Store DQ as real and dual Quat
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@ -5,7 +5,7 @@ use crate::{Quaternion, SimdRealField};
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/// # Indexing
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///
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/// DualQuaternions are stored as \[..real, ..dual\].
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/// Both of the quaternion components are laid out in `w, i, j, k` order.
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/// Both of the quaternion components are laid out in `i, j, k, w` order.
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///
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/// ```
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/// # use nalgebra::{DualQuaternion, Quaternion};
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@ -14,9 +14,11 @@ use crate::{Quaternion, SimdRealField};
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/// let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);
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///
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/// let dq = DualQuaternion::from_real_and_dual(real, dual);
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/// assert_eq!(dq[0], 1.0);
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/// assert_eq!(dq[4], 5.0);
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/// assert_eq!(dq[6], 7.0);
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/// assert_eq!(dq[0], 2.0);
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/// assert_eq!(dq[1], 3.0);
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///
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/// assert_eq!(dq[4], 6.0);
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/// assert_eq!(dq[7], 5.0);
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/// ```
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///
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/// NOTE:
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@ -27,46 +29,10 @@ use crate::{Quaternion, SimdRealField};
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#[derive(Debug, Default, Eq, PartialEq, Copy, Clone)]
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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pub struct DualQuaternion<N: SimdRealField> {
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// [real(w, i, j, k), dual(w, i, j, k)]
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pub(crate) dq: [N; 8],
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}
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impl<N: SimdRealField> DualQuaternion<N> {
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/// Get the first quaternion component.
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///
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/// # Example
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/// ```
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/// # #[macro_use] extern crate approx;
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/// # use nalgebra::{DualQuaternion, Quaternion};
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///
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/// let real = Quaternion::new(1.0, 2.0, 3.0, 4.0);
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/// let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);
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///
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/// let dq = DualQuaternion::from_real_and_dual(real, dual);
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/// relative_eq!(dq.real(), real);
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/// ```
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#[inline]
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pub fn real(&self) -> Quaternion<N> {
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Quaternion::new(self[0], self[1], self[2], self[3])
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}
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/// Get the second quaternion component.
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///
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/// # Example
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/// ```
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/// # #[macro_use] extern crate approx;
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/// # use nalgebra::{DualQuaternion, Quaternion};
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///
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/// let real = Quaternion::new(1.0, 2.0, 3.0, 4.0);
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/// let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);
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///
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/// let dq = DualQuaternion::from_real_and_dual(real, dual);
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/// relative_eq!(dq.dual(), dual);
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/// ```
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#[inline]
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pub fn dual(&self) -> Quaternion<N> {
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Quaternion::new(self[4], self[5], self[6], self[7])
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}
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/// The real component of the quaternion
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pub real: Quaternion<N>,
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/// The dual component of the quaternion
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pub dual: Quaternion<N>,
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}
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impl<N: SimdRealField> DualQuaternion<N>
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@ -85,14 +51,14 @@ where
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///
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/// let dq_normalized = dq.normalize();
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///
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/// relative_eq!(dq_normalized.real().norm(), 1.0);
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/// relative_eq!(dq_normalized.real.norm(), 1.0);
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/// ```
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#[inline]
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#[must_use = "Did you mean to use normalize_mut()?"]
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pub fn normalize(&self) -> Self {
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let real_norm = self.real().norm();
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let real_norm = self.real.norm();
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Self::from_real_and_dual(self.real() / real_norm, self.dual() / real_norm)
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Self::from_real_and_dual(self.real / real_norm, self.dual / real_norm)
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}
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/// Normalizes this quaternion.
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@ -107,7 +73,7 @@ where
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///
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/// dq.normalize_mut();
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///
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/// relative_eq!(dq.real().norm(), 1.0);
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/// relative_eq!(dq.real.norm(), 1.0);
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/// ```
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#[inline]
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pub fn normalize_mut(&mut self) {
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@ -10,15 +10,11 @@ impl<N: SimdRealField> DualQuaternion<N> {
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/// let trans = Quaternion::new(5.0, 6.0, 7.0, 8.0);
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///
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/// let dq = DualQuaternion::from_real_and_dual(rot, trans);
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/// assert_eq!(dq.real().w, 1.0);
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/// assert_eq!(dq.real.w, 1.0);
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/// ```
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#[inline]
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pub fn from_real_and_dual(real: Quaternion<N>, dual: Quaternion<N>) -> Self {
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Self {
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dq: [
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real.w, real.i, real.j, real.k, dual.w, dual.i, dual.j, dual.k,
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],
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}
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Self { real, dual }
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}
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}
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@ -25,21 +25,36 @@
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use crate::base::allocator::Allocator;
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use crate::{DefaultAllocator, DualQuaternion, SimdRealField, U1, U4};
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use simba::simd::SimdValue;
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use std::mem;
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use std::ops::{Add, Index, IndexMut, Mul, Sub};
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impl<N: SimdRealField> AsRef<[N; 8]> for DualQuaternion<N> {
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#[inline]
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fn as_ref(&self) -> &[N; 8] {
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unsafe { mem::transmute(self) }
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}
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}
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impl<N: SimdRealField> AsMut<[N; 8]> for DualQuaternion<N> {
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#[inline]
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fn as_mut(&mut self) -> &mut [N; 8] {
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unsafe { mem::transmute(self) }
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}
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}
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impl<N: SimdRealField> Index<usize> for DualQuaternion<N> {
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type Output = N;
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#[inline]
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fn index(&self, i: usize) -> &Self::Output {
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&self.dq[i]
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&self.as_ref()[i]
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}
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}
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impl<N: SimdRealField> IndexMut<usize> for DualQuaternion<N> {
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#[inline]
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fn index_mut(&mut self, i: usize) -> &mut N {
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&mut self.dq[i]
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&mut self.as_mut()[i]
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}
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}
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@ -52,8 +67,8 @@ where
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fn mul(self, rhs: Self) -> Self::Output {
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Self::from_real_and_dual(
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self.real() * rhs.real(),
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self.real() * rhs.dual() + self.dual() * rhs.real(),
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self.real * rhs.real,
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self.real * rhs.dual + self.dual * rhs.real,
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)
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}
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}
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@ -66,7 +81,7 @@ where
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type Output = DualQuaternion<N>;
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fn mul(self, rhs: N) -> Self::Output {
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Self::from_real_and_dual(self.real() * rhs, self.dual() * rhs)
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Self::from_real_and_dual(self.real * rhs, self.dual * rhs)
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}
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}
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@ -78,7 +93,7 @@ where
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type Output = DualQuaternion<N>;
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fn add(self, rhs: DualQuaternion<N>) -> Self::Output {
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Self::from_real_and_dual(self.real() + rhs.real(), self.dual() + rhs.dual())
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Self::from_real_and_dual(self.real + rhs.real, self.dual + rhs.dual)
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}
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}
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@ -90,6 +105,6 @@ where
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type Output = DualQuaternion<N>;
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fn sub(self, rhs: DualQuaternion<N>) -> Self::Output {
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Self::from_real_and_dual(self.real() - rhs.real(), self.dual() - rhs.dual())
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Self::from_real_and_dual(self.real - rhs.real, self.dual - rhs.dual)
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}
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}
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