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</pre><pre class="rust"><code><span class="kw">use </span>simba::scalar::{RealField, SubsetOf, SupersetOf};
<span class="kw">use </span>simba::simd::SimdRealField;
<span class="kw">use </span><span class="kw">crate</span>::base::{Matrix4, Vector4};
<span class="kw">use </span><span class="kw">crate</span>::geometry::{
DualQuaternion, Isometry3, Similarity3, SuperTCategoryOf, TAffine, Transform, Translation3,
UnitDualQuaternion, UnitQuaternion,
};
<span class="comment">/*
* This file provides the following conversions:
* =============================================
*
* DualQuaternion -> DualQuaternion
* UnitDualQuaternion -> UnitDualQuaternion
* UnitDualQuaternion -> Isometry<3>
* UnitDualQuaternion -> Similarity<3>
* UnitDualQuaternion -> Transform<3>
* UnitDualQuaternion -> Matrix<U4> (homogeneous)
*
* NOTE:
* UnitDualQuaternion -> DualQuaternion is already provided by: Unit<T> -> T
*/
</span><span class="kw">impl</span><T1, T2> SubsetOf<DualQuaternion<T2>> <span class="kw">for </span>DualQuaternion<T1>
<span class="kw">where
</span>T1: SimdRealField,
T2: SimdRealField + SupersetOf<T1>,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>to_superset(<span class="kw-2">&</span><span class="self">self</span>) -> DualQuaternion<T2> {
DualQuaternion::from_real_and_dual(<span class="self">self</span>.real.to_superset(), <span class="self">self</span>.dual.to_superset())
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>is_in_subset(dq: <span class="kw-2">&</span>DualQuaternion<T2>) -> bool {
<span class="kw">crate</span>::is_convertible::<<span class="kw">_</span>, Vector4<T1>>(<span class="kw-2">&</span>dq.real.coords)
&& <span class="kw">crate</span>::is_convertible::<<span class="kw">_</span>, Vector4<T1>>(<span class="kw-2">&</span>dq.dual.coords)
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(dq: <span class="kw-2">&</span>DualQuaternion<T2>) -> <span class="self">Self </span>{
DualQuaternion::from_real_and_dual(
dq.real.to_subset_unchecked(),
dq.dual.to_subset_unchecked(),
)
}
}
<span class="kw">impl</span><T1, T2> SubsetOf<UnitDualQuaternion<T2>> <span class="kw">for </span>UnitDualQuaternion<T1>
<span class="kw">where
</span>T1: SimdRealField,
T2: SimdRealField + SupersetOf<T1>,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>to_superset(<span class="kw-2">&</span><span class="self">self</span>) -> UnitDualQuaternion<T2> {
UnitDualQuaternion::new_unchecked(<span class="self">self</span>.as_ref().to_superset())
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>is_in_subset(dq: <span class="kw-2">&</span>UnitDualQuaternion<T2>) -> bool {
<span class="kw">crate</span>::is_convertible::<<span class="kw">_</span>, DualQuaternion<T1>>(dq.as_ref())
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(dq: <span class="kw-2">&</span>UnitDualQuaternion<T2>) -> <span class="self">Self </span>{
<span class="self">Self</span>::new_unchecked(<span class="kw">crate</span>::convert_ref_unchecked(dq.as_ref()))
}
}
<span class="kw">impl</span><T1, T2> SubsetOf<Isometry3<T2>> <span class="kw">for </span>UnitDualQuaternion<T1>
<span class="kw">where
</span>T1: RealField,
T2: RealField + SupersetOf<T1>,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>to_superset(<span class="kw-2">&</span><span class="self">self</span>) -> Isometry3<T2> {
<span class="kw">let </span>dq: UnitDualQuaternion<T2> = <span class="self">self</span>.to_superset();
<span class="kw">let </span>iso = dq.to_isometry();
<span class="kw">crate</span>::convert_unchecked(iso)
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>is_in_subset(iso: <span class="kw-2">&</span>Isometry3<T2>) -> bool {
<span class="kw">crate</span>::is_convertible::<<span class="kw">_</span>, UnitQuaternion<T1>>(<span class="kw-2">&</span>iso.rotation)
&& <span class="kw">crate</span>::is_convertible::<<span class="kw">_</span>, Translation3<T1>>(<span class="kw-2">&</span>iso.translation)
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(iso: <span class="kw-2">&</span>Isometry3<T2>) -> <span class="self">Self </span>{
<span class="kw">let </span>dq = UnitDualQuaternion::<T2>::from_isometry(iso);
<span class="kw">crate</span>::convert_unchecked(dq)
}
}
<span class="kw">impl</span><T1, T2> SubsetOf<Similarity3<T2>> <span class="kw">for </span>UnitDualQuaternion<T1>
<span class="kw">where
</span>T1: RealField,
T2: RealField + SupersetOf<T1>,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>to_superset(<span class="kw-2">&</span><span class="self">self</span>) -> Similarity3<T2> {
Similarity3::from_isometry(<span class="kw">crate</span>::convert_ref(<span class="self">self</span>), T2::one())
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>is_in_subset(sim: <span class="kw-2">&</span>Similarity3<T2>) -> bool {
sim.scaling() == T2::one()
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(sim: <span class="kw-2">&</span>Similarity3<T2>) -> <span class="self">Self </span>{
<span class="kw">crate</span>::convert_ref_unchecked(<span class="kw-2">&</span>sim.isometry)
}
}
<span class="kw">impl</span><T1, T2, C> SubsetOf<Transform<T2, C, <span class="number">3</span>>> <span class="kw">for </span>UnitDualQuaternion<T1>
<span class="kw">where
</span>T1: RealField,
T2: RealField + SupersetOf<T1>,
C: SuperTCategoryOf<TAffine>,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>to_superset(<span class="kw-2">&</span><span class="self">self</span>) -> Transform<T2, C, <span class="number">3</span>> {
Transform::from_matrix_unchecked(<span class="self">self</span>.clone().to_homogeneous().to_superset())
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>is_in_subset(t: <span class="kw-2">&</span>Transform<T2, C, <span class="number">3</span>>) -> bool {
<<span class="self">Self </span><span class="kw">as </span>SubsetOf<<span class="kw">_</span>>>::is_in_subset(t.matrix())
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(t: <span class="kw-2">&</span>Transform<T2, C, <span class="number">3</span>>) -> <span class="self">Self </span>{
<span class="self">Self</span>::from_superset_unchecked(t.matrix())
}
}
<span class="kw">impl</span><T1: RealField, T2: RealField + SupersetOf<T1>> SubsetOf<Matrix4<T2>>
<span class="kw">for </span>UnitDualQuaternion<T1>
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>to_superset(<span class="kw-2">&</span><span class="self">self</span>) -> Matrix4<T2> {
<span class="self">self</span>.clone().to_homogeneous().to_superset()
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>is_in_subset(m: <span class="kw-2">&</span>Matrix4<T2>) -> bool {
<span class="kw">crate</span>::is_convertible::<<span class="kw">_</span>, Isometry3<T1>>(m)
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(m: <span class="kw-2">&</span>Matrix4<T2>) -> <span class="self">Self </span>{
<span class="kw">let </span>iso: Isometry3<T1> = <span class="kw">crate</span>::convert_ref_unchecked(m);
<span class="self">Self</span>::from_isometry(<span class="kw-2">&</span>iso)
}
}
<span class="kw">impl</span><T: SimdRealField + RealField> From<UnitDualQuaternion<T>> <span class="kw">for </span>Matrix4<T>
<span class="kw">where
</span>T::Element: SimdRealField,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>from(dq: UnitDualQuaternion<T>) -> <span class="self">Self </span>{
dq.to_homogeneous()
}
}
<span class="kw">impl</span><T: SimdRealField> From<UnitDualQuaternion<T>> <span class="kw">for </span>Isometry3<T>
<span class="kw">where
</span>T::Element: SimdRealField,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>from(dq: UnitDualQuaternion<T>) -> <span class="self">Self </span>{
dq.to_isometry()
}
}
<span class="kw">impl</span><T: SimdRealField> From<Isometry3<T>> <span class="kw">for </span>UnitDualQuaternion<T>
<span class="kw">where
</span>T::Element: SimdRealField,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>from(iso: Isometry3<T>) -> <span class="self">Self </span>{
<span class="self">Self</span>::from_isometry(<span class="kw-2">&</span>iso)
}
}
</code></pre></div>
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