nalgebra/geometry/
transform_conversion.rs

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1use simba::scalar::{RealField, SubsetOf};
2
3use crate::base::allocator::Allocator;
4use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
5use crate::base::{Const, DefaultAllocator, OMatrix};
6
7use crate::geometry::{SuperTCategoryOf, TCategory, Transform};
8
9impl<T1, T2, C1, C2, const D: usize> SubsetOf<Transform<T2, C2, D>> for Transform<T1, C1, D>
10where
11    T1: RealField + SubsetOf<T2>,
12    T2: RealField,
13    C1: TCategory,
14    C2: SuperTCategoryOf<C1>,
15    Const<D>: DimNameAdd<U1>,
16    DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
17        + Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
18    T1::Epsilon: Copy,
19    T2::Epsilon: Copy,
20{
21    #[inline]
22    fn to_superset(&self) -> Transform<T2, C2, D> {
23        Transform::from_matrix_unchecked(self.to_homogeneous().to_superset())
24    }
25
26    #[inline]
27    fn is_in_subset(t: &Transform<T2, C2, D>) -> bool {
28        <Self as SubsetOf<_>>::is_in_subset(t.matrix())
29    }
30
31    #[inline]
32    fn from_superset_unchecked(t: &Transform<T2, C2, D>) -> Self {
33        Self::from_superset_unchecked(t.matrix())
34    }
35}
36
37impl<T1, T2, C, const D: usize>
38    SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>>
39    for Transform<T1, C, D>
40where
41    T1: RealField + SubsetOf<T2>,
42    T2: RealField,
43    C: TCategory,
44    Const<D>: DimNameAdd<U1>,
45    DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
46        + Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
47    T1::Epsilon: Copy,
48    T2::Epsilon: Copy,
49{
50    #[inline]
51    fn to_superset(&self) -> OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> {
52        self.matrix().to_superset()
53    }
54
55    #[inline]
56    fn is_in_subset(m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>) -> bool {
57        C::check_homogeneous_invariants(m)
58    }
59
60    #[inline]
61    fn from_superset_unchecked(
62        m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
63    ) -> Self {
64        Self::from_matrix_unchecked(crate::convert_ref_unchecked(m))
65    }
66}
67
68impl<T: RealField, C, const D: usize> From<Transform<T, C, D>>
69    for OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
70where
71    Const<D>: DimNameAdd<U1>,
72    C: TCategory,
73    DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
74{
75    #[inline]
76    fn from(t: Transform<T, C, D>) -> Self {
77        t.to_homogeneous()
78    }
79}
nalgebra/geometry/transform_conversion.rs

nalgebra/geometry/
transform_conversion.rs
