nalgebra/geometry/
translation_conversion.rs

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1use num::{One, Zero};
2
3use simba::scalar::{RealField, SubsetOf, SupersetOf};
4use simba::simd::PrimitiveSimdValue;
5
6use crate::base::allocator::Allocator;
7use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
8use crate::base::{Const, DefaultAllocator, DimName, OMatrix, OVector, SVector, Scalar};
9
10use crate::geometry::{
11    AbstractRotation, Isometry, Similarity, SuperTCategoryOf, TAffine, Transform, Translation,
12    Translation3, UnitDualQuaternion, UnitQuaternion,
13};
14use crate::Point;
15
16/*
17 * This file provides the following conversions:
18 * =============================================
19 *
20 * Translation -> Translation
21 * Translation -> Isometry
22 * Translation3 -> UnitDualQuaternion
23 * Translation -> Similarity
24 * Translation -> Transform
25 * Translation -> Matrix (homogeneous)
26 */
27
28impl<T1, T2, const D: usize> SubsetOf<Translation<T2, D>> for Translation<T1, D>
29where
30    T1: Scalar,
31    T2: Scalar + SupersetOf<T1>,
32{
33    #[inline]
34    fn to_superset(&self) -> Translation<T2, D> {
35        Translation::from(self.vector.to_superset())
36    }
37
38    #[inline]
39    fn is_in_subset(rot: &Translation<T2, D>) -> bool {
40        crate::is_convertible::<_, SVector<T1, D>>(&rot.vector)
41    }
42
43    #[inline]
44    fn from_superset_unchecked(rot: &Translation<T2, D>) -> Self {
45        Translation {
46            vector: rot.vector.to_subset_unchecked(),
47        }
48    }
49}
50
51impl<T1, T2, R, const D: usize> SubsetOf<Isometry<T2, R, D>> for Translation<T1, D>
52where
53    T1: RealField,
54    T2: RealField + SupersetOf<T1>,
55    R: AbstractRotation<T2, D>,
56{
57    #[inline]
58    fn to_superset(&self) -> Isometry<T2, R, D> {
59        Isometry::from_parts(self.to_superset(), R::identity())
60    }
61
62    #[inline]
63    fn is_in_subset(iso: &Isometry<T2, R, D>) -> bool {
64        iso.rotation == R::identity()
65    }
66
67    #[inline]
68    fn from_superset_unchecked(iso: &Isometry<T2, R, D>) -> Self {
69        Self::from_superset_unchecked(&iso.translation)
70    }
71}
72
73impl<T1, T2> SubsetOf<UnitDualQuaternion<T2>> for Translation3<T1>
74where
75    T1: RealField,
76    T2: RealField + SupersetOf<T1>,
77{
78    #[inline]
79    fn to_superset(&self) -> UnitDualQuaternion<T2> {
80        let dq = UnitDualQuaternion::<T1>::from_parts(self.clone(), UnitQuaternion::identity());
81        dq.to_superset()
82    }
83
84    #[inline]
85    fn is_in_subset(dq: &UnitDualQuaternion<T2>) -> bool {
86        crate::is_convertible::<_, Translation<T1, 3>>(&dq.translation())
87            && dq.rotation() == UnitQuaternion::identity()
88    }
89
90    #[inline]
91    fn from_superset_unchecked(dq: &UnitDualQuaternion<T2>) -> Self {
92        let dq: UnitDualQuaternion<T1> = crate::convert_ref_unchecked(dq);
93        dq.translation()
94    }
95}
96
97impl<T1, T2, R, const D: usize> SubsetOf<Similarity<T2, R, D>> for Translation<T1, D>
98where
99    T1: RealField,
100    T2: RealField + SupersetOf<T1>,
101    R: AbstractRotation<T2, D>,
102{
103    #[inline]
104    fn to_superset(&self) -> Similarity<T2, R, D> {
105        Similarity::from_parts(self.to_superset(), R::identity(), T2::one())
106    }
107
108    #[inline]
109    fn is_in_subset(sim: &Similarity<T2, R, D>) -> bool {
110        sim.isometry.rotation == R::identity() && sim.scaling() == T2::one()
111    }
112
113    #[inline]
114    fn from_superset_unchecked(sim: &Similarity<T2, R, D>) -> Self {
115        Self::from_superset_unchecked(&sim.isometry.translation)
116    }
117}
118
119impl<T1, T2, C, const D: usize> SubsetOf<Transform<T2, C, D>> for Translation<T1, D>
120where
121    T1: RealField,
122    T2: RealField + SupersetOf<T1>,
123    C: SuperTCategoryOf<TAffine>,
124    Const<D>: DimNameAdd<U1>,
125    DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
126        + Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
127{
128    #[inline]
129    fn to_superset(&self) -> Transform<T2, C, D> {
130        Transform::from_matrix_unchecked(self.to_homogeneous().to_superset())
131    }
132
133    #[inline]
134    fn is_in_subset(t: &Transform<T2, C, D>) -> bool {
135        <Self as SubsetOf<_>>::is_in_subset(t.matrix())
136    }
137
138    #[inline]
139    fn from_superset_unchecked(t: &Transform<T2, C, D>) -> Self {
140        Self::from_superset_unchecked(t.matrix())
141    }
142}
143
144impl<T1, T2, const D: usize>
145    SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>> for Translation<T1, D>
146where
147    T1: RealField,
148    T2: RealField + SupersetOf<T1>,
149    Const<D>: DimNameAdd<U1>,
150    DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
151        + Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
152    // + Allocator<T1, D>
153    // + Allocator<T2, D>
154{
155    #[inline]
156    fn to_superset(&self) -> OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> {
157        self.to_homogeneous().to_superset()
158    }
159
160    #[inline]
161    fn is_in_subset(m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>) -> bool {
162        let id = m.generic_slice((0, 0), (DimNameSum::<Const<D>, U1>::name(), Const::<D>));
163
164        // Scalar types agree.
165        m.iter().all(|e| SupersetOf::<T1>::is_in_subset(e)) &&
166        // The block part does nothing.
167        id.is_identity(T2::zero()) &&
168        // The normalization factor is one.
169        m[(D, D)] == T2::one()
170    }
171
172    #[inline]
173    fn from_superset_unchecked(
174        m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
175    ) -> Self {
176        let t = m.fixed_slice::<D, 1>(0, D);
177        Self {
178            vector: crate::convert_unchecked(t.into_owned()),
179        }
180    }
181}
182
183impl<T: Scalar + Zero + One, const D: usize> From<Translation<T, D>>
184    for OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
185where
186    Const<D>: DimNameAdd<U1>,
187    DefaultAllocator:
188        Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> + Allocator<T, Const<D>>,
189{
190    #[inline]
191    fn from(t: Translation<T, D>) -> Self {
192        t.to_homogeneous()
193    }
194}
195
196impl<T: Scalar, const D: usize> From<OVector<T, Const<D>>> for Translation<T, D> {
197    #[inline]
198    fn from(vector: OVector<T, Const<D>>) -> Self {
199        Translation { vector }
200    }
201}
202
203impl<T: Scalar, const D: usize> From<[T; D]> for Translation<T, D> {
204    #[inline]
205    fn from(coords: [T; D]) -> Self {
206        Translation {
207            vector: coords.into(),
208        }
209    }
210}
211
212impl<T: Scalar, const D: usize> From<Point<T, D>> for Translation<T, D> {
213    #[inline]
214    fn from(pt: Point<T, D>) -> Self {
215        Translation { vector: pt.coords }
216    }
217}
218
219impl<T: Scalar, const D: usize> From<Translation<T, D>> for [T; D] {
220    #[inline]
221    fn from(t: Translation<T, D>) -> Self {
222        t.vector.into()
223    }
224}
225
226impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 2]>
227    for Translation<T, D>
228where
229    T: From<[<T as simba::simd::SimdValue>::Element; 2]>,
230    T::Element: Scalar,
231{
232    #[inline]
233    fn from(arr: [Translation<T::Element, D>; 2]) -> Self {
234        Self::from(OVector::from([
235            arr[0].vector.clone(),
236            arr[1].vector.clone(),
237        ]))
238    }
239}
240
241impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 4]>
242    for Translation<T, D>
243where
244    T: From<[<T as simba::simd::SimdValue>::Element; 4]>,
245    T::Element: Scalar,
246{
247    #[inline]
248    fn from(arr: [Translation<T::Element, D>; 4]) -> Self {
249        Self::from(OVector::from([
250            arr[0].vector.clone(),
251            arr[1].vector.clone(),
252            arr[2].vector.clone(),
253            arr[3].vector.clone(),
254        ]))
255    }
256}
257
258impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 8]>
259    for Translation<T, D>
260where
261    T: From<[<T as simba::simd::SimdValue>::Element; 8]>,
262    T::Element: Scalar,
263{
264    #[inline]
265    fn from(arr: [Translation<T::Element, D>; 8]) -> Self {
266        Self::from(OVector::from([
267            arr[0].vector.clone(),
268            arr[1].vector.clone(),
269            arr[2].vector.clone(),
270            arr[3].vector.clone(),
271            arr[4].vector.clone(),
272            arr[5].vector.clone(),
273            arr[6].vector.clone(),
274            arr[7].vector.clone(),
275        ]))
276    }
277}
278
279impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 16]>
280    for Translation<T, D>
281where
282    T: From<[<T as simba::simd::SimdValue>::Element; 16]>,
283    T::Element: Scalar,
284{
285    #[inline]
286    fn from(arr: [Translation<T::Element, D>; 16]) -> Self {
287        Self::from(OVector::from([
288            arr[0].vector.clone(),
289            arr[1].vector.clone(),
290            arr[2].vector.clone(),
291            arr[3].vector.clone(),
292            arr[4].vector.clone(),
293            arr[5].vector.clone(),
294            arr[6].vector.clone(),
295            arr[7].vector.clone(),
296            arr[8].vector.clone(),
297            arr[9].vector.clone(),
298            arr[10].vector.clone(),
299            arr[11].vector.clone(),
300            arr[12].vector.clone(),
301            arr[13].vector.clone(),
302            arr[14].vector.clone(),
303            arr[15].vector.clone(),
304        ]))
305    }
306}
nalgebra/geometry/translation_conversion.rs

nalgebra/geometry/
translation_conversion.rs
