Add conversion of Rotation and UnitComplex from/to glam types.

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;

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))
+        }
+    }
+}

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()
+        }
+    }
+}

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;