glamdet_na_conv/
lib.rs

1// Copyright (C) 2020-2025 glamdet-na-conv authors. All Rights Reserved.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7//     http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15#![deny(warnings)]
16
17use glam_det as glam;
18
19#[cfg(feature = "f64")]
20pub type Real = f64;
21#[cfg(not(feature = "f64"))]
22pub type Real = f32;
23
24mod na {
25    use crate::Real;
26
27    pub type Vec3 = nalgebra::Vector3<Real>;
28    pub type Point3 = nalgebra::Point3<Real>;
29    pub type UnitVec3 = nalgebra::UnitVector3<Real>;
30    pub type UnitQuat = nalgebra::UnitQuaternion<Real>;
31    pub type Isometry3 = nalgebra::Isometry3<Real>;
32    pub type Quat = nalgebra::Quaternion<Real>;
33    pub type Translation3 = nalgebra::Translation3<Real>;
34    pub type Mat3 = nalgebra::Matrix3<Real>;
35}
36
37pub trait ConvTo<T> {
38    fn conv_to(self) -> T;
39}
40
41impl ConvTo<glam::Point3> for na::Point3 {
42    #[inline]
43    fn conv_to(self) -> glam::Point3 {
44        glam::Point3::new(self.x, self.y, self.z)
45    }
46}
47
48impl ConvTo<na::Point3> for glam::Point3 {
49    #[inline]
50    fn conv_to(self) -> na::Point3 {
51        na::Point3::new(self.x, self.y, self.z)
52    }
53}
54
55impl ConvTo<glam::UnitVec3> for na::UnitVec3 {
56    #[inline]
57    fn conv_to(self) -> glam::UnitVec3 {
58        glam::UnitVec3::new_unchecked(self.x, self.y, self.z)
59    }
60}
61
62impl ConvTo<na::UnitVec3> for glam::UnitVec3 {
63    #[inline]
64    fn conv_to(self) -> na::UnitVec3 {
65        na::UnitVec3::new_unchecked(na::Vec3::new(self.x, self.y, self.z))
66    }
67}
68
69impl ConvTo<glam::Vec3> for na::Vec3 {
70    #[inline]
71    fn conv_to(self) -> glam::Vec3 {
72        glam::Vec3::new(self.x, self.y, self.z)
73    }
74}
75
76impl ConvTo<na::Vec3> for glam::Vec3 {
77    #[inline]
78    fn conv_to(self) -> na::Vec3 {
79        na::Vec3::new(self.x, self.y, self.z)
80    }
81}
82
83impl ConvTo<glam::UnitQuat> for na::UnitQuat {
84    #[inline]
85    fn conv_to(self) -> glam::UnitQuat {
86        glam::UnitQuat::from_xyzw_unchecked(self.i, self.j, self.k, self.w)
87    }
88}
89
90impl ConvTo<na::UnitQuat> for glam::UnitQuat {
91    #[inline]
92    fn conv_to(self) -> na::UnitQuat {
93        let vec = na::Vec3::new(self.x, self.y, self.z);
94        na::UnitQuat::new_normalize(na::Quat::from_parts(self.w, vec))
95    }
96}
97
98impl ConvTo<glam::Isometry3> for na::Isometry3 {
99    #[inline]
100    fn conv_to(self) -> glam::Isometry3 {
101        glam::Isometry3::from_rotation_translation(
102            self.rotation.conv_to(),
103            self.translation.vector.conv_to(),
104        )
105    }
106}
107
108impl ConvTo<na::Isometry3> for glam::Isometry3 {
109    #[inline]
110    fn conv_to(self) -> na::Isometry3 {
111        na::Isometry3::from_parts(
112            na::Translation3::from(self.translation.conv_to()),
113            self.rotation.conv_to(),
114        )
115    }
116}
117
118impl ConvTo<glam::Mat3> for na::Mat3 {
119    #[inline]
120    fn conv_to(self) -> glam::Mat3 {
121        glam::Mat3::from_cols_array_2d(&self.data.0)
122    }
123}
glamdet_na_conv/lib.rs

glamdet_na_conv/
lib.rs
