From 12af48feb8f04bb52a61078e798d63b92c2d83d1 Mon Sep 17 00:00:00 2001
From: Buncys <sszymon336@gmail.com>
Date: Sat, 24 Jan 2026 12:57:34 +0100
Subject: [PATCH 1/2] feat: add From trait implementations between Pose2/Pose3
 and tuples

---
 src/pose2.rs | 27 +++++++++++++++++++++++++++
 src/pose3.rs | 30 ++++++++++++++++++++++++++++++
 2 files changed, 57 insertions(+)

diff --git a/src/pose2.rs b/src/pose2.rs
index 44c10ce..63cae35 100644
--- a/src/pose2.rs
+++ b/src/pose2.rs
@@ -315,6 +315,23 @@ macro_rules! impl_pose2 {
             }
         }
 
+        impl From<($Vec2, $Real)> for $Pose2 {
+            #[inline]
+            fn from((translation, rotation): ($Vec2, $Real)) -> Self {
+                Self {
+                    translation,
+                    rotation: $Rot2::new(rotation),
+                }
+            }
+        }
+
+        impl From<$Pose2> for ($Vec2, $Real) {
+            #[inline]
+            fn from(pose: $Pose2) -> ($Vec2, $Real) {
+                (pose.translation, pose.rotation.angle())
+            }
+        }
+
         #[cfg(feature = "approx")]
         impl approx::AbsDiffEq for $Pose2 {
             type Epsilon = $Real;
@@ -529,4 +546,14 @@ mod tests {
         assert_relative_eq!(p.translation.x, 1.0, epsilon = 1e-10);
         assert_relative_eq!(p.translation.y, 2.0, epsilon = 1e-10);
     }
+
+    #[test]
+    fn test_convert_back_to_equal_pose2() {
+        let (t1, r1) = (glam::Vec2::new(1.0, 2.0), PI / 4.0);
+        let p: Pose2 = (t1, r1).into();
+        let (t2, r2) = p.into();
+
+        assert_relative_eq!(t1, t2, epsilon = 1e-6);
+        assert_relative_eq!(r1, r2, epsilon = 1e-6);
+    }
 }
diff --git a/src/pose3.rs b/src/pose3.rs
index cfab565..ad4e5c9 100644
--- a/src/pose3.rs
+++ b/src/pose3.rs
@@ -381,6 +381,23 @@ macro_rules! impl_pose3 {
             }
         }
 
+        impl From<($Vec3, $Rot3)> for $Pose3 {
+            #[inline]
+            fn from((translation, rotation): ($Vec3, $Rot3)) -> Self {
+                Self {
+                    translation,
+                    rotation,
+                }
+            }
+        }
+
+        impl From<$Pose3> for ($Vec3, $Rot3) {
+            #[inline]
+            fn from(pose: $Pose3) -> ($Vec3, $Rot3) {
+                (pose.translation, pose.rotation)
+            }
+        }
+
         #[cfg(feature = "approx")]
         impl approx::AbsDiffEq for $Pose3 {
             type Epsilon = $Real;
@@ -645,4 +662,17 @@ mod tests {
         assert_relative_eq!(p.translation.y, 2.0, epsilon = 1e-10);
         assert_relative_eq!(p.translation.z, 3.0, epsilon = 1e-10);
     }
+
+    #[test]
+    fn test_convert_back_to_equal_pose3() {
+        let (t1, r1) = (
+            glam::Vec3::new(1.0, 2.0, 3.0),
+            glam::Quat::from_rotation_x(PI / 4.0),
+        );
+        let p: Pose3 = (t1, r1).into();
+        let (t2, r2) = p.into();
+
+        assert_relative_eq!(t1, t2, epsilon = 1e-6);
+        assert!(r1.dot(r2).abs() > 1.0 - 1e-5);
+    }
 }

From 2773d08a4d3113061faced79152e35ff01ab2593 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= <sebcrozet@dimforge.com>
Date: Thu, 17 Sep 2026 23:07:21 +0200
Subject: [PATCH 2/2] fix CI

---
 src/pose3.rs | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/pose3.rs b/src/pose3.rs
index ad4e5c9..ce91c9c 100644
--- a/src/pose3.rs
+++ b/src/pose3.rs
@@ -384,10 +384,7 @@ macro_rules! impl_pose3 {
         impl From<($Vec3, $Rot3)> for $Pose3 {
             #[inline]
             fn from((translation, rotation): ($Vec3, $Rot3)) -> Self {
-                Self {
-                    translation,
-                    rotation,
-                }
+                Self::from_parts(translation, rotation)
             }
         }