forked from M-Labs/nalgebra
149 lines
4.1 KiB
Rust
149 lines
4.1 KiB
Rust
use num::Zero;
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use num_complex::Complex;
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use alga::general::{SubsetOf, SupersetOf, Real};
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use alga::linear::Rotation as AlgaRotation;
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use core::Matrix3;
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use core::dimension::U2;
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use geometry::{UnitComplex, Isometry, Similarity, Transform, SuperTCategoryOf, TAffine, Translation,
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Point2, Rotation2};
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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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* UnitComplex -> UnitComplex
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* UnitComplex -> Rotation<U1>
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* UnitComplex -> Isometry<U2>
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* UnitComplex -> Similarity<U2>
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* UnitComplex -> Transform<U2>
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* UnitComplex -> Matrix<U3> (homogeneous)
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*
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* NOTE:
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* UnitComplex -> Complex is already provided by: Unit<T> -> T
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*/
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impl<N1, N2> SubsetOf<UnitComplex<N2>> for UnitComplex<N1>
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where N1: Real,
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N2: Real + SupersetOf<N1> {
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#[inline]
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fn to_superset(&self) -> UnitComplex<N2> {
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UnitComplex::new_unchecked(self.as_ref().to_superset())
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}
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#[inline]
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fn is_in_subset(uq: &UnitComplex<N2>) -> bool {
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::is_convertible::<_, Complex<N1>>(uq.as_ref())
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}
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#[inline]
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unsafe fn from_superset_unchecked(uq: &UnitComplex<N2>) -> Self {
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Self::new_unchecked(::convert_ref_unchecked(uq.as_ref()))
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}
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}
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impl<N1, N2> SubsetOf<Rotation2<N2>> for UnitComplex<N1>
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where N1: Real,
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N2: Real + SupersetOf<N1> {
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#[inline]
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fn to_superset(&self) -> Rotation2<N2> {
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let q: UnitComplex<N2> = self.to_superset();
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q.to_rotation_matrix().to_superset()
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}
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#[inline]
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fn is_in_subset(rot: &Rotation2<N2>) -> bool {
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::is_convertible::<_, Rotation2<N1>>(rot)
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}
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#[inline]
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unsafe fn from_superset_unchecked(rot: &Rotation2<N2>) -> Self {
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let q = UnitComplex::<N2>::from_rotation_matrix(rot);
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::convert_unchecked(q)
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}
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}
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impl<N1, N2, R> SubsetOf<Isometry<N2, U2, R>> for UnitComplex<N1>
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where N1: Real,
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N2: Real + SupersetOf<N1>,
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R: AlgaRotation<Point2<N2>> + SupersetOf<UnitComplex<N1>> {
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#[inline]
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fn to_superset(&self) -> Isometry<N2, U2, R> {
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Isometry::from_parts(Translation::identity(), ::convert_ref(self))
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}
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#[inline]
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fn is_in_subset(iso: &Isometry<N2, U2, R>) -> bool {
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iso.translation.vector.is_zero()
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}
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#[inline]
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unsafe fn from_superset_unchecked(iso: &Isometry<N2, U2, R>) -> Self {
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::convert_ref_unchecked(&iso.rotation)
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}
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}
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impl<N1, N2, R> SubsetOf<Similarity<N2, U2, R>> for UnitComplex<N1>
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where N1: Real,
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N2: Real + SupersetOf<N1>,
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R: AlgaRotation<Point2<N2>> + SupersetOf<UnitComplex<N1>> {
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#[inline]
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fn to_superset(&self) -> Similarity<N2, U2, R> {
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Similarity::from_isometry(::convert_ref(self), N2::one())
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}
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#[inline]
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fn is_in_subset(sim: &Similarity<N2, U2, R>) -> bool {
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sim.isometry.translation.vector.is_zero() &&
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sim.scaling() == N2::one()
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}
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#[inline]
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unsafe fn from_superset_unchecked(sim: &Similarity<N2, U2, R>) -> Self {
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::convert_ref_unchecked(&sim.isometry)
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}
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}
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impl<N1, N2, C> SubsetOf<Transform<N2, U2, C>> for UnitComplex<N1>
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where N1: Real,
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N2: Real + SupersetOf<N1>,
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C: SuperTCategoryOf<TAffine> {
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#[inline]
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fn to_superset(&self) -> Transform<N2, U2, 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, U2, 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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unsafe fn from_superset_unchecked(t: &Transform<N2, U2, 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: Real, N2: Real + SupersetOf<N1>> SubsetOf<Matrix3<N2>> for UnitComplex<N1> {
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#[inline]
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fn to_superset(&self) -> Matrix3<N2> {
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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: &Matrix3<N2>) -> bool {
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::is_convertible::<_, Rotation2<N1>>(m)
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}
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#[inline]
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unsafe fn from_superset_unchecked(m: &Matrix3<N2>) -> Self {
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let rot: Rotation2<N1> = ::convert_ref_unchecked(m);
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Self::from_rotation_matrix(&rot)
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}
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}
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