<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="Source of the Rust file `/Users/erlendbasso/.cargo/registry/src/github.com-1ecc6299db9ec823/nalgebra-0.32.1/src/geometry/rotation_conversion.rs`."><meta name="keywords" content="rust, rustlang, rust-lang"><title>rotation_conversion.rs - source</title><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceSerif4-Regular-1f7d512b176f0f72.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/FiraSans-Regular-018c141bf0843ffd.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/FiraSans-Medium-8f9a781e4970d388.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceCodePro-Regular-562dcc5011b6de7d.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceSerif4-Bold-124a1ca42af929b6.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceCodePro-Semibold-d899c5a5c4aeb14a.ttf.woff2"><link rel="stylesheet" href="../../../static.files/normalize-76eba96aa4d2e634.css"><link rel="stylesheet" href="../../../static.files/rustdoc-6827029ac823cab7.css" id="mainThemeStyle"><link rel="stylesheet" id="themeStyle" href="../../../static.files/light-ebce58d0a40c3431.css"><link rel="stylesheet" disabled href="../../../static.files/dark-f23faae4a2daf9a6.css"><link rel="stylesheet" disabled href="../../../static.files/ayu-8af5e100b21cd173.css"><script id="default-settings" ></script><script src="../../../static.files/storage-d43fa987303ecbbb.js"></script><script defer src="../../../static.files/source-script-5cf2e01a42cc9858.js"></script><script defer src="../../../source-files.js"></script><script defer src="../../../static.files/main-c55e1eb52e1886b4.js"></script><noscript><link rel="stylesheet" href="../../../static.files/noscript-13285aec31fa243e.css"></noscript><link rel="icon" href="https://nalgebra.org/img/favicon.ico"></head><body class="rustdoc source"><!--[if lte IE 11]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="sidebar"></nav><main><div class="width-limiter"><nav class="sub"><a class="sub-logo-container" href="../../../nalgebra/index.html"><img class="rust-logo" src="../../../static.files/rust-logo-151179464ae7ed46.svg" alt="logo"></a><form class="search-form"><span></span><input class="search-input" name="search" aria-label="Run search in the documentation" autocomplete="off" spellcheck="false" placeholder="Click or press ‘S’ to search, ‘?’ for more options…" type="search"><div id="help-button" title="help" tabindex="-1"><a href="../../../help.html">?</a></div><div id="settings-menu" tabindex="-1"><a href="../../../settings.html" title="settings"><img width="22" height="22" alt="Change settings" src="../../../static.files/wheel-5ec35bf9ca753509.svg"></a></div></form></nav><section id="main-content" class="content"><div class="example-wrap"><pre class="src-line-numbers"><a href="#1" id="1">1</a>
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</pre><pre class="rust"><code><span class="kw">use </span>num::Zero;
<span class="kw">use </span>simba::scalar::{RealField, SubsetOf, SupersetOf};
<span class="kw">use </span>simba::simd::{PrimitiveSimdValue, SimdValue};
<span class="kw">use </span><span class="kw">crate</span>::base::allocator::Allocator;
<span class="kw">use </span><span class="kw">crate</span>::base::dimension::{DimMin, DimNameAdd, DimNameSum, U1};
<span class="kw">use </span><span class="kw">crate</span>::base::{Const, DefaultAllocator, Matrix2, Matrix3, Matrix4, OMatrix, SMatrix, Scalar};
<span class="kw">use </span><span class="kw">crate</span>::geometry::{
AbstractRotation, Isometry, Rotation, Rotation2, Rotation3, Similarity, SuperTCategoryOf,
TAffine, Transform, Translation, UnitComplex, UnitDualQuaternion, UnitQuaternion,
};
<span class="comment">/*
* This file provides the following conversions:
* =============================================
*
* Rotation -> Rotation
* Rotation3 -> UnitQuaternion
* Rotation3 -> UnitDualQuaternion
* Rotation2 -> UnitComplex
* Rotation -> Isometry
* Rotation -> Similarity
* Rotation -> Transform
* Rotation -> Matrix (homogeneous)
*/
</span><span class="kw">impl</span><T1, T2, <span class="kw">const </span>D: usize> SubsetOf<Rotation<T2, D>> <span class="kw">for </span>Rotation<T1, D>
<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>) -> Rotation<T2, D> {
Rotation::from_matrix_unchecked(<span class="self">self</span>.matrix().to_superset())
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>is_in_subset(rot: <span class="kw-2">&</span>Rotation<T2, D>) -> bool {
<span class="kw">crate</span>::is_convertible::<<span class="kw">_</span>, SMatrix<T1, D, D>>(rot.matrix())
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(rot: <span class="kw-2">&</span>Rotation<T2, D>) -> <span class="self">Self </span>{
Rotation::from_matrix_unchecked(rot.matrix().to_subset_unchecked())
}
}
<span class="kw">impl</span><T1, T2> SubsetOf<UnitQuaternion<T2>> <span class="kw">for </span>Rotation3<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>) -> UnitQuaternion<T2> {
<span class="kw">let </span>q = UnitQuaternion::<T1>::from_rotation_matrix(<span class="self">self</span>);
q.to_superset()
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>is_in_subset(q: <span class="kw-2">&</span>UnitQuaternion<T2>) -> bool {
<span class="kw">crate</span>::is_convertible::<<span class="kw">_</span>, UnitQuaternion<T1>>(q)
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(q: <span class="kw-2">&</span>UnitQuaternion<T2>) -> <span class="self">Self </span>{
<span class="kw">let </span>q: UnitQuaternion<T1> = <span class="kw">crate</span>::convert_ref_unchecked(q);
q.to_rotation_matrix()
}
}
<span class="kw">impl</span><T1, T2> SubsetOf<UnitDualQuaternion<T2>> <span class="kw">for </span>Rotation3<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>) -> UnitDualQuaternion<T2> {
<span class="kw">let </span>q = UnitQuaternion::<T1>::from_rotation_matrix(<span class="self">self</span>);
<span class="kw">let </span>dq = UnitDualQuaternion::from_rotation(q);
dq.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>, UnitQuaternion<T1>>(<span class="kw-2">&</span>dq.rotation())
&& dq.translation().vector.is_zero()
}
<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="kw">let </span>dq: UnitDualQuaternion<T1> = <span class="kw">crate</span>::convert_ref_unchecked(dq);
dq.rotation().to_rotation_matrix()
}
}
<span class="kw">impl</span><T1, T2> SubsetOf<UnitComplex<T2>> <span class="kw">for </span>Rotation2<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>) -> UnitComplex<T2> {
<span class="kw">let </span>q = UnitComplex::<T1>::from_rotation_matrix(<span class="self">self</span>);
q.to_superset()
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>is_in_subset(q: <span class="kw-2">&</span>UnitComplex<T2>) -> bool {
<span class="kw">crate</span>::is_convertible::<<span class="kw">_</span>, UnitComplex<T1>>(q)
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(q: <span class="kw-2">&</span>UnitComplex<T2>) -> <span class="self">Self </span>{
<span class="kw">let </span>q: UnitComplex<T1> = <span class="kw">crate</span>::convert_ref_unchecked(q);
q.to_rotation_matrix()
}
}
<span class="kw">impl</span><T1, T2, R, <span class="kw">const </span>D: usize> SubsetOf<Isometry<T2, R, D>> <span class="kw">for </span>Rotation<T1, D>
<span class="kw">where
</span>T1: RealField,
T2: RealField + SupersetOf<T1>,
R: AbstractRotation<T2, D> + SupersetOf<<span class="self">Self</span>>,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>to_superset(<span class="kw-2">&</span><span class="self">self</span>) -> Isometry<T2, R, D> {
Isometry::from_parts(Translation::identity(), <span class="kw">crate</span>::convert_ref(<span class="self">self</span>))
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>is_in_subset(iso: <span class="kw-2">&</span>Isometry<T2, R, D>) -> bool {
iso.translation.vector.is_zero()
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(iso: <span class="kw-2">&</span>Isometry<T2, R, D>) -> <span class="self">Self </span>{
<span class="kw">crate</span>::convert_ref_unchecked(<span class="kw-2">&</span>iso.rotation)
}
}
<span class="kw">impl</span><T1, T2, R, <span class="kw">const </span>D: usize> SubsetOf<Similarity<T2, R, D>> <span class="kw">for </span>Rotation<T1, D>
<span class="kw">where
</span>T1: RealField,
T2: RealField + SupersetOf<T1>,
R: AbstractRotation<T2, D> + SupersetOf<<span class="self">Self</span>>,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>to_superset(<span class="kw-2">&</span><span class="self">self</span>) -> Similarity<T2, R, D> {
Similarity::from_parts(Translation::identity(), <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>Similarity<T2, R, D>) -> bool {
sim.isometry.translation.vector.is_zero() && sim.scaling() == T2::one()
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(sim: <span class="kw-2">&</span>Similarity<T2, R, D>) -> <span class="self">Self </span>{
<span class="kw">crate</span>::convert_ref_unchecked(<span class="kw-2">&</span>sim.isometry.rotation)
}
}
<span class="kw">impl</span><T1, T2, C, <span class="kw">const </span>D: usize> SubsetOf<Transform<T2, C, D>> <span class="kw">for </span>Rotation<T1, D>
<span class="kw">where
</span>T1: RealField,
T2: RealField + SupersetOf<T1>,
C: SuperTCategoryOf<TAffine>,
Const<D>: DimNameAdd<U1> + DimMin<Const<D>, Output = Const<D>>, <span class="comment">// needed by .is_special_orthogonal()
</span>DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
+ Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
<span class="comment">// + Allocator<(usize, usize), D>,
// Allocator<T1, D, D>
// + Allocator<T2, D, D>
</span>{
<span class="comment">// needed by .is_special_orthogonal()
</span><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, D> {
Transform::from_matrix_unchecked(<span class="self">self</span>.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, D>) -> 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, D>) -> <span class="self">Self </span>{
<span class="self">Self</span>::from_superset_unchecked(t.matrix())
}
}
<span class="kw">impl</span><T1, T2, <span class="kw">const </span>D: usize>
SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>> <span class="kw">for </span>Rotation<T1, D>
<span class="kw">where
</span>T1: RealField,
T2: RealField + SupersetOf<T1>,
Const<D>: DimNameAdd<U1> + DimMin<Const<D>, Output = Const<D>>, <span class="comment">// needed by .is_special_orthogonal()
</span>DefaultAllocator: Allocator<T1, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
+ Allocator<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>, <span class="comment">// + Allocator<(usize, usize), D>,
// + Allocator<T1, D, D>
// + Allocator<T2, D, D>
</span>{
<span class="comment">// needed by .is_special_orthogonal()
</span><span class="attr">#[inline]
</span><span class="kw">fn </span>to_superset(<span class="kw-2">&</span><span class="self">self</span>) -> OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> {
<span class="self">self</span>.to_homogeneous().to_superset()
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>is_in_subset(m: <span class="kw-2">&</span>OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>) -> bool {
<span class="kw">let </span>rot = m.fixed_view::<D, D>(<span class="number">0</span>, <span class="number">0</span>);
<span class="kw">let </span>bottom = m.fixed_view::<<span class="number">1</span>, D>(D, <span class="number">0</span>);
<span class="comment">// Scalar types agree.
</span>m.iter().all(|e| SupersetOf::<T1>::is_in_subset(e)) &&
<span class="comment">// The block part is a rotation.
</span>rot.is_special_orthogonal(T2::default_epsilon() * <span class="kw">crate</span>::convert(<span class="number">100.0</span>)) &&
<span class="comment">// The bottom row is (0, 0, ..., 1)
</span>bottom.iter().all(|e| e.is_zero()) && m[(D, D)] == T2::one()
}
<span class="attr">#[inline]
</span><span class="kw">fn </span>from_superset_unchecked(
m: <span class="kw-2">&</span>OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
) -> <span class="self">Self </span>{
<span class="kw">let </span>r = m.fixed_view::<D, D>(<span class="number">0</span>, <span class="number">0</span>);
<span class="self">Self</span>::from_matrix_unchecked(<span class="kw">crate</span>::convert_unchecked(r.into_owned()))
}
}
<span class="kw">impl</span><T: RealField> From<Rotation2<T>> <span class="kw">for </span>Matrix3<T> {
<span class="attr">#[inline]
</span><span class="kw">fn </span>from(q: Rotation2<T>) -> <span class="self">Self </span>{
q.to_homogeneous()
}
}
<span class="kw">impl</span><T: RealField> From<Rotation2<T>> <span class="kw">for </span>Matrix2<T> {
<span class="attr">#[inline]
</span><span class="kw">fn </span>from(q: Rotation2<T>) -> <span class="self">Self </span>{
q.into_inner()
}
}
<span class="kw">impl</span><T: RealField> From<Rotation3<T>> <span class="kw">for </span>Matrix4<T> {
<span class="attr">#[inline]
</span><span class="kw">fn </span>from(q: Rotation3<T>) -> <span class="self">Self </span>{
q.to_homogeneous()
}
}
<span class="kw">impl</span><T: RealField> From<Rotation3<T>> <span class="kw">for </span>Matrix3<T> {
<span class="attr">#[inline]
</span><span class="kw">fn </span>from(q: Rotation3<T>) -> <span class="self">Self </span>{
q.into_inner()
}
}
<span class="kw">impl</span><T: Scalar + PrimitiveSimdValue, <span class="kw">const </span>D: usize> From<[Rotation<T::Element, D>; <span class="number">2</span>]>
<span class="kw">for </span>Rotation<T, D>
<span class="kw">where
</span>T: From<[<T <span class="kw">as </span>SimdValue>::Element; <span class="number">2</span>]>,
T::Element: Scalar + Copy,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>from(arr: [Rotation<T::Element, D>; <span class="number">2</span>]) -> <span class="self">Self </span>{
<span class="self">Self</span>::from_matrix_unchecked(OMatrix::from([arr[<span class="number">0</span>].into_inner(), arr[<span class="number">1</span>].into_inner()]))
}
}
<span class="kw">impl</span><T: Scalar + PrimitiveSimdValue, <span class="kw">const </span>D: usize> From<[Rotation<T::Element, D>; <span class="number">4</span>]>
<span class="kw">for </span>Rotation<T, D>
<span class="kw">where
</span>T: From<[<T <span class="kw">as </span>SimdValue>::Element; <span class="number">4</span>]>,
T::Element: Scalar + Copy,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>from(arr: [Rotation<T::Element, D>; <span class="number">4</span>]) -> <span class="self">Self </span>{
<span class="self">Self</span>::from_matrix_unchecked(OMatrix::from([
arr[<span class="number">0</span>].into_inner(),
arr[<span class="number">1</span>].into_inner(),
arr[<span class="number">2</span>].into_inner(),
arr[<span class="number">3</span>].into_inner(),
]))
}
}
<span class="kw">impl</span><T: Scalar + PrimitiveSimdValue, <span class="kw">const </span>D: usize> From<[Rotation<T::Element, D>; <span class="number">8</span>]>
<span class="kw">for </span>Rotation<T, D>
<span class="kw">where
</span>T: From<[<T <span class="kw">as </span>SimdValue>::Element; <span class="number">8</span>]>,
T::Element: Scalar + Copy,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>from(arr: [Rotation<T::Element, D>; <span class="number">8</span>]) -> <span class="self">Self </span>{
<span class="self">Self</span>::from_matrix_unchecked(OMatrix::from([
arr[<span class="number">0</span>].into_inner(),
arr[<span class="number">1</span>].into_inner(),
arr[<span class="number">2</span>].into_inner(),
arr[<span class="number">3</span>].into_inner(),
arr[<span class="number">4</span>].into_inner(),
arr[<span class="number">5</span>].into_inner(),
arr[<span class="number">6</span>].into_inner(),
arr[<span class="number">7</span>].into_inner(),
]))
}
}
<span class="kw">impl</span><T: Scalar + PrimitiveSimdValue, <span class="kw">const </span>D: usize> From<[Rotation<T::Element, D>; <span class="number">16</span>]>
<span class="kw">for </span>Rotation<T, D>
<span class="kw">where
</span>T: From<[<T <span class="kw">as </span>SimdValue>::Element; <span class="number">16</span>]>,
T::Element: Scalar + Copy,
{
<span class="attr">#[inline]
</span><span class="kw">fn </span>from(arr: [Rotation<T::Element, D>; <span class="number">16</span>]) -> <span class="self">Self </span>{
<span class="self">Self</span>::from_matrix_unchecked(OMatrix::from([
arr[<span class="number">0</span>].into_inner(),
arr[<span class="number">1</span>].into_inner(),
arr[<span class="number">2</span>].into_inner(),
arr[<span class="number">3</span>].into_inner(),
arr[<span class="number">4</span>].into_inner(),
arr[<span class="number">5</span>].into_inner(),
arr[<span class="number">6</span>].into_inner(),
arr[<span class="number">7</span>].into_inner(),
arr[<span class="number">8</span>].into_inner(),
arr[<span class="number">9</span>].into_inner(),
arr[<span class="number">10</span>].into_inner(),
arr[<span class="number">11</span>].into_inner(),
arr[<span class="number">12</span>].into_inner(),
arr[<span class="number">13</span>].into_inner(),
arr[<span class="number">14</span>].into_inner(),
arr[<span class="number">15</span>].into_inner(),
]))
}
}
</code></pre></div>
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