nalgebra/geometry/
isometry_conversion.rs

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1use simba::scalar::{RealField, SubsetOf, SupersetOf};
2use simba::simd::{PrimitiveSimdValue, SimdRealField, SimdValue};
3
4use crate::base::allocator::Allocator;
5use crate::base::dimension::{DimMin, DimNameAdd, DimNameSum, U1};
6use crate::base::{Const, DefaultAllocator, OMatrix, Scalar};
7
8use crate::geometry::{
9    AbstractRotation, Isometry, Isometry3, Similarity, SuperTCategoryOf, TAffine, Transform,
10    Translation, UnitDualQuaternion, UnitQuaternion,
11};
12use crate::{Point, SVector};
13
14/*
15 * This file provides the following conversions:
16 * =============================================
17 *
18 * Isometry -> Isometry
19 * Isometry3 -> UnitDualQuaternion
20 * Isometry -> Similarity
21 * Isometry -> Transform
22 * Isometry -> Matrix (homogeneous)
23 */
24
25impl<T1, T2, R1, R2, const D: usize> SubsetOf<Isometry<T2, R2, D>> for Isometry<T1, R1, D>
26where
27    T1: RealField,
28    T2: RealField + SupersetOf<T1>,
29    R1: AbstractRotation<T1, D> + SubsetOf<R2>,
30    R2: AbstractRotation<T2, D>,
31{
32    #[inline]
33    fn to_superset(&self) -> Isometry<T2, R2, D> {
34        Isometry::from_parts(self.translation.to_superset(), self.rotation.to_superset())
35    }
36
37    #[inline]
38    fn is_in_subset(iso: &Isometry<T2, R2, D>) -> bool {
39        crate::is_convertible::<_, Translation<T1, D>>(&iso.translation)
40            && crate::is_convertible::<_, R1>(&iso.rotation)
41    }
42
43    #[inline]
44    fn from_superset_unchecked(iso: &Isometry<T2, R2, D>) -> Self {
45        Isometry::from_parts(
46            iso.translation.to_subset_unchecked(),
47            iso.rotation.to_subset_unchecked(),
48        )
49    }
50}
51
52impl<T1, T2> SubsetOf<UnitDualQuaternion<T2>> for Isometry3<T1>
53where
54    T1: RealField,
55    T2: RealField + SupersetOf<T1>,
56{
57    #[inline]
58    fn to_superset(&self) -> UnitDualQuaternion<T2> {
59        let dq = UnitDualQuaternion::<T1>::from_isometry(self);
60        dq.to_superset()
61    }
62
63    #[inline]
64    fn is_in_subset(dq: &UnitDualQuaternion<T2>) -> bool {
65        crate::is_convertible::<_, UnitQuaternion<T1>>(&dq.rotation())
66            && crate::is_convertible::<_, Translation<T1, 3>>(&dq.translation())
67    }
68
69    #[inline]
70    fn from_superset_unchecked(dq: &UnitDualQuaternion<T2>) -> Self {
71        let dq: UnitDualQuaternion<T1> = crate::convert_ref_unchecked(dq);
72        dq.to_isometry()
73    }
74}
75
76impl<T1, T2, R1, R2, const D: usize> SubsetOf<Similarity<T2, R2, D>> for Isometry<T1, R1, D>
77where
78    T1: RealField,
79    T2: RealField + SupersetOf<T1>,
80    R1: AbstractRotation<T1, D> + SubsetOf<R2>,
81    R2: AbstractRotation<T2, D>,
82{
83    #[inline]
84    fn to_superset(&self) -> Similarity<T2, R2, D> {
85        Similarity::from_isometry(self.to_superset(), T2::one())
86    }
87
88    #[inline]
89    fn is_in_subset(sim: &Similarity<T2, R2, D>) -> bool {
90        crate::is_convertible::<_, Isometry<T1, R1, D>>(&sim.isometry) && sim.scaling() == T2::one()
91    }
92
93    #[inline]
94    fn from_superset_unchecked(sim: &Similarity<T2, R2, D>) -> Self {
95        crate::convert_ref_unchecked(&sim.isometry)
96    }
97}
98
99impl<T1, T2, R, C, const D: usize> SubsetOf<Transform<T2, C, D>> for Isometry<T1, R, D>
100where
101    T1: RealField,
102    T2: RealField + SupersetOf<T1>,
103    C: SuperTCategoryOf<TAffine>,
104    R: AbstractRotation<T1, D>
105        + SubsetOf<OMatrix<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>>
106        + SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>>,
107    Const<D>: DimNameAdd<U1> + DimMin<Const<D>, Output = Const<D>>, // needed by .is_special_orthogonal()
108    DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
109        + Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
110        + Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
111    // + Allocator<T1, D>
112    // + Allocator<(usize, usize), D>
113    // + Allocator<T2, D, D>
114    // + Allocator<T2, D>
115{
116    #[inline]
117    fn to_superset(&self) -> Transform<T2, C, D> {
118        Transform::from_matrix_unchecked(self.to_homogeneous().to_superset())
119    }
120
121    #[inline]
122    fn is_in_subset(t: &Transform<T2, C, D>) -> bool {
123        <Self as SubsetOf<_>>::is_in_subset(t.matrix())
124    }
125
126    #[inline]
127    fn from_superset_unchecked(t: &Transform<T2, C, D>) -> Self {
128        Self::from_superset_unchecked(t.matrix())
129    }
130}
131
132impl<T1, T2, R, const D: usize>
133    SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>> for Isometry<T1, R, D>
134where
135    T1: RealField,
136    T2: RealField + SupersetOf<T1>,
137    R: AbstractRotation<T1, D>
138        + SubsetOf<OMatrix<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>>
139        + SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>>,
140    Const<D>: DimNameAdd<U1> + DimMin<Const<D>, Output = Const<D>>, // needed by .is_special_orthogonal()
141    DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
142        + Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
143        + Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>, // + Allocator<(usize, usize), D>
144                                                                             // + Allocator<T2, D, D>
145                                                                             // + Allocator<T2, D>
146                                                                             // + Allocator<T1, D>
147                                                                             // + Allocator<T1, D, D>
148{
149    #[inline]
150    fn to_superset(&self) -> OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> {
151        self.to_homogeneous().to_superset()
152    }
153
154    #[inline]
155    fn is_in_subset(m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>) -> bool {
156        let rot = m.fixed_slice::<D, D>(0, 0);
157        let bottom = m.fixed_slice::<1, D>(D, 0);
158
159        // Scalar types agree.
160        m.iter().all(|e| SupersetOf::<T1>::is_in_subset(e)) &&
161        // The block part is a rotation.
162        rot.is_special_orthogonal(T2::default_epsilon() * crate::convert(100.0)) &&
163        // The bottom row is (0, 0, ..., 1)
164        bottom.iter().all(|e| e.is_zero()) && m[(D, D)] == T2::one()
165    }
166
167    #[inline]
168    fn from_superset_unchecked(
169        m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
170    ) -> Self {
171        let t = m.fixed_slice::<D, 1>(0, D).into_owned();
172        let t = Translation {
173            vector: crate::convert_unchecked(t),
174        };
175
176        Self::from_parts(t, crate::convert_unchecked(m.clone_owned()))
177    }
178}
179
180impl<T: SimdRealField, R: AbstractRotation<T, D>, const D: usize> From<Translation<T, D>>
181    for Isometry<T, R, D>
182{
183    #[inline]
184    fn from(tra: Translation<T, D>) -> Self {
185        Self::from_parts(tra, R::identity())
186    }
187}
188
189impl<T: SimdRealField, R, const D: usize> From<Isometry<T, R, D>>
190    for OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
191where
192    Const<D>: DimNameAdd<U1>,
193    R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>>,
194    DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>, // + Allocator<T, D>,
195{
196    #[inline]
197    fn from(iso: Isometry<T, R, D>) -> Self {
198        iso.to_homogeneous()
199    }
200}
201
202impl<T: SimdRealField, R, const D: usize> From<[T; D]> for Isometry<T, R, D>
203where
204    R: AbstractRotation<T, D>,
205{
206    #[inline]
207    fn from(coords: [T; D]) -> Self {
208        Self::from_parts(coords.into(), R::identity())
209    }
210}
211
212impl<T: SimdRealField, R, const D: usize> From<SVector<T, D>> for Isometry<T, R, D>
213where
214    R: AbstractRotation<T, D>,
215{
216    #[inline]
217    fn from(coords: SVector<T, D>) -> Self {
218        Self::from_parts(coords.into(), R::identity())
219    }
220}
221impl<T: SimdRealField, R, const D: usize> From<Point<T, D>> for Isometry<T, R, D>
222where
223    R: AbstractRotation<T, D>,
224{
225    #[inline]
226    fn from(coords: Point<T, D>) -> Self {
227        Self::from_parts(coords.into(), R::identity())
228    }
229}
230
231impl<T: Scalar + PrimitiveSimdValue, R, const D: usize>
232    From<[Isometry<T::Element, R::Element, D>; 2]> for Isometry<T, R, D>
233where
234    T: From<[<T as SimdValue>::Element; 2]>,
235    R: SimdValue + AbstractRotation<T, D> + From<[<R as SimdValue>::Element; 2]>,
236    R::Element: AbstractRotation<T::Element, D>,
237    T::Element: Scalar + Copy,
238    R::Element: Scalar + Copy,
239{
240    #[inline]
241    fn from(arr: [Isometry<T::Element, R::Element, D>; 2]) -> Self {
242        let tra = Translation::from([arr[0].translation, arr[1].translation]);
243        let rot = R::from([arr[0].rotation, arr[0].rotation]);
244
245        Self::from_parts(tra, rot)
246    }
247}
248
249impl<T: Scalar + PrimitiveSimdValue, R, const D: usize>
250    From<[Isometry<T::Element, R::Element, D>; 4]> for Isometry<T, R, D>
251where
252    T: From<[<T as SimdValue>::Element; 4]>,
253    R: SimdValue + AbstractRotation<T, D> + From<[<R as SimdValue>::Element; 4]>,
254    R::Element: AbstractRotation<T::Element, D>,
255    T::Element: Scalar + Copy,
256    R::Element: Scalar + Copy,
257{
258    #[inline]
259    fn from(arr: [Isometry<T::Element, R::Element, D>; 4]) -> Self {
260        let tra = Translation::from([
261            arr[0].translation,
262            arr[1].translation,
263            arr[2].translation,
264            arr[3].translation,
265        ]);
266        let rot = R::from([
267            arr[0].rotation,
268            arr[1].rotation,
269            arr[2].rotation,
270            arr[3].rotation,
271        ]);
272
273        Self::from_parts(tra, rot)
274    }
275}
276
277impl<T: Scalar + PrimitiveSimdValue, R, const D: usize>
278    From<[Isometry<T::Element, R::Element, D>; 8]> for Isometry<T, R, D>
279where
280    T: From<[<T as SimdValue>::Element; 8]>,
281    R: SimdValue + AbstractRotation<T, D> + From<[<R as SimdValue>::Element; 8]>,
282    R::Element: AbstractRotation<T::Element, D>,
283    T::Element: Scalar + Copy,
284    R::Element: Scalar + Copy,
285{
286    #[inline]
287    fn from(arr: [Isometry<T::Element, R::Element, D>; 8]) -> Self {
288        let tra = Translation::from([
289            arr[0].translation,
290            arr[1].translation,
291            arr[2].translation,
292            arr[3].translation,
293            arr[4].translation,
294            arr[5].translation,
295            arr[6].translation,
296            arr[7].translation,
297        ]);
298        let rot = R::from([
299            arr[0].rotation,
300            arr[1].rotation,
301            arr[2].rotation,
302            arr[3].rotation,
303            arr[4].rotation,
304            arr[5].rotation,
305            arr[6].rotation,
306            arr[7].rotation,
307        ]);
308
309        Self::from_parts(tra, rot)
310    }
311}
312
313impl<T: Scalar + PrimitiveSimdValue, R, const D: usize>
314    From<[Isometry<T::Element, R::Element, D>; 16]> for Isometry<T, R, D>
315where
316    T: From<[<T as SimdValue>::Element; 16]>,
317    R: SimdValue + AbstractRotation<T, D> + From<[<R as SimdValue>::Element; 16]>,
318    R::Element: AbstractRotation<T::Element, D>,
319    T::Element: Scalar + Copy,
320    R::Element: Scalar + Copy,
321{
322    #[inline]
323    fn from(arr: [Isometry<T::Element, R::Element, D>; 16]) -> Self {
324        let tra = Translation::from([
325            arr[0].translation,
326            arr[1].translation,
327            arr[2].translation,
328            arr[3].translation,
329            arr[4].translation,
330            arr[5].translation,
331            arr[6].translation,
332            arr[7].translation,
333            arr[8].translation,
334            arr[9].translation,
335            arr[10].translation,
336            arr[11].translation,
337            arr[12].translation,
338            arr[13].translation,
339            arr[14].translation,
340            arr[15].translation,
341        ]);
342        let rot = R::from([
343            arr[0].rotation,
344            arr[1].rotation,
345            arr[2].rotation,
346            arr[3].rotation,
347            arr[4].rotation,
348            arr[5].rotation,
349            arr[6].rotation,
350            arr[7].rotation,
351            arr[8].rotation,
352            arr[9].rotation,
353            arr[10].rotation,
354            arr[11].rotation,
355            arr[12].rotation,
356            arr[13].rotation,
357            arr[14].rotation,
358            arr[15].rotation,
359        ]);
360
361        Self::from_parts(tra, rot)
362    }
363}
nalgebra/geometry/isometry_conversion.rs

nalgebra/geometry/
isometry_conversion.rs
