From bdf0de68cf189b68cfd903061e9d7e8c60a12333 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Crozet=20S=C3=A9bastien?= <developer@crozet.re>
Date: Sat, 6 Mar 2021 12:38:15 +0100
Subject: [PATCH] Add conversion of Rotation and UnitComplex from/to glam
 types.

---
 src/geometry/mod.rs                       |  4 --
 src/third_party/glam/glam_rotation.rs     | 64 +++++++++++++++++++++++
 src/third_party/glam/glam_unit_complex.rs | 36 +++++++++++++
 src/third_party/glam/mod.rs               |  2 +
 4 files changed, 102 insertions(+), 4 deletions(-)
 create mode 100644 src/third_party/glam/glam_rotation.rs
 create mode 100644 src/third_party/glam/glam_unit_complex.rs

diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index ef5e3eff..2675817e 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -23,8 +23,6 @@ mod rotation_simba; // TODO: implement Rotation methods.
 mod rotation_specialization;
 
 mod quaternion;
-#[cfg(feature = "alga")]
-mod quaternion_alga;
 mod quaternion_construction;
 mod quaternion_conversion;
 mod quaternion_coordinates;
@@ -32,8 +30,6 @@ mod quaternion_ops;
 mod quaternion_simba;
 
 mod dual_quaternion;
-#[cfg(feature = "alga")]
-mod dual_quaternion_alga;
 mod dual_quaternion_construction;
 mod dual_quaternion_conversion;
 mod dual_quaternion_ops;
diff --git a/src/third_party/glam/glam_rotation.rs b/src/third_party/glam/glam_rotation.rs
new file mode 100644
index 00000000..2db9f50e
--- /dev/null
+++ b/src/third_party/glam/glam_rotation.rs
@@ -0,0 +1,64 @@
+use crate::{Rotation2, Rotation3, UnitQuaternion};
+use glam::{DMat2, DQuat, Mat2, Quat};
+
+impl From<Rotation2<f32>> for Mat2 {
+    #[inline]
+    fn from(e: Rotation2<f32>) -> Mat2 {
+        e.into_inner().into()
+    }
+}
+
+impl From<Rotation2<f64>> for DMat2 {
+    #[inline]
+    fn from(e: Rotation2<f64>) -> DMat2 {
+        e.into_inner().into()
+    }
+}
+
+impl From<Rotation3<f32>> for Quat {
+    #[inline]
+    fn from(e: Rotation3<f32>) -> Quat {
+        UnitQuaternion::from(e).into()
+    }
+}
+
+impl From<Rotation3<f64>> for DQuat {
+    #[inline]
+    fn from(e: Rotation3<f64>) -> DQuat {
+        UnitQuaternion::from(e).into()
+    }
+}
+
+#[cfg(feature = "convert-glam-unchecked")]
+mod unchecked {
+    use crate::{Rotation2, Rotation3, UnitQuaternion};
+    use glam::{DMat2, DQuat, Mat2, Quat};
+
+    impl From<Mat2> for Rotation2<f32> {
+        #[inline]
+        fn from(e: Mat2) -> Rotation2<f32> {
+            Rotation2::from_matrix_unchecked(e.into())
+        }
+    }
+
+    impl From<DMat2> for Rotation2<f64> {
+        #[inline]
+        fn from(e: DMat2) -> Rotation2<f64> {
+            Rotation2::from_matrix_unchecked(e.into())
+        }
+    }
+
+    impl From<Quat> for Rotation3<f32> {
+        #[inline]
+        fn from(e: Quat) -> Rotation3<f32> {
+            Rotation3::from(UnitQuaternion::from(e))
+        }
+    }
+
+    impl From<DQuat> for Rotation3<f64> {
+        #[inline]
+        fn from(e: DQuat) -> Rotation3<f64> {
+            Rotation3::from(UnitQuaternion::from(e))
+        }
+    }
+}
diff --git a/src/third_party/glam/glam_unit_complex.rs b/src/third_party/glam/glam_unit_complex.rs
new file mode 100644
index 00000000..c5d9cc6a
--- /dev/null
+++ b/src/third_party/glam/glam_unit_complex.rs
@@ -0,0 +1,36 @@
+use crate::UnitComplex;
+use glam::{DMat2, Mat2};
+
+impl From<UnitComplex<f32>> for Mat2 {
+    #[inline]
+    fn from(e: UnitComplex<f32>) -> Mat2 {
+        e.to_rotation_matrix().into_inner().into()
+    }
+}
+
+impl From<UnitComplex<f64>> for DMat2 {
+    #[inline]
+    fn from(e: UnitComplex<f64>) -> DMat2 {
+        e.to_rotation_matrix().into_inner().into()
+    }
+}
+
+#[cfg(feature = "convert-glam-unchecked")]
+mod unchecked {
+    use crate::{Rotation2, UnitComplex};
+    use glam::{DMat2, Mat2};
+
+    impl From<Mat2> for UnitComplex<f32> {
+        #[inline]
+        fn from(e: Mat2) -> UnitComplex<f32> {
+            Rotation2::from_matrix_unchecked(e.into()).into()
+        }
+    }
+
+    impl From<DMat2> for UnitComplex<f64> {
+        #[inline]
+        fn from(e: DMat2) -> UnitComplex<f64> {
+            Rotation2::from_matrix_unchecked(e.into()).into()
+        }
+    }
+}
diff --git a/src/third_party/glam/mod.rs b/src/third_party/glam/mod.rs
index a0bb8cda..55dc82c1 100644
--- a/src/third_party/glam/mod.rs
+++ b/src/third_party/glam/mod.rs
@@ -2,3 +2,5 @@ mod glam_isometry;
 mod glam_matrix;
 mod glam_point;
 mod glam_quaternion;
+mod glam_rotation;
+mod glam_unit_complex;