e151e136d6
Closes #18 Co-authored-by: Jules Pénuchot <jules@penuchot.com> See merge request oss/rotgen!50
83 lines
2.2 KiB
C++
83 lines
2.2 KiB
C++
//==============================================================================
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/*
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ROTGEN - Runtime Overlay for Eigen
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Copyright : CODE RECKONS
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SPDX-License-Identifier: BSL-1.0
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*/
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//==============================================================================
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#pragma once
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#include <rotgen/concepts.hpp>
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#include <rotgen/config.hpp>
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#include <rotgen/container/matrix.hpp>
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#include <rotgen/container/ref.hpp>
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#include <type_traits>
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namespace rotgen
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{
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template<typename Scalar, int Options = AutoAlign> class quaternion;
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//----------------------------------------------------------------------------
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// Convert entity/eigen types to a proper ref so we can write less function
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// overloads
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template<typename T> struct generalize;
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template<typename T>
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requires(std::is_arithmetic_v<std::remove_cvref_t<T>>)
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struct generalize<T>
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{
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using type = std::remove_cvref_t<T>;
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};
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template<typename T> using generalize_t = typename generalize<T>::type;
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template<concepts::entity T> struct generalize<T>
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{
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static constexpr bool is_const =
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std::is_const_v<std::remove_reference_t<T>>;
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using base = matrix<typename std::remove_cvref_t<T>::value_type,
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std::remove_cvref_t<T>::RowsAtCompileTime,
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std::remove_cvref_t<T>::ColsAtCompileTime,
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std::remove_cvref_t<T>::storage_order>;
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using type = std::conditional_t<is_const, ref<base const>, ref<base>>;
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};
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template<typename T, int O, typename S> struct generalize<ref<T, O, S>>
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{
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using type = ref<T, O, S>;
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};
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template<typename T, int O, typename S> struct generalize<ref<T, O, S> const>
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{
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using type = ref<T, O, S>;
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};
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template<typename T> struct generalize<quaternion<T>>
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{
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using type = quaternion<T>;
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};
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template<typename T> struct generalize<quaternion<T> const>
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{
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using type = quaternion<T>;
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};
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template<concepts::entity T> typename T::parent& base_of(T& a)
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{
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return a.base();
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}
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template<concepts::entity T> typename T::parent const& base_of(T const& a)
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{
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return a.base();
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}
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template<typename T>
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T base_of(T a)
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requires(std::is_arithmetic_v<T>)
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{
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return a;
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}
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}
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