From 09be376cd9c87806845792e8a7f21a676bdc9b10 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Crozet=20S=C3=A9bastien?= <developer@crozet.re>
Date: Tue, 27 Apr 2021 13:16:44 +0200
Subject: [PATCH] Add more conversion for Isometry

Add [T; D] -> Isometry<T, R, D>
Add SVector<T, D> -> Isometry<T, R, D>
Add Point<T, D> -> Isometry<T, R, D>
---
 src/geometry/isometry_conversion.rs | 30 +++++++++++++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/src/geometry/isometry_conversion.rs b/src/geometry/isometry_conversion.rs
index b8cc4568..75c0d98d 100644
--- a/src/geometry/isometry_conversion.rs
+++ b/src/geometry/isometry_conversion.rs
@@ -9,6 +9,7 @@ use crate::geometry::{
     AbstractRotation, Isometry, Isometry3, Similarity, SuperTCategoryOf, TAffine, Transform,
     Translation, UnitDualQuaternion, UnitQuaternion,
 };
+use crate::{Point, SVector};
 
 /*
  * This file provides the following conversions:
@@ -198,6 +199,35 @@ where
     }
 }
 
+impl<T: SimdRealField, R, const D: usize> From<[T; D]> for Isometry<T, R, D>
+where
+    R: AbstractRotation<T, D>,
+{
+    #[inline]
+    fn from(coords: [T; D]) -> Self {
+        Self::from_parts(coords.into(), R::identity())
+    }
+}
+
+impl<T: SimdRealField, R, const D: usize> From<SVector<T, D>> for Isometry<T, R, D>
+where
+    R: AbstractRotation<T, D>,
+{
+    #[inline]
+    fn from(coords: SVector<T, D>) -> Self {
+        Self::from_parts(coords.into(), R::identity())
+    }
+}
+impl<T: SimdRealField, R, const D: usize> From<Point<T, D>> for Isometry<T, R, D>
+where
+    R: AbstractRotation<T, D>,
+{
+    #[inline]
+    fn from(coords: Point<T, D>) -> Self {
+        Self::from_parts(coords.into(), R::identity())
+    }
+}
+
 impl<T: Scalar + PrimitiveSimdValue, R, const D: usize>
     From<[Isometry<T::Element, R::Element, D>; 2]> for Isometry<T, R, D>
 where