Merge pull request #68 from plule/glam_nalgebra

Add support for glam and nalgebra

.github/workflows/pr.yml

@@ -15,9 +15,9 @@ jobs:
       matrix:
         include:
           - sdk-redist-ref: gemini
-            cargo-features: --no-default-features --features gemini
+            cargo-features: --no-default-features --features nalgebra --features glam --features gemini
           - sdk-redist-ref: orion
-            cargo-features: --no-default-features
+            cargo-features: --no-default-features --features nalgebra --features glam
     name: check
     runs-on: windows-latest
 
@@ -31,7 +31,7 @@ jobs:
     - name: Check Tests
       run: cargo check ${{ matrix.cargo-features }} --tests
     - name: Doc
-      run: cargo doc
+      run: cargo doc --features nalgebra --features glam
     - name: Style
       run: cargo fmt -- --check
     - name: Clippy

.github/workflows/rust.yml

@@ -17,9 +17,9 @@ jobs:
       matrix:
         include:
           - sdk-redist-ref: gemini
-            cargo-features: --no-default-features --features gemini
+            cargo-features: --no-default-features --features nalgebra --features glam --features gemini
           - sdk-redist-ref: orion
-            cargo-features: --no-default-features
+            cargo-features: --no-default-features --features nalgebra --features glam
     name: build
     runs-on: windows-latest
 
@@ -39,7 +39,7 @@ jobs:
     - name: Build Tests
       run: cargo build ${{ matrix.cargo-features }} --tests
     - name: Doc
-      run: cargo doc
+      run: cargo doc --features nalgebra --features glam
     - name: Style
       run: cargo fmt -- --check
     - name: Clippy

CHANGELOG.md

@@ -9,6 +9,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/)
 ### Added
 
 - All the wrapper structures now implement `Deref` of the wrapped `leap-sys` structures
+- The opt-in features `glam` and `nalgebra` add conversion method for vectors and quaternions to these libraries.
 
 ### Changed
 

Cargo.toml

@@ -19,15 +19,22 @@ exclude = ["images/"]
 [features]
 default = ["gemini"]
 gemini = []
+glam = ["dep:glam"]
+nalgebra = ["dep:nalgebra"]
 
 [dependencies]
 leap-sys = "0.2"
 num_enum = "0.7.2"
 thiserror = "1"
 bitflags = "2"
 derive_deref = "1.1.1"
+glam = { version = "0.26", optional = true }
+nalgebra = { version = "0.32", optional = true }
 
 [dev-dependencies]
 throbber = "0.1"
 image = "0.25.0"
 tempfile = "3.10.1"
+
+[package.metadata.docs.rs]
+features = ["glam", "nalgebra"]

README.md

@@ -88,6 +88,63 @@ for _ in 0..10 {
 }
 ```
 
+## `glam` and `nalgebra` Integration
+
+`leaprs` includes opt-in `glam` and `nalgebra` integrations.
+
+They are two popular linear algebra library. Both are commonly used, and these features can help integrating with ecosystem using these crates.
+`glam` is used by `Bevy`, and `nalgebra` is used by `Fyrox`.
+
+### glam
+
+`cargo build --features glam`
+
+```rust
+use leaprs::*;
+use glam::{Vec3, Quat};
+
+let mut c = Connection::create(ConnectionConfig::default()).unwrap();
+c.open().unwrap();
+for _ in 0..10 {
+    if let Ok(msg) = c.poll(1000) {
+        match msg.event() {
+            Event::Tracking(e) => {
+                for hand in e.hands() {
+                    let position: Vec3 = hand.palm().position().into();
+                    let orientation: Quat = hand.palm().orientation().into();
+                }
+            },
+            _ => {}
+        }
+    }
+}
+```
+
+### nalgebra
+
+`cargo build --features nalgebra`
+
+```rust
+use leaprs::*;
+use nalgebra::{Vector3, UnitQuaternion};
+
+let mut c = Connection::create(ConnectionConfig::default()).unwrap();
+c.open().unwrap();
+for _ in 0..10 {
+    if let Ok(msg) = c.poll(1000) {
+        match msg.event() {
+            Event::Tracking(e) => {
+                for hand in e.hands() {
+                    let position: Vector3<f32> = hand.palm().position().into();
+                    let orientation: UnitQuaternion<f32> = hand.palm().orientation().into();
+                }
+            },
+            _ => {}
+        }
+    }
+}
+```
+
 ## License
 
 Licensed under either of Apache License, Version 2.0 or MIT license at your option.

src/leap_vector.rs

@@ -13,15 +13,43 @@ impl<'a> From<&'a LEAP_VECTOR> for LeapVector<'a> {
     }
 }
 
+impl<'a> LeapVector<'a> {
+    /// Convert to a [glam::Vec3]
+    #[cfg(feature = "glam")]
+    pub fn into_glam(&self) -> glam::Vec3 {
+        glam::Vec3::new(self.x, self.y, self.z)
+    }
+
+    /// Convert to a [nalgebra::Vector3]
+    #[cfg(feature = "nalgebra")]
+    pub fn to_nalgebra(&self) -> nalgebra::Vector3<f32> {
+        nalgebra::Vector3::new(self.x, self.y, self.z)
+    }
+}
+
+#[cfg(feature = "glam")]
+impl From<LeapVector<'_>> for glam::Vec3 {
+    fn from(v: LeapVector) -> glam::Vec3 {
+        v.into_glam()
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+impl From<LeapVector<'_>> for nalgebra::Vector3<f32> {
+    fn from(v: LeapVector) -> nalgebra::Vector3<f32> {
+        v.to_nalgebra()
+    }
+}
+
 /// Build a native [LEAP_VECTOR].
 /// Useful for method taking an owned [LEAP_VECTOR] as argument.
-pub fn build_leap_vector(v: [f32; 3]) -> LEAP_VECTOR {
+pub(crate) fn build_leap_vector(v: [f32; 3]) -> LEAP_VECTOR {
     LEAP_VECTOR {
         __bindgen_anon_1: { leap_sys::_LEAP_VECTOR__bindgen_ty_1 { v } },
     }
 }
 
 /// Convert a [LEAP_VECTOR] to an array.
-pub fn leap_vector_to_array(v: LEAP_VECTOR) -> [f32; 3] {
+pub(crate) fn leap_vector_to_array(v: LEAP_VECTOR) -> [f32; 3] {
     unsafe { v.__bindgen_anon_1.v }
 }