forked from M-Labs/nalgebra
80 lines
2.4 KiB
Rust
80 lines
2.4 KiB
Rust
use simba::scalar::{RealField, SubsetOf};
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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, OMatrix};
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use crate::geometry::{SuperTCategoryOf, TCategory, Transform};
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impl<T1, T2, C1, C2, const D: usize> SubsetOf<Transform<T2, C2, D>> for Transform<T1, C1, D>
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where
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T1: RealField + SubsetOf<T2>,
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T2: RealField,
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C1: TCategory,
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C2: SuperTCategoryOf<C1>,
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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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T1::Epsilon: Copy,
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T2::Epsilon: Copy,
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{
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#[inline]
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fn to_superset(&self) -> Transform<T2, C2, 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, C2, 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, C2, 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, C, const D: usize>
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SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>>
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for Transform<T1, C, D>
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where
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T1: RealField + SubsetOf<T2>,
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T2: RealField,
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C: TCategory,
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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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T1::Epsilon: Copy,
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T2::Epsilon: Copy,
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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.matrix().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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C::check_homogeneous_invariants(m)
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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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Self::from_matrix_unchecked(crate::convert_ref_unchecked(m))
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}
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}
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impl<T: RealField, C, const D: usize> From<Transform<T, C, 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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C: TCategory,
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DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
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{
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#[inline]
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fn from(t: Transform<T, C, D>) -> Self {
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t.to_homogeneous()
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}
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}
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