From 43cf22af288205bb769e734bf8174b1f3e7aeb82 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Crozet=20S=C3=A9bastien?= <developer@crozet.re>
Date: Tue, 27 Apr 2021 13:16:01 +0200
Subject: [PATCH 1/6] Cleanup conversion between static arrays and static
 matrices.

---
 src/base/conversion.rs | 83 +++++++++++++++---------------------------
 1 file changed, 30 insertions(+), 53 deletions(-)

diff --git a/src/base/conversion.rs b/src/base/conversion.rs
index 24a088a29..b329dba19 100644
--- a/src/base/conversion.rs
+++ b/src/base/conversion.rs
@@ -3,7 +3,6 @@ use alloc::vec::Vec;
 use simba::scalar::{SubsetOf, SupersetOf};
 use std::convert::{AsMut, AsRef, From, Into};
 use std::mem;
-use std::ptr;
 
 use simba::simd::{PrimitiveSimdValue, SimdValue};
 
@@ -24,6 +23,7 @@ use crate::base::{
 use crate::base::{DVector, VecStorage};
 use crate::base::{SliceStorage, SliceStorageMut};
 use crate::constraint::DimEq;
+use crate::{SMatrix, SVector};
 
 // TODO: too bad this won't work allo slice conversions.
 impl<T1, T2, R1, C1, R2, C2> SubsetOf<OMatrix<T2, R2, C2>> for OMatrix<T1, R1, C1>
@@ -103,35 +103,23 @@ impl<'a, T: Scalar, R: Dim, C: Dim, S: StorageMut<T, R, C>> IntoIterator
     }
 }
 
-macro_rules! impl_from_into_asref_1D(
-    ($(($NRows: ident, $NCols: ident) => $SZ: expr);* $(;)*) => {$(
-        impl<T> From<[T; $SZ]> for OMatrix<T, $NRows, $NCols>
-        where T: Scalar,
-              DefaultAllocator: Allocator<T, $NRows, $NCols> {
-            #[inline]
-            fn from(arr: [T; $SZ]) -> Self {
-                unsafe {
-                    let mut res = Self::new_uninitialized();
-                    ptr::copy_nonoverlapping(&arr[0], (*res.as_mut_ptr()).data.ptr_mut(), $SZ);
-
-                    res.assume_init()
-                }
-            }
-        }
-
-        impl<T, S> Into<[T; $SZ]> for Matrix<T, $NRows, $NCols, S>
-        where T: Scalar,
-              S: ContiguousStorage<T, $NRows, $NCols> {
-            #[inline]
-            fn into(self) -> [T; $SZ] {
-                let mut res = mem::MaybeUninit::<[T; $SZ]>::uninit();
-
-                unsafe { ptr::copy_nonoverlapping(self.data.ptr(), res.as_mut_ptr() as *mut T, $SZ) };
+impl<T: Scalar, const D: usize> From<[T; D]> for SVector<T, D> {
+    #[inline]
+    fn from(arr: [T; D]) -> Self {
+        unsafe { Self::from_data_statically_unchecked(ArrayStorage([arr; 1])) }
+    }
+}
 
-                unsafe { res.assume_init() }
-            }
-        }
+impl<T: Scalar, const D: usize> Into<[T; D]> for SVector<T, D> {
+    #[inline]
+    fn into(self) -> [T; D] {
+        // TODO: unfortunately, we must clone because we can move out of an array.
+        self.data.0[0].clone()
+    }
+}
 
+macro_rules! impl_from_into_asref_1D(
+    ($(($NRows: ident, $NCols: ident) => $SZ: expr);* $(;)*) => {$(
         impl<T, S> AsRef<[T; $SZ]> for Matrix<T, $NRows, $NCols, S>
         where T: Scalar,
               S: ContiguousStorage<T, $NRows, $NCols> {
@@ -171,33 +159,22 @@ impl_from_into_asref_1D!(
     (U13, U1) => 13; (U14, U1) => 14; (U15, U1) => 15; (U16, U1) => 16;
 );
 
-macro_rules! impl_from_into_asref_2D(
-    ($(($NRows: ty, $NCols: ty) => ($SZRows: expr, $SZCols: expr));* $(;)*) => {$(
-        impl<T: Scalar> From<[[T; $SZRows]; $SZCols]> for OMatrix<T, $NRows, $NCols>
-        where DefaultAllocator: Allocator<T, $NRows, $NCols> {
-            #[inline]
-            fn from(arr: [[T; $SZRows]; $SZCols]) -> Self {
-                unsafe {
-                    let mut res = Self::new_uninitialized();
-                    ptr::copy_nonoverlapping(&arr[0][0], (*res.as_mut_ptr()).data.ptr_mut(), $SZRows * $SZCols);
-
-                    res.assume_init()
-                }
-            }
-        }
-
-        impl<T: Scalar, S> Into<[[T; $SZRows]; $SZCols]> for Matrix<T, $NRows, $NCols, S>
-        where S: ContiguousStorage<T, $NRows, $NCols> {
-            #[inline]
-            fn into(self) -> [[T; $SZRows]; $SZCols] {
-                let mut res = mem::MaybeUninit::<[[T; $SZRows]; $SZCols]>::uninit();
-
-                unsafe { ptr::copy_nonoverlapping(self.data.ptr(), res.as_mut_ptr() as *mut T, $SZRows * $SZCols) };
+impl<T: Scalar, const R: usize, const C: usize> From<[[T; R]; C]> for SMatrix<T, R, C> {
+    #[inline]
+    fn from(arr: [[T; R]; C]) -> Self {
+        unsafe { Self::from_data_statically_unchecked(ArrayStorage(arr)) }
+    }
+}
 
-                unsafe { res.assume_init() }
-            }
-        }
+impl<T: Scalar, const R: usize, const C: usize> Into<[[T; R]; C]> for SMatrix<T, R, C> {
+    #[inline]
+    fn into(self) -> [[T; R]; C] {
+        self.data.0
+    }
+}
 
+macro_rules! impl_from_into_asref_2D(
+    ($(($NRows: ty, $NCols: ty) => ($SZRows: expr, $SZCols: expr));* $(;)*) => {$(
         impl<T: Scalar, S> AsRef<[[T; $SZRows]; $SZCols]> for Matrix<T, $NRows, $NCols, S>
         where S: ContiguousStorage<T, $NRows, $NCols> {
             #[inline]

From 09be376cd9c87806845792e8a7f21a676bdc9b10 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Crozet=20S=C3=A9bastien?= <developer@crozet.re>
Date: Tue, 27 Apr 2021 13:16:44 +0200
Subject: [PATCH 2/6] Add more conversion for Isometry

Add [T; D] -> Isometry<T, R, D>
Add SVector<T, D> -> Isometry<T, R, D>
Add Point<T, D> -> Isometry<T, R, D>
---
 src/geometry/isometry_conversion.rs | 30 +++++++++++++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/src/geometry/isometry_conversion.rs b/src/geometry/isometry_conversion.rs
index b8cc4568b..75c0d98d5 100644
--- a/src/geometry/isometry_conversion.rs
+++ b/src/geometry/isometry_conversion.rs
@@ -9,6 +9,7 @@ use crate::geometry::{
     AbstractRotation, Isometry, Isometry3, Similarity, SuperTCategoryOf, TAffine, Transform,
     Translation, UnitDualQuaternion, UnitQuaternion,
 };
+use crate::{Point, SVector};
 
 /*
  * This file provides the following conversions:
@@ -198,6 +199,35 @@ where
     }
 }
 
+impl<T: SimdRealField, R, const D: usize> From<[T; D]> for Isometry<T, R, D>
+where
+    R: AbstractRotation<T, D>,
+{
+    #[inline]
+    fn from(coords: [T; D]) -> Self {
+        Self::from_parts(coords.into(), R::identity())
+    }
+}
+
+impl<T: SimdRealField, R, const D: usize> From<SVector<T, D>> for Isometry<T, R, D>
+where
+    R: AbstractRotation<T, D>,
+{
+    #[inline]
+    fn from(coords: SVector<T, D>) -> Self {
+        Self::from_parts(coords.into(), R::identity())
+    }
+}
+impl<T: SimdRealField, R, const D: usize> From<Point<T, D>> for Isometry<T, R, D>
+where
+    R: AbstractRotation<T, D>,
+{
+    #[inline]
+    fn from(coords: Point<T, D>) -> Self {
+        Self::from_parts(coords.into(), R::identity())
+    }
+}
+
 impl<T: Scalar + PrimitiveSimdValue, R, const D: usize>
     From<[Isometry<T::Element, R::Element, D>; 2]> for Isometry<T, R, D>
 where

From db27a080f15444fec66bc3257a1d91e64cbc5e54 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Crozet=20S=C3=A9bastien?= <developer@crozet.re>
Date: Tue, 27 Apr 2021 13:17:12 +0200
Subject: [PATCH 3/6] Cleanup conversions between points and static vectors.

---
 src/geometry/point_construction.rs | 14 --------------
 src/geometry/point_conversion.rs   | 16 ++++++++++++++++
 2 files changed, 16 insertions(+), 14 deletions(-)

diff --git a/src/geometry/point_construction.rs b/src/geometry/point_construction.rs
index f50a3fc17..7e34137c6 100644
--- a/src/geometry/point_construction.rs
+++ b/src/geometry/point_construction.rs
@@ -225,17 +225,3 @@ componentwise_constructors_impl!(
     "# use nalgebra::Point6;\nlet p = Point6::new(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);\nassert!(p.x == 1.0 && p.y == 2.0 && p.z == 3.0 && p.w == 4.0 && p.a == 5.0 && p.b == 6.0);";
     Point6, Vector6, x:0, y:1, z:2, w:3, a:4, b:5;
 );
-
-macro_rules! from_array_impl(
-    ($($Point: ident, $len: expr);*) => {$(
-      impl <T: Scalar> From<[T; $len]> for $Point<T> {
-          fn from(coords: [T; $len]) -> Self {
-              Self {
-                coords: coords.into()
-              }
-          }
-      }
-    )*}
-);
-
-from_array_impl!(Point1, 1; Point2, 2; Point3, 3; Point4, 4; Point5, 5; Point6, 6);
diff --git a/src/geometry/point_conversion.rs b/src/geometry/point_conversion.rs
index 08438ec0a..91cd62ce2 100644
--- a/src/geometry/point_conversion.rs
+++ b/src/geometry/point_conversion.rs
@@ -81,6 +81,22 @@ where
     }
 }
 
+impl<T: Scalar, const D: usize> From<[T; D]> for Point<T, D> {
+    #[inline]
+    fn from(coords: [T; D]) -> Self {
+        Point {
+            coords: coords.into(),
+        }
+    }
+}
+
+impl<T: Scalar, const D: usize> Into<[T; D]> for Point<T, D> {
+    #[inline]
+    fn into(self) -> [T; D] {
+        self.coords.into()
+    }
+}
+
 impl<T: Scalar, const D: usize> From<OVector<T, Const<D>>> for Point<T, D> {
     #[inline]
     fn from(coords: OVector<T, Const<D>>) -> Self {

From 65b94ccb915e705f8afba254a36d08ad848e3822 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Crozet=20S=C3=A9bastien?= <developer@crozet.re>
Date: Tue, 27 Apr 2021 13:17:51 +0200
Subject: [PATCH 4/6] Add more conversions for translations

Add [T; D] <-> Translation<T, D>
Add Point<T, D> -> Translation<T, D>
---
 src/geometry/translation_conversion.rs | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/src/geometry/translation_conversion.rs b/src/geometry/translation_conversion.rs
index 8c8f860f7..ff8e797f3 100644
--- a/src/geometry/translation_conversion.rs
+++ b/src/geometry/translation_conversion.rs
@@ -11,6 +11,7 @@ use crate::geometry::{
     AbstractRotation, Isometry, Similarity, SuperTCategoryOf, TAffine, Transform, Translation,
     Translation3, UnitDualQuaternion, UnitQuaternion,
 };
+use crate::Point;
 
 /*
  * This file provides the following conversions:
@@ -199,6 +200,31 @@ impl<T: Scalar, const D: usize> From<OVector<T, Const<D>>> for Translation<T, D>
     }
 }
 
+impl<T: Scalar, const D: usize> From<[T; D]> for Translation<T, D> {
+    #[inline]
+    fn from(coords: [T; D]) -> Self {
+        Translation {
+            vector: coords.into(),
+        }
+    }
+}
+
+impl<T: Scalar, const D: usize> From<Point<T, D>> for Translation<T, D> {
+    #[inline]
+    fn from(pt: Point<T, D>) -> Self {
+        Translation {
+            vector: pt.coords.into(),
+        }
+    }
+}
+
+impl<T: Scalar, const D: usize> Into<[T; D]> for Translation<T, D> {
+    #[inline]
+    fn into(self) -> [T; D] {
+        self.vector.into()
+    }
+}
+
 impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 2]>
     for Translation<T, D>
 where

From d59d4381890e87d99899c8f6af06c8e53a71e805 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Crozet=20S=C3=A9bastien?= <developer@crozet.re>
Date: Tue, 27 Apr 2021 13:21:46 +0200
Subject: [PATCH 5/6] Add more conversion for glam types

Add Isometry3 <-> (Vec3, Quat)
Add Isometry2 <-> (Vec3, Quat)
Add Translation2/3/4 <-> Vec2/3/4
---
 src/third_party/glam/glam_isometry.rs    | 68 +++++++++++++++++++++++-
 src/third_party/glam/glam_translation.rs | 65 ++++++++++++++++++++++
 src/third_party/glam/mod.rs              |  1 +
 3 files changed, 132 insertions(+), 2 deletions(-)
 create mode 100644 src/third_party/glam/glam_translation.rs

diff --git a/src/third_party/glam/glam_isometry.rs b/src/third_party/glam/glam_isometry.rs
index 52c36e378..34a321e53 100644
--- a/src/third_party/glam/glam_isometry.rs
+++ b/src/third_party/glam/glam_isometry.rs
@@ -1,5 +1,5 @@
 use crate::{Isometry2, Isometry3};
-use glam::{DMat3, DMat4, Mat3, Mat4};
+use glam::{DMat3, DMat4, DQuat, DVec3, Mat3, Mat4, Quat, Vec3};
 
 impl From<Isometry2<f32>> for Mat3 {
     fn from(iso: Isometry2<f32>) -> Mat3 {
@@ -23,10 +23,74 @@ impl From<Isometry3<f64>> for DMat4 {
     }
 }
 
+impl From<Isometry3<f32>> for (Vec3, Quat) {
+    fn from(iso: Isometry3<f32>) -> (Vec3, Quat) {
+        (iso.translation.into(), iso.rotation.into())
+    }
+}
+
+impl From<Isometry3<f64>> for (DVec3, DQuat) {
+    fn from(iso: Isometry3<f64>) -> (DVec3, DQuat) {
+        (iso.translation.into(), iso.rotation.into())
+    }
+}
+
+impl From<Isometry2<f32>> for (Vec3, Quat) {
+    fn from(iso: Isometry2<f32>) -> (Vec3, Quat) {
+        let tra = Vec3::new(iso.translation.x, iso.translation.y, 0.0);
+        let rot = Quat::from_axis_angle(Vec3::new(0.0, 0.0, 1.0), iso.rotation.angle());
+        (tra, rot)
+    }
+}
+
+impl From<Isometry2<f64>> for (DVec3, DQuat) {
+    fn from(iso: Isometry2<f64>) -> (DVec3, DQuat) {
+        let tra = DVec3::new(iso.translation.x, iso.translation.y, 0.0);
+        let rot = DQuat::from_axis_angle(DVec3::new(0.0, 0.0, 1.0), iso.rotation.angle());
+        (tra, rot)
+    }
+}
+
 #[cfg(feature = "convert-glam-unchecked")]
 mod unchecked {
     use crate::{Isometry2, Isometry3, Matrix3, Matrix4};
-    use glam::{DMat3, DMat4, Mat3, Mat4};
+    use glam::{DMat3, DMat4, DQuat, DVec2, DVec3, Mat3, Mat4, Quat, Vec2, Vec3};
+
+    impl From<(Vec3, Quat)> for Isometry3<f32> {
+        fn from((tra, rot): (Vec3, Quat)) -> Self {
+            Isometry3::from_parts(tra.into(), rot.into())
+        }
+    }
+
+    impl From<(DVec3, DQuat)> for Isometry3<f64> {
+        fn from((tra, rot): (DVec3, DQuat)) -> Self {
+            Isometry3::from_parts(tra.into(), rot.into())
+        }
+    }
+
+    impl From<(Vec3, Quat)> for Isometry2<f32> {
+        fn from((tra, rot): (Vec3, Quat)) -> Self {
+            Isometry2::new([tra.x, tra.y].into(), rot.to_axis_angle().1)
+        }
+    }
+
+    impl From<(DVec3, DQuat)> for Isometry2<f64> {
+        fn from((tra, rot): (DVec3, DQuat)) -> Self {
+            Isometry2::new([tra.x, tra.y].into(), rot.to_axis_angle().1)
+        }
+    }
+
+    impl From<(Vec2, Quat)> for Isometry2<f32> {
+        fn from((tra, rot): (Vec2, Quat)) -> Self {
+            Isometry2::new([tra.x, tra.y].into(), rot.to_axis_angle().1)
+        }
+    }
+
+    impl From<(DVec2, DQuat)> for Isometry2<f64> {
+        fn from((tra, rot): (DVec2, DQuat)) -> Self {
+            Isometry2::new([tra.x, tra.y].into(), rot.to_axis_angle().1)
+        }
+    }
 
     impl From<Mat3> for Isometry2<f32> {
         fn from(mat3: Mat3) -> Isometry2<f32> {
diff --git a/src/third_party/glam/glam_translation.rs b/src/third_party/glam/glam_translation.rs
new file mode 100644
index 000000000..f92d32759
--- /dev/null
+++ b/src/third_party/glam/glam_translation.rs
@@ -0,0 +1,65 @@
+use crate::{Translation2, Translation3, Translation4};
+use glam::{DVec2, DVec3, DVec4, Vec2, Vec3, Vec3A, Vec4};
+
+macro_rules! impl_translation_conversion(
+    ($N: ty, $Vec2: ty, $Vec3: ty, $Vec4: ty) => {
+        impl From<$Vec2> for Translation2<$N> {
+            #[inline]
+            fn from(e: $Vec2) -> Translation2<$N> {
+                (*e.as_ref()).into()
+            }
+        }
+
+        impl From<Translation2<$N>> for $Vec2 {
+            #[inline]
+            fn from(e: Translation2<$N>) -> $Vec2 {
+                e.vector.into()
+            }
+        }
+
+        impl From<$Vec3> for Translation3<$N> {
+            #[inline]
+            fn from(e: $Vec3) -> Translation3<$N> {
+                (*e.as_ref()).into()
+            }
+        }
+
+        impl From<Translation3<$N>> for $Vec3 {
+            #[inline]
+            fn from(e: Translation3<$N>) -> $Vec3 {
+                e.vector.into()
+            }
+        }
+
+        impl From<$Vec4> for Translation4<$N> {
+            #[inline]
+            fn from(e: $Vec4) -> Translation4<$N> {
+                (*e.as_ref()).into()
+            }
+        }
+
+        impl From<Translation4<$N>> for $Vec4 {
+            #[inline]
+            fn from(e: Translation4<$N>) -> $Vec4 {
+                e.vector.into()
+            }
+        }
+    }
+);
+
+impl_translation_conversion!(f32, Vec2, Vec3, Vec4);
+impl_translation_conversion!(f64, DVec2, DVec3, DVec4);
+
+impl From<Vec3A> for Translation3<f32> {
+    #[inline]
+    fn from(e: Vec3A) -> Translation3<f32> {
+        (*e.as_ref()).into()
+    }
+}
+
+impl From<Translation3<f32>> for Vec3A {
+    #[inline]
+    fn from(e: Translation3<f32>) -> Vec3A {
+        e.vector.into()
+    }
+}
diff --git a/src/third_party/glam/mod.rs b/src/third_party/glam/mod.rs
index d4f8b6435..209259235 100644
--- a/src/third_party/glam/mod.rs
+++ b/src/third_party/glam/mod.rs
@@ -4,4 +4,5 @@ mod glam_point;
 mod glam_quaternion;
 mod glam_rotation;
 mod glam_similarity;
+mod glam_translation;
 mod glam_unit_complex;

From 0745384c2181fe273d1508c2715ff4f6dcb91a51 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Crozet=20S=C3=A9bastien?= <developer@crozet.re>
Date: Tue, 27 Apr 2021 13:29:15 +0200
Subject: [PATCH 6/6] Update changelog.

---
 CHANGELOG.md | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8c762fd5b..029532b10 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,16 @@ documented here.
 
 This project adheres to [Semantic Versioning](https://semver.org/).
 
+## [0.26.2]
+###Added
+- Conversion from an array `[T; D]` to an isometry `Isometry<T, _, D>` (as a translation).
+- Conversion from a static vector `SVector<T; D>` to an isometry `Isometry<T, _, D>` (as a translation).
+- Conversion from a point `Point<T; D>` to an isometry `Isometry<T, _, D>` (as a translation).
+- Conversion of an array `[T; D]` from/to a translation `Translation<T, D>`.
+- Conversion of a point `Point<T, D>` to a translation `Translation<T, D>`.
+- Conversion of the tuple of glam types `(Vec3, Quat)` from/to an `Isometry2` or `Isometry3`.
+- Conversion of a glam type `Vec2/3/4` from/to a `Translation2/3/4`.
+
 ## [0.26.1]
 Fix a regression introduced in 0.26.0 preventing `DVector` from being serialized with `serde`.