl<T1, T2, const D: usize>
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SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>> for Translation<T1, D>
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where
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T1: RealField,
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T2: RealField + SupersetOf<T1>,
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Const<D>: DimNameAdd<U1>,
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DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
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+ Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
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// + Allocator<T1, D>
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// + Allocator<T2, D>
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{
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#[inline]
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fn to_superset(&self) -> OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> {
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self.to_homogeneous().to_superset()
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}
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#[inline]
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fn is_in_subset(m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>) -> bool {
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let id = m.generic_slice((0, 0), (DimNameSum::<Const<D>, U1>::name(), Const::<D>));
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// Scalar types agree.
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m.iter().all(|e| SupersetOf::<T1>::is_in_subset(e)) &&
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// The block part does nothing.
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id.is_identity(T2::zero()) &&
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// The normalization factor is one.
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m[(D, D)] == T2::one()
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}
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#[inline]
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fn from_superset_unchecked(
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m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
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) -> Self {
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let t = m.fixed_slice::<D, 1>(0, D);
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Self {
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vector: crate::convert_unchecked(t.into_owned()),
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}
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}
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}
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impl<T: Scalar + Zero + One, const D: usize> From<Translation<T, D>>
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for OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
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where
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Const<D>: DimNameAdd<U1>,
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DefaultAllocator:
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Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> + Allocator<T, Const<D>>,
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{
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#[inline]
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fn from(t: Translation<T, D>) -> Self {
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t.to_homogeneous()
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}
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}
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impl<T: Scalar, const D: usize> From<OVector<T, Const<D>>> for Translation<T, D> {
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#[inline]
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fn from(vector: OVector<T, Const<D>>) -> Self {
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Translation { vector }
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}
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}
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impl<T: Scalar, const D: usize> From<[T; D]> for Translation<T, D> {
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#[inline]
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fn from(coords: [T; D]) -> Self {
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Translation {
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vector: coords.into(),
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}
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}
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}
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impl<T: Scalar, const D: usize> From<Point<T, D>> for Translation<T, D> {
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#[inline]
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fn from(pt: Point<T, D>) -> Self {
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Translation {
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vector: pt.coords.into(),
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}
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}
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}
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impl<T: Scalar, const D: usize> Into<[T; D]> for Translation<T, D> {
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#[inline]
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fn into(self) -> [T; D] {
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self.vector.into()
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}
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}
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impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 2]>
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for Translation<T, D>
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where
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T: From<[<T as simba::simd::SimdValue>::Element; 2]>,
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T::Element: Scalar,
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{
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#[inline]
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fn from(arr: [Translation<T::Element, D>; 2]) -> Self {
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Self::from(OVector::from([
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arr[0].vector.clone(),
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arr[1].vector.clone(),
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]))
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}
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}
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impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 4]>
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for Translation<T, D>
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where
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T: From<[<T as simba::simd::SimdValue>::Element; 4]>,
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T::Element: Scalar,
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{
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#[inline]
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fn from(arr: [Translation<T::Element, D>; 4]) -> Self {
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Self::from(OVector::from([
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arr[0].vector.clone(),
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arr[1].vector.clone(),
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arr[2].vector.clone(),
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arr[3].vector.clone(),
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]))
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}
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}
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impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 8]>
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for Translation<T, D>
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where
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T: From<[<T as simba::simd::SimdValue>::Element; 8]>,
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T::Element: Scalar,
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{
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#[inline]
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fn from(arr: [Translation<T::Element, D>; 8]) -> Self {
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Self::from(OVector::from([
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arr[0].vector.clone(),
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arr[1].vector.clone(),
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arr[2].vector.clone(),
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arr[3].vector.clone(),
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arr[4].vector.clone(),
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arr[5].vector.clone(),
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arr[6].vector.clone(),
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arr[7].vector.clone(),
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]))
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}
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}
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impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 16]>
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for Translation<T, D>
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where
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T: From<[<T as simba::simd::SimdValue>::Element; 16]>,
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T::Element: Scalar,
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{
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#[inline]
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fn from(arr: [Translation<T::Element, D>; 16]) -> Self {
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Self::from(OVector::from([
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arr[0].vector.clone(),
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arr[1].vector.clone(),
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arr[2].vector.clone(),
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arr[3].vector.clone(),
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arr[4].vector.clone(),
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arr[5].vector.clone(),
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arr[6].vector.clone(),
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arr[7].vector.clone(),
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arr[8].vector.clone(),
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arr[9].vector.clone(),
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arr[10].vector.clone(),
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arr[11].vector.clone(),
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arr[12].vector.clone(),
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arr[13].vector.clone(),
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arr[14].vector.clone(),
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arr[15].vector.clone(),
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]))
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}
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}
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