nalgebra/geometry/
isometry_conversion.rs

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::{ArrayStorage, 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<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
109    // + Allocator<T1, D>
110    // + Allocator<D>
111    // + Allocator<D, D>
112    // + Allocator<D>
113{
114    #[inline]
115    fn to_superset(&self) -> Transform<T2, C, D> {
116        Transform::from_matrix_unchecked(self.to_homogeneous().to_superset())
117    }
118
119    #[inline]
120    fn is_in_subset(t: &Transform<T2, C, D>) -> bool {
121        <Self as SubsetOf<_>>::is_in_subset(t.matrix())
122    }
123
124    #[inline]
125    fn from_superset_unchecked(t: &Transform<T2, C, D>) -> Self {
126        Self::from_superset_unchecked(t.matrix())
127    }
128}
129
130impl<T1, T2, R, const D: usize>
131    SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>> for Isometry<T1, R, D>
132where
133    T1: RealField,
134    T2: RealField + SupersetOf<T1>,
135    R: AbstractRotation<T1, D>
136        + SubsetOf<OMatrix<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>>
137        + SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>>,
138    Const<D>: DimNameAdd<U1> + DimMin<Const<D>, Output = Const<D>>, // needed by .is_special_orthogonal()
139    DefaultAllocator: Allocator<Const<D>, Const<1>, Buffer<T1> = ArrayStorage<T1, D, 1>>
140        + Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
141{
142    #[inline]
143    fn to_superset(&self) -> OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> {
144        self.to_homogeneous().to_superset()
145    }
146
147    #[inline]
148    fn is_in_subset(m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>) -> bool {
149        let rot = m.fixed_view::<D, D>(0, 0);
150        let bottom = m.fixed_view::<1, D>(D, 0);
151
152        // Scalar types agree.
153        m.iter().all(|e| SupersetOf::<T1>::is_in_subset(e)) &&
154        // The block part is a rotation.
155        rot.is_special_orthogonal(T2::default_epsilon() * crate::convert(100.0)) &&
156        // The bottom row is (0, 0, ..., 1)
157        bottom.iter().all(|e| e.is_zero()) && m[(D, D)] == T2::one()
158    }
159
160    #[inline]
161    fn from_superset_unchecked(
162        m: &OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
163    ) -> Self {
164        let t = m.fixed_view::<D, 1>(0, D).into_owned();
165        let t = Translation {
166            vector: crate::convert_unchecked(t),
167        };
168
169        Self::from_parts(t, crate::convert_unchecked(m.clone_owned()))
170    }
171}
172
173impl<T: SimdRealField, R: AbstractRotation<T, D>, const D: usize> From<Translation<T, D>>
174    for Isometry<T, R, D>
175{
176    #[inline]
177    fn from(tra: Translation<T, D>) -> Self {
178        Self::from_parts(tra, R::identity())
179    }
180}
181
182impl<T: SimdRealField, R, const D: usize> From<Isometry<T, R, D>>
183    for OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
184where
185    Const<D>: DimNameAdd<U1>,
186    R: SubsetOf<OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>>,
187    DefaultAllocator: Allocator<DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>, // + Allocator<D>,
188{
189    #[inline]
190    fn from(iso: Isometry<T, R, D>) -> Self {
191        iso.to_homogeneous()
192    }
193}
194
195impl<T: SimdRealField, R, const D: usize> From<[T; D]> for Isometry<T, R, D>
196where
197    R: AbstractRotation<T, D>,
198{
199    #[inline]
200    fn from(coords: [T; D]) -> Self {
201        Self::from_parts(coords.into(), R::identity())
202    }
203}
204
205impl<T: SimdRealField, R, const D: usize> From<SVector<T, D>> for Isometry<T, R, D>
206where
207    R: AbstractRotation<T, D>,
208{
209    #[inline]
210    fn from(coords: SVector<T, D>) -> Self {
211        Self::from_parts(coords.into(), R::identity())
212    }
213}
214impl<T: SimdRealField, R, const D: usize> From<Point<T, D>> for Isometry<T, R, D>
215where
216    R: AbstractRotation<T, D>,
217{
218    #[inline]
219    fn from(coords: Point<T, D>) -> Self {
220        Self::from_parts(coords.into(), R::identity())
221    }
222}
223
224impl<T: Scalar + PrimitiveSimdValue, R, const D: usize>
225    From<[Isometry<T::Element, R::Element, D>; 2]> for Isometry<T, R, D>
226where
227    T: From<[<T as SimdValue>::Element; 2]>,
228    R: SimdValue + AbstractRotation<T, D> + From<[<R as SimdValue>::Element; 2]>,
229    R::Element: AbstractRotation<T::Element, D>,
230    T::Element: Scalar + Copy,
231    R::Element: Scalar + Copy,
232{
233    #[inline]
234    fn from(arr: [Isometry<T::Element, R::Element, D>; 2]) -> Self {
235        let tra = Translation::from([arr[0].translation, arr[1].translation]);
236        let rot = R::from([arr[0].rotation, arr[0].rotation]);
237
238        Self::from_parts(tra, rot)
239    }
240}
241
242impl<T: Scalar + PrimitiveSimdValue, R, const D: usize>
243    From<[Isometry<T::Element, R::Element, D>; 4]> for Isometry<T, R, D>
244where
245    T: From<[<T as SimdValue>::Element; 4]>,
246    R: SimdValue + AbstractRotation<T, D> + From<[<R as SimdValue>::Element; 4]>,
247    R::Element: AbstractRotation<T::Element, D>,
248    T::Element: Scalar + Copy,
249    R::Element: Scalar + Copy,
250{
251    #[inline]
252    fn from(arr: [Isometry<T::Element, R::Element, D>; 4]) -> Self {
253        let tra = Translation::from([
254            arr[0].translation,
255            arr[1].translation,
256            arr[2].translation,
257            arr[3].translation,
258        ]);
259        let rot = R::from([
260            arr[0].rotation,
261            arr[1].rotation,
262            arr[2].rotation,
263            arr[3].rotation,
264        ]);
265
266        Self::from_parts(tra, rot)
267    }
268}
269
270impl<T: Scalar + PrimitiveSimdValue, R, const D: usize>
271    From<[Isometry<T::Element, R::Element, D>; 8]> for Isometry<T, R, D>
272where
273    T: From<[<T as SimdValue>::Element; 8]>,
274    R: SimdValue + AbstractRotation<T, D> + From<[<R as SimdValue>::Element; 8]>,
275    R::Element: AbstractRotation<T::Element, D>,
276    T::Element: Scalar + Copy,
277    R::Element: Scalar + Copy,
278{
279    #[inline]
280    fn from(arr: [Isometry<T::Element, R::Element, D>; 8]) -> Self {
281        let tra = Translation::from([
282            arr[0].translation,
283            arr[1].translation,
284            arr[2].translation,
285            arr[3].translation,
286            arr[4].translation,
287            arr[5].translation,
288            arr[6].translation,
289            arr[7].translation,
290        ]);
291        let rot = R::from([
292            arr[0].rotation,
293            arr[1].rotation,
294            arr[2].rotation,
295            arr[3].rotation,
296            arr[4].rotation,
297            arr[5].rotation,
298            arr[6].rotation,
299            arr[7].rotation,
300        ]);
301
302        Self::from_parts(tra, rot)
303    }
304}
305
306impl<T: Scalar + PrimitiveSimdValue, R, const D: usize>
307    From<[Isometry<T::Element, R::Element, D>; 16]> for Isometry<T, R, D>
308where
309    T: From<[<T as SimdValue>::Element; 16]>,
310    R: SimdValue + AbstractRotation<T, D> + From<[<R as SimdValue>::Element; 16]>,
311    R::Element: AbstractRotation<T::Element, D>,
312    T::Element: Scalar + Copy,
313    R::Element: Scalar + Copy,
314{
315    #[inline]
316    fn from(arr: [Isometry<T::Element, R::Element, D>; 16]) -> Self {
317        let tra = Translation::from([
318            arr[0].translation,
319            arr[1].translation,
320            arr[2].translation,
321            arr[3].translation,
322            arr[4].translation,
323            arr[5].translation,
324            arr[6].translation,
325            arr[7].translation,
326            arr[8].translation,
327            arr[9].translation,
328            arr[10].translation,
329            arr[11].translation,
330            arr[12].translation,
331            arr[13].translation,
332            arr[14].translation,
333            arr[15].translation,
334        ]);
335        let rot = R::from([
336            arr[0].rotation,
337            arr[1].rotation,
338            arr[2].rotation,
339            arr[3].rotation,
340            arr[4].rotation,
341            arr[5].rotation,
342            arr[6].rotation,
343            arr[7].rotation,
344            arr[8].rotation,
345            arr[9].rotation,
346            arr[10].rotation,
347            arr[11].rotation,
348            arr[12].rotation,
349            arr[13].rotation,
350            arr[14].rotation,
351            arr[15].rotation,
352        ]);
353
354        Self::from_parts(tra, rot)
355    }
356}
nalgebra/geometry/isometry_conversion.rs

nalgebra/geometry/
isometry_conversion.rs
