Support multiple version of the optional glam conversion

Cargo.toml

@@ -36,9 +36,10 @@ macros = [ "nalgebra-macros" ]
 
 # Conversion
 convert-mint = [ "mint" ]
-convert-glam = [ "glam" ]
-convert-glam-unchecked = [ "convert-glam" ] # Enable edgy conversions like Mat4 -> Isometry3
 convert-bytemuck = [ "bytemuck" ]
+convert-glam013 = [ "glam013" ]
+convert-glam014 = [ "glam014" ]
+convert-glam015 = [ "glam015" ]
 
 # Serialization
 ## To use serde in a #[no-std] environment, enable the
@@ -78,13 +79,16 @@ serde          = { version = "1.0", default-features = false, features = [ "deri
 abomonation    = { version = "0.7", optional = true }
 rkyv           = { version = "~0.6.4", default-features = false, features = ["const_generics"], optional = true }
 mint           = { version = "0.5", optional = true }
-glam           = { version = "0.13", optional = true }
 quickcheck     = { version = "1", optional = true }
 pest           = { version = "2", optional = true }
 pest_derive    = { version = "2", optional = true }
 bytemuck       = { version = "1.5", optional = true }
 matrixcompare-core = { version = "0.1", optional = true }
 proptest           = { version = "1", optional = true, default-features = false, features = ["std"] }
+glam013        = { package = "glam", version = "0.13", optional = true }
+glam014        = { package = "glam", version = "0.14", optional = true }
+glam015        = { package = "glam", version = "0.15", optional = true }
+
 
 [dev-dependencies]
 serde_json = "1.0"

src/third_party/glam/common/glam_isometry.rs

@@ -0,0 +1,193 @@
+use super::glam::{DMat3, DMat4, DQuat, DVec2, DVec3, Mat3, Mat4, Quat, Vec2, Vec3};
+use crate::{Isometry2, Isometry3, Matrix3, Matrix4};
+use std::convert::TryFrom;
+
+impl From<Isometry2<f32>> for Mat3 {
+    fn from(iso: Isometry2<f32>) -> Mat3 {
+        iso.to_homogeneous().into()
+    }
+}
+impl From<Isometry3<f32>> for Mat4 {
+    fn from(iso: Isometry3<f32>) -> Mat4 {
+        iso.to_homogeneous().into()
+    }
+}
+
+impl From<Isometry2<f64>> for DMat3 {
+    fn from(iso: Isometry2<f64>) -> DMat3 {
+        iso.to_homogeneous().into()
+    }
+}
+impl From<Isometry3<f64>> for DMat4 {
+    fn from(iso: Isometry3<f64>) -> DMat4 {
+        iso.to_homogeneous().into()
+    }
+}
+
+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::Z, 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::Z, iso.rotation.angle());
+        (tra, rot)
+    }
+}
+
+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.into(), rot.to_axis_angle().1)
+    }
+}
+
+impl From<(DVec2, DQuat)> for Isometry2<f64> {
+    fn from((tra, rot): (DVec2, DQuat)) -> Self {
+        Isometry2::new(tra.into(), rot.to_axis_angle().1)
+    }
+}
+
+impl From<(Vec2, f32)> for Isometry2<f32> {
+    fn from((tra, rot): (Vec2, f32)) -> Self {
+        Isometry2::new(tra.into(), rot)
+    }
+}
+
+impl From<(DVec2, f64)> for Isometry2<f64> {
+    fn from((tra, rot): (DVec2, f64)) -> Self {
+        Isometry2::new(tra.into(), rot)
+    }
+}
+
+impl From<Quat> for Isometry3<f32> {
+    fn from(rot: Quat) -> Self {
+        Isometry3::from_parts(crate::one(), rot.into())
+    }
+}
+
+impl From<DQuat> for Isometry3<f64> {
+    fn from(rot: DQuat) -> Self {
+        Isometry3::from_parts(crate::one(), rot.into())
+    }
+}
+
+impl From<Quat> for Isometry2<f32> {
+    fn from(rot: Quat) -> Self {
+        Isometry2::new(crate::zero(), rot.to_axis_angle().1)
+    }
+}
+
+impl From<DQuat> for Isometry2<f64> {
+    fn from(rot: DQuat) -> Self {
+        Isometry2::new(crate::zero(), rot.to_axis_angle().1)
+    }
+}
+
+impl From<Vec3> for Isometry3<f32> {
+    fn from(tra: Vec3) -> Self {
+        Isometry3::from_parts(tra.into(), crate::one())
+    }
+}
+
+impl From<DVec3> for Isometry3<f64> {
+    fn from(tra: DVec3) -> Self {
+        Isometry3::from_parts(tra.into(), crate::one())
+    }
+}
+
+impl From<Vec2> for Isometry2<f32> {
+    fn from(tra: Vec2) -> Self {
+        Isometry2::new(tra.into(), crate::one())
+    }
+}
+
+impl From<DVec2> for Isometry2<f64> {
+    fn from(tra: DVec2) -> Self {
+        Isometry2::new(tra.into(), crate::one())
+    }
+}
+
+impl From<Vec3> for Isometry2<f32> {
+    fn from(tra: Vec3) -> Self {
+        Isometry2::new([tra.x, tra.y].into(), crate::one())
+    }
+}
+
+impl From<DVec3> for Isometry2<f64> {
+    fn from(tra: DVec3) -> Self {
+        Isometry2::new([tra.x, tra.y].into(), crate::one())
+    }
+}
+
+impl TryFrom<Mat3> for Isometry2<f32> {
+    type Error = ();
+
+    fn try_from(mat3: Mat3) -> Result<Isometry2<f32>, Self::Error> {
+        crate::try_convert(Matrix3::from(mat3)).ok_or(())
+    }
+}
+
+impl TryFrom<Mat4> for Isometry3<f32> {
+    type Error = ();
+
+    fn try_from(mat4: Mat4) -> Result<Isometry3<f32>, Self::Error> {
+        crate::try_convert(Matrix4::from(mat4)).ok_or(())
+    }
+}
+
+impl TryFrom<DMat3> for Isometry2<f64> {
+    type Error = ();
+
+    fn try_from(mat3: DMat3) -> Result<Isometry2<f64>, Self::Error> {
+        crate::try_convert(Matrix3::from(mat3)).ok_or(())
+    }
+}
+
+impl TryFrom<DMat4> for Isometry3<f64> {
+    type Error = ();
+
+    fn try_from(mat4: DMat4) -> Result<Isometry3<f64>, Self::Error> {
+        crate::try_convert(Matrix4::from(mat4)).ok_or(())
+    }
+}

src/third_party/glam/glam_matrix.rs → src/third_party/glam/common/glam_matrix.rs

@@ -1,9 +1,9 @@
-use crate::storage::Storage;
-use crate::{Matrix, Matrix2, Matrix3, Matrix4, Vector, Vector2, Vector3, Vector4, U2, U3, U4};
-use glam::{
+use super::glam::{
     BVec2, BVec3, BVec4, DMat2, DMat3, DMat4, DVec2, DVec3, DVec4, IVec2, IVec3, IVec4, Mat2, Mat3,
     Mat4, UVec2, UVec3, UVec4, Vec2, Vec3, Vec3A, Vec4,
 };
+use crate::storage::Storage;
+use crate::{Matrix, Matrix2, Matrix3, Matrix4, Vector, Vector2, Vector3, Vector4, U2, U3, U4};
 
 macro_rules! impl_vec_conversion(
     ($N: ty, $Vec2: ty, $Vec3: ty, $Vec4: ty) => {

src/third_party/glam/glam_point.rs → src/third_party/glam/common/glam_point.rs

@@ -1,8 +1,8 @@
-use crate::{Point2, Point3, Point4};
-use glam::{
+use super::glam::{
     BVec2, BVec3, BVec4, DVec2, DVec3, DVec4, IVec2, IVec3, IVec4, UVec2, UVec3, UVec4, Vec2, Vec3,
     Vec3A, Vec4,
 };
+use crate::{Point2, Point3, Point4};
 
 macro_rules! impl_point_conversion(
     ($N: ty, $Vec2: ty, $Vec3: ty, $Vec4: ty) => {

src/third_party/glam/glam_quaternion.rs → src/third_party/glam/common/glam_quaternion.rs

@@ -1,5 +1,5 @@
+use super::glam::{DQuat, Quat};
 use crate::{Quaternion, UnitQuaternion};
-use glam::{DQuat, Quat};
 
 impl From<Quat> for Quaternion<f32> {
     #[inline]
@@ -43,22 +43,16 @@ impl From<UnitQuaternion<f64>> for DQuat {
     }
 }
 
-#[cfg(feature = "convert-glam-unchecked")]
-mod unchecked {
-    use crate::{Quaternion, UnitQuaternion};
-    use glam::{DQuat, Quat};
-
-    impl From<Quat> for UnitQuaternion<f32> {
-        #[inline]
-        fn from(e: Quat) -> UnitQuaternion<f32> {
-            UnitQuaternion::new_unchecked(Quaternion::from(e))
-        }
+impl From<Quat> for UnitQuaternion<f32> {
+    #[inline]
+    fn from(e: Quat) -> UnitQuaternion<f32> {
+        UnitQuaternion::new_normalize(Quaternion::from(e))
     }
+}
 
-    impl From<DQuat> for UnitQuaternion<f64> {
-        #[inline]
-        fn from(e: DQuat) -> UnitQuaternion<f64> {
-            UnitQuaternion::new_unchecked(Quaternion::from(e))
-        }
+impl From<DQuat> for UnitQuaternion<f64> {
+    #[inline]
+    fn from(e: DQuat) -> UnitQuaternion<f64> {
+        UnitQuaternion::new_normalize(Quaternion::from(e))
     }
 }

src/third_party/glam/common/glam_rotation.rs

@@ -0,0 +1,58 @@
+use super::glam::{DMat2, DQuat, Mat2, Quat};
+use crate::{Rotation2, Rotation3, UnitComplex, UnitQuaternion};
+
+impl From<Rotation2<f32>> for Mat2 {
+    #[inline]
+    fn from(e: Rotation2<f32>) -> Mat2 {
+        e.into_inner().into()
+    }
+}
+
+impl From<Rotation2<f64>> for DMat2 {
+    #[inline]
+    fn from(e: Rotation2<f64>) -> DMat2 {
+        e.into_inner().into()
+    }
+}
+
+impl From<Rotation3<f32>> for Quat {
+    #[inline]
+    fn from(e: Rotation3<f32>) -> Quat {
+        UnitQuaternion::from(e).into()
+    }
+}
+
+impl From<Rotation3<f64>> for DQuat {
+    #[inline]
+    fn from(e: Rotation3<f64>) -> DQuat {
+        UnitQuaternion::from(e).into()
+    }
+}
+
+impl From<Mat2> for Rotation2<f32> {
+    #[inline]
+    fn from(e: Mat2) -> Rotation2<f32> {
+        UnitComplex::from(e).to_rotation_matrix()
+    }
+}
+
+impl From<DMat2> for Rotation2<f64> {
+    #[inline]
+    fn from(e: DMat2) -> Rotation2<f64> {
+        UnitComplex::from(e).to_rotation_matrix()
+    }
+}
+
+impl From<Quat> for Rotation3<f32> {
+    #[inline]
+    fn from(e: Quat) -> Rotation3<f32> {
+        Rotation3::from(UnitQuaternion::from(e))
+    }
+}
+
+impl From<DQuat> for Rotation3<f64> {
+    #[inline]
+    fn from(e: DQuat) -> Rotation3<f64> {
+        Rotation3::from(UnitQuaternion::from(e))
+    }
+}