nalgebra/geometry/
quaternion_conversion.rs

1use num::Zero;
2
3use simba::scalar::{RealField, SubsetOf, SupersetOf};
4use simba::simd::{PrimitiveSimdValue, SimdRealField, SimdValue};
5
6use crate::base::{Matrix3, Matrix4, Scalar, Vector4};
7use crate::geometry::{
8    AbstractRotation, Isometry, Quaternion, Rotation, Rotation3, Similarity, SuperTCategoryOf,
9    TAffine, Transform, Translation, UnitDualQuaternion, UnitQuaternion,
10};
11
12/*
13 * This file provides the following conversions:
14 * =============================================
15 *
16 * Quaternion     -> Quaternion
17 * UnitQuaternion -> UnitQuaternion
18 * UnitQuaternion -> Rotation<3>
19 * UnitQuaternion -> Isometry<3>
20 * UnitQuaternion -> UnitDualQuaternion
21 * UnitQuaternion -> Similarity<3>
22 * UnitQuaternion -> Transform<3>
23 * UnitQuaternion -> Matrix<U4> (homogeneous)
24 *
25 * NOTE:
26 * UnitQuaternion -> Quaternion is already provided by: Unit<T> -> T
27 */
28
29impl<T1, T2> SubsetOf<Quaternion<T2>> for Quaternion<T1>
30where
31    T1: Scalar,
32    T2: Scalar + SupersetOf<T1>,
33{
34    #[inline]
35    fn to_superset(&self) -> Quaternion<T2> {
36        Quaternion::from(self.coords.to_superset())
37    }
38
39    #[inline]
40    fn is_in_subset(q: &Quaternion<T2>) -> bool {
41        crate::is_convertible::<_, Vector4<T1>>(&q.coords)
42    }
43
44    #[inline]
45    fn from_superset_unchecked(q: &Quaternion<T2>) -> Self {
46        Self {
47            coords: q.coords.to_subset_unchecked(),
48        }
49    }
50}
51
52impl<T1, T2> SubsetOf<UnitQuaternion<T2>> for UnitQuaternion<T1>
53where
54    T1: Scalar,
55    T2: Scalar + SupersetOf<T1>,
56{
57    #[inline]
58    fn to_superset(&self) -> UnitQuaternion<T2> {
59        UnitQuaternion::new_unchecked(self.as_ref().to_superset())
60    }
61
62    #[inline]
63    fn is_in_subset(uq: &UnitQuaternion<T2>) -> bool {
64        crate::is_convertible::<_, Quaternion<T1>>(uq.as_ref())
65    }
66
67    #[inline]
68    fn from_superset_unchecked(uq: &UnitQuaternion<T2>) -> Self {
69        Self::new_unchecked(crate::convert_ref_unchecked(uq.as_ref()))
70    }
71}
72
73impl<T1, T2> SubsetOf<Rotation<T2, 3>> for UnitQuaternion<T1>
74where
75    T1: RealField,
76    T2: RealField + SupersetOf<T1>,
77{
78    #[inline]
79    fn to_superset(&self) -> Rotation3<T2> {
80        let q: UnitQuaternion<T2> = self.to_superset();
81        q.to_rotation_matrix()
82    }
83
84    #[inline]
85    fn is_in_subset(rot: &Rotation3<T2>) -> bool {
86        crate::is_convertible::<_, Rotation3<T1>>(rot)
87    }
88
89    #[inline]
90    fn from_superset_unchecked(rot: &Rotation3<T2>) -> Self {
91        let q = UnitQuaternion::<T2>::from_rotation_matrix(rot);
92        crate::convert_unchecked(q)
93    }
94}
95
96impl<T1, T2, R> SubsetOf<Isometry<T2, R, 3>> for UnitQuaternion<T1>
97where
98    T1: RealField,
99    T2: RealField + SupersetOf<T1>,
100    R: AbstractRotation<T2, 3> + SupersetOf<Self>,
101{
102    #[inline]
103    fn to_superset(&self) -> Isometry<T2, R, 3> {
104        Isometry::from_parts(Translation::identity(), crate::convert_ref(self))
105    }
106
107    #[inline]
108    fn is_in_subset(iso: &Isometry<T2, R, 3>) -> bool {
109        iso.translation.vector.is_zero()
110    }
111
112    #[inline]
113    fn from_superset_unchecked(iso: &Isometry<T2, R, 3>) -> Self {
114        crate::convert_ref_unchecked(&iso.rotation)
115    }
116}
117
118impl<T1, T2> SubsetOf<UnitDualQuaternion<T2>> for UnitQuaternion<T1>
119where
120    T1: RealField,
121    T2: RealField + SupersetOf<T1>,
122{
123    #[inline]
124    fn to_superset(&self) -> UnitDualQuaternion<T2> {
125        let q: UnitQuaternion<T2> = crate::convert_ref(self);
126        UnitDualQuaternion::from_rotation(q)
127    }
128
129    #[inline]
130    fn is_in_subset(dq: &UnitDualQuaternion<T2>) -> bool {
131        dq.translation().vector.is_zero()
132    }
133
134    #[inline]
135    fn from_superset_unchecked(dq: &UnitDualQuaternion<T2>) -> Self {
136        crate::convert_unchecked(dq.rotation())
137    }
138}
139
140impl<T1, T2, R> SubsetOf<Similarity<T2, R, 3>> for UnitQuaternion<T1>
141where
142    T1: RealField,
143    T2: RealField + SupersetOf<T1>,
144    R: AbstractRotation<T2, 3> + SupersetOf<Self>,
145{
146    #[inline]
147    fn to_superset(&self) -> Similarity<T2, R, 3> {
148        Similarity::from_isometry(crate::convert_ref(self), T2::one())
149    }
150
151    #[inline]
152    fn is_in_subset(sim: &Similarity<T2, R, 3>) -> bool {
153        sim.isometry.translation.vector.is_zero() && sim.scaling() == T2::one()
154    }
155
156    #[inline]
157    fn from_superset_unchecked(sim: &Similarity<T2, R, 3>) -> Self {
158        crate::convert_ref_unchecked(&sim.isometry)
159    }
160}
161
162impl<T1, T2, C> SubsetOf<Transform<T2, C, 3>> for UnitQuaternion<T1>
163where
164    T1: RealField,
165    T2: RealField + SupersetOf<T1>,
166    C: SuperTCategoryOf<TAffine>,
167{
168    #[inline]
169    fn to_superset(&self) -> Transform<T2, C, 3> {
170        Transform::from_matrix_unchecked(self.clone().to_homogeneous().to_superset())
171    }
172
173    #[inline]
174    fn is_in_subset(t: &Transform<T2, C, 3>) -> bool {
175        <Self as SubsetOf<_>>::is_in_subset(t.matrix())
176    }
177
178    #[inline]
179    fn from_superset_unchecked(t: &Transform<T2, C, 3>) -> Self {
180        Self::from_superset_unchecked(t.matrix())
181    }
182}
183
184impl<T1: RealField, T2: RealField + SupersetOf<T1>> SubsetOf<Matrix4<T2>> for UnitQuaternion<T1> {
185    #[inline]
186    fn to_superset(&self) -> Matrix4<T2> {
187        self.clone().to_homogeneous().to_superset()
188    }
189
190    #[inline]
191    fn is_in_subset(m: &Matrix4<T2>) -> bool {
192        crate::is_convertible::<_, Rotation3<T1>>(m)
193    }
194
195    #[inline]
196    fn from_superset_unchecked(m: &Matrix4<T2>) -> Self {
197        let rot: Rotation3<T1> = crate::convert_ref_unchecked(m);
198        Self::from_rotation_matrix(&rot)
199    }
200}
201
202impl<T: SimdRealField> From<UnitQuaternion<T>> for Matrix4<T>
203where
204    T::Element: SimdRealField,
205{
206    #[inline]
207    fn from(q: UnitQuaternion<T>) -> Self {
208        q.to_homogeneous()
209    }
210}
211
212impl<T: SimdRealField> From<UnitQuaternion<T>> for Rotation3<T>
213where
214    T::Element: SimdRealField,
215{
216    #[inline]
217    fn from(q: UnitQuaternion<T>) -> Self {
218        q.to_rotation_matrix()
219    }
220}
221
222impl<T: SimdRealField> From<Rotation3<T>> for UnitQuaternion<T>
223where
224    T::Element: SimdRealField,
225{
226    #[inline]
227    fn from(q: Rotation3<T>) -> Self {
228        Self::from_rotation_matrix(&q)
229    }
230}
231
232impl<T: SimdRealField> From<UnitQuaternion<T>> for Matrix3<T>
233where
234    T::Element: SimdRealField,
235{
236    #[inline]
237    fn from(q: UnitQuaternion<T>) -> Self {
238        q.to_rotation_matrix().into_inner()
239    }
240}
241
242impl<T: Scalar> From<Vector4<T>> for Quaternion<T> {
243    #[inline]
244    fn from(coords: Vector4<T>) -> Self {
245        Self { coords }
246    }
247}
248
249impl<T: Scalar> From<[T; 4]> for Quaternion<T> {
250    #[inline]
251    fn from(coords: [T; 4]) -> Self {
252        Self {
253            coords: coords.into(),
254        }
255    }
256}
257
258impl<T: Scalar + PrimitiveSimdValue> From<[Quaternion<T::Element>; 2]> for Quaternion<T>
259where
260    T: From<[<T as SimdValue>::Element; 2]>,
261    T::Element: Scalar + Copy,
262{
263    #[inline]
264    fn from(arr: [Quaternion<T::Element>; 2]) -> Self {
265        Self::from(Vector4::from([arr[0].coords, arr[1].coords]))
266    }
267}
268
269impl<T: Scalar + PrimitiveSimdValue> From<[Quaternion<T::Element>; 4]> for Quaternion<T>
270where
271    T: From<[<T as SimdValue>::Element; 4]>,
272    T::Element: Scalar + Copy,
273{
274    #[inline]
275    fn from(arr: [Quaternion<T::Element>; 4]) -> Self {
276        Self::from(Vector4::from([
277            arr[0].coords,
278            arr[1].coords,
279            arr[2].coords,
280            arr[3].coords,
281        ]))
282    }
283}
284
285impl<T: Scalar + PrimitiveSimdValue> From<[Quaternion<T::Element>; 8]> for Quaternion<T>
286where
287    T: From<[<T as SimdValue>::Element; 8]>,
288    T::Element: Scalar + Copy,
289{
290    #[inline]
291    fn from(arr: [Quaternion<T::Element>; 8]) -> Self {
292        Self::from(Vector4::from([
293            arr[0].coords,
294            arr[1].coords,
295            arr[2].coords,
296            arr[3].coords,
297            arr[4].coords,
298            arr[5].coords,
299            arr[6].coords,
300            arr[7].coords,
301        ]))
302    }
303}
304
305impl<T: Scalar + PrimitiveSimdValue> From<[Quaternion<T::Element>; 16]> for Quaternion<T>
306where
307    T: From<[<T as SimdValue>::Element; 16]>,
308    T::Element: Scalar + Copy,
309{
310    #[inline]
311    fn from(arr: [Quaternion<T::Element>; 16]) -> Self {
312        Self::from(Vector4::from([
313            arr[0].coords,
314            arr[1].coords,
315            arr[2].coords,
316            arr[3].coords,
317            arr[4].coords,
318            arr[5].coords,
319            arr[6].coords,
320            arr[7].coords,
321            arr[8].coords,
322            arr[9].coords,
323            arr[10].coords,
324            arr[11].coords,
325            arr[12].coords,
326            arr[13].coords,
327            arr[14].coords,
328            arr[15].coords,
329        ]))
330    }
331}
332
333impl<T: Scalar + Copy + PrimitiveSimdValue> From<[UnitQuaternion<T::Element>; 2]>
334    for UnitQuaternion<T>
335where
336    T: From<[<T as simba::simd::SimdValue>::Element; 2]>,
337    T::Element: Scalar + Copy,
338{
339    #[inline]
340    fn from(arr: [UnitQuaternion<T::Element>; 2]) -> Self {
341        Self::new_unchecked(Quaternion::from([arr[0].into_inner(), arr[1].into_inner()]))
342    }
343}
344
345impl<T: Scalar + Copy + PrimitiveSimdValue> From<[UnitQuaternion<T::Element>; 4]>
346    for UnitQuaternion<T>
347where
348    T: From<[<T as simba::simd::SimdValue>::Element; 4]>,
349    T::Element: Scalar + Copy,
350{
351    #[inline]
352    fn from(arr: [UnitQuaternion<T::Element>; 4]) -> Self {
353        Self::new_unchecked(Quaternion::from([
354            arr[0].into_inner(),
355            arr[1].into_inner(),
356            arr[2].into_inner(),
357            arr[3].into_inner(),
358        ]))
359    }
360}
361
362impl<T: Scalar + Copy + PrimitiveSimdValue> From<[UnitQuaternion<T::Element>; 8]>
363    for UnitQuaternion<T>
364where
365    T: From<[<T as simba::simd::SimdValue>::Element; 8]>,
366    T::Element: Scalar + Copy,
367{
368    #[inline]
369    fn from(arr: [UnitQuaternion<T::Element>; 8]) -> Self {
370        Self::new_unchecked(Quaternion::from([
371            arr[0].into_inner(),
372            arr[1].into_inner(),
373            arr[2].into_inner(),
374            arr[3].into_inner(),
375            arr[4].into_inner(),
376            arr[5].into_inner(),
377            arr[6].into_inner(),
378            arr[7].into_inner(),
379        ]))
380    }
381}
382
383impl<T: Scalar + Copy + PrimitiveSimdValue> From<[UnitQuaternion<T::Element>; 16]>
384    for UnitQuaternion<T>
385where
386    T: From<[<T as simba::simd::SimdValue>::Element; 16]>,
387    T::Element: Scalar + Copy,
388{
389    #[inline]
390    fn from(arr: [UnitQuaternion<T::Element>; 16]) -> Self {
391        Self::new_unchecked(Quaternion::from([
392            arr[0].into_inner(),
393            arr[1].into_inner(),
394            arr[2].into_inner(),
395            arr[3].into_inner(),
396            arr[4].into_inner(),
397            arr[5].into_inner(),
398            arr[6].into_inner(),
399            arr[7].into_inner(),
400            arr[8].into_inner(),
401            arr[9].into_inner(),
402            arr[10].into_inner(),
403            arr[11].into_inner(),
404            arr[12].into_inner(),
405            arr[13].into_inner(),
406            arr[14].into_inner(),
407            arr[15].into_inner(),
408        ]))
409    }
410}
nalgebra/geometry/quaternion_conversion.rs

nalgebra/geometry/
quaternion_conversion.rs
