nalgebra/geometry/
transform_conversion.rs

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

nalgebra/geometry/
transform_conversion.rs
