forked from M-Labs/nalgebra
264 lines
7.6 KiB
Rust
264 lines
7.6 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::{DimName, DimNameAdd, DimNameSum, U1};
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use crate::base::{DefaultAllocator, MatrixN, Scalar, VectorN};
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use crate::geometry::{
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AbstractRotation, Isometry, Similarity, SuperTCategoryOf, TAffine, Transform, Translation,
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};
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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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* Translation -> Similarity
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* Translation -> Transform
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* Translation -> Matrix (homogeneous)
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*/
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impl<N1, N2, D: DimName> SubsetOf<Translation<N2, D>> for Translation<N1, D>
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where
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N1: Scalar,
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N2: Scalar + SupersetOf<N1>,
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DefaultAllocator: Allocator<N1, D> + Allocator<N2, D>,
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{
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#[inline]
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fn to_superset(&self) -> Translation<N2, 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<N2, D>) -> bool {
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crate::is_convertible::<_, VectorN<N1, D>>(&rot.vector)
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}
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#[inline]
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fn from_superset_unchecked(rot: &Translation<N2, 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<N1, N2, D: DimName, R> SubsetOf<Isometry<N2, D, R>> for Translation<N1, D>
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where
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N1: RealField,
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N2: RealField + SupersetOf<N1>,
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R: AbstractRotation<N2, D>,
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DefaultAllocator: Allocator<N1, D> + Allocator<N2, D>,
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{
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#[inline]
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fn to_superset(&self) -> Isometry<N2, D, R> {
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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<N2, D, R>) -> 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<N2, D, R>) -> Self {
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Self::from_superset_unchecked(&iso.translation)
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}
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}
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impl<N1, N2, D: DimName, R> SubsetOf<Similarity<N2, D, R>> for Translation<N1, D>
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where
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N1: RealField,
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N2: RealField + SupersetOf<N1>,
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R: AbstractRotation<N2, D>,
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DefaultAllocator: Allocator<N1, D> + Allocator<N2, D>,
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{
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#[inline]
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fn to_superset(&self) -> Similarity<N2, D, R> {
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Similarity::from_parts(self.to_superset(), R::identity(), N2::one())
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}
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#[inline]
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fn is_in_subset(sim: &Similarity<N2, D, R>) -> bool {
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sim.isometry.rotation == R::identity() && sim.scaling() == N2::one()
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}
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#[inline]
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fn from_superset_unchecked(sim: &Similarity<N2, D, R>) -> 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<N1, N2, D, C> SubsetOf<Transform<N2, D, C>> for Translation<N1, D>
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where
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N1: RealField,
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N2: RealField + SupersetOf<N1>,
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C: SuperTCategoryOf<TAffine>,
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D: DimNameAdd<U1>,
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DefaultAllocator: Allocator<N1, D>
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+ Allocator<N2, D>
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+ Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>>
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+ Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>>,
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{
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#[inline]
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fn to_superset(&self) -> Transform<N2, D, C> {
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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<N2, D, C>) -> 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<N2, D, C>) -> Self {
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Self::from_superset_unchecked(t.matrix())
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}
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}
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impl<N1, N2, D> SubsetOf<MatrixN<N2, DimNameSum<D, U1>>> for Translation<N1, D>
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where
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N1: RealField,
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N2: RealField + SupersetOf<N1>,
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D: DimNameAdd<U1>,
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DefaultAllocator: Allocator<N1, D>
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+ Allocator<N2, D>
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+ Allocator<N1, DimNameSum<D, U1>, DimNameSum<D, U1>>
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+ Allocator<N2, DimNameSum<D, U1>, DimNameSum<D, U1>>,
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{
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#[inline]
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fn to_superset(&self) -> MatrixN<N2, DimNameSum<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: &MatrixN<N2, DimNameSum<D, U1>>) -> bool {
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let id = m.fixed_slice::<DimNameSum<D, U1>, D>(0, 0);
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// Scalar types agree.
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m.iter().all(|e| SupersetOf::<N1>::is_in_subset(e)) &&
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// The block part does nothing.
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id.is_identity(N2::zero()) &&
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// The normalization factor is one.
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m[(D::dim(), D::dim())] == N2::one()
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}
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#[inline]
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fn from_superset_unchecked(m: &MatrixN<N2, DimNameSum<D, U1>>) -> Self {
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let t = m.fixed_slice::<D, U1>(0, D::dim());
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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<N: Scalar + Zero + One, D: DimName> From<Translation<N, D>> for MatrixN<N, DimNameSum<D, U1>>
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where
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D: DimNameAdd<U1>,
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DefaultAllocator: Allocator<N, D> + Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
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{
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#[inline]
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fn from(t: Translation<N, D>) -> Self {
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t.to_homogeneous()
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}
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}
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impl<N: Scalar, D: DimName> From<VectorN<N, D>> for Translation<N, D>
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where DefaultAllocator: Allocator<N, D>
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{
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#[inline]
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fn from(vector: VectorN<N, D>) -> Self {
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Translation { vector }
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}
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}
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impl<N: Scalar + Copy + PrimitiveSimdValue, D: DimName> From<[Translation<N::Element, D>; 2]>
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for Translation<N, D>
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where
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N: From<[<N as simba::simd::SimdValue>::Element; 2]>,
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N::Element: Scalar + Copy,
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DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
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<DefaultAllocator as Allocator<N::Element, D>>::Buffer: Copy,
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{
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#[inline]
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fn from(arr: [Translation<N::Element, D>; 2]) -> Self {
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Self::from(VectorN::from([arr[0].vector, arr[1].vector]))
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}
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}
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impl<N: Scalar + Copy + PrimitiveSimdValue, D: DimName> From<[Translation<N::Element, D>; 4]>
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for Translation<N, D>
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where
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N: From<[<N as simba::simd::SimdValue>::Element; 4]>,
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N::Element: Scalar + Copy,
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DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
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<DefaultAllocator as Allocator<N::Element, D>>::Buffer: Copy,
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{
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#[inline]
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fn from(arr: [Translation<N::Element, D>; 4]) -> Self {
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Self::from(VectorN::from([
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arr[0].vector,
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arr[1].vector,
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arr[2].vector,
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arr[3].vector,
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]))
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}
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}
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impl<N: Scalar + Copy + PrimitiveSimdValue, D: DimName> From<[Translation<N::Element, D>; 8]>
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for Translation<N, D>
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where
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N: From<[<N as simba::simd::SimdValue>::Element; 8]>,
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N::Element: Scalar + Copy,
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DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
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<DefaultAllocator as Allocator<N::Element, D>>::Buffer: Copy,
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{
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#[inline]
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fn from(arr: [Translation<N::Element, D>; 8]) -> Self {
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Self::from(VectorN::from([
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arr[0].vector,
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arr[1].vector,
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arr[2].vector,
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arr[3].vector,
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arr[4].vector,
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arr[5].vector,
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arr[6].vector,
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arr[7].vector,
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]))
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}
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}
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impl<N: Scalar + Copy + PrimitiveSimdValue, D: DimName> From<[Translation<N::Element, D>; 16]>
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for Translation<N, D>
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where
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N: From<[<N as simba::simd::SimdValue>::Element; 16]>,
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N::Element: Scalar + Copy,
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DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
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<DefaultAllocator as Allocator<N::Element, D>>::Buffer: Copy,
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{
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#[inline]
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fn from(arr: [Translation<N::Element, D>; 16]) -> Self {
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Self::from(VectorN::from([
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arr[0].vector,
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arr[1].vector,
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arr[2].vector,
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arr[3].vector,
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arr[4].vector,
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arr[5].vector,
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arr[6].vector,
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arr[7].vector,
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arr[8].vector,
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arr[9].vector,
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arr[10].vector,
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arr[11].vector,
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arr[12].vector,
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arr[13].vector,
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arr[14].vector,
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arr[15].vector,
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]))
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}
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}
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