Add missing implementatino of SimdValue for UnitQuaternion.

src/geometry/quaternion_simba.rs

@@ -1,7 +1,7 @@
 use simba::simd::SimdValue;
 
 use crate::base::Vector4;
-use crate::geometry::Quaternion;
+use crate::geometry::{Quaternion, UnitQuaternion};
 use crate::{RealField, Scalar};
 
 impl<N: Scalar + SimdValue> SimdValue for Quaternion<N>
@@ -45,3 +45,46 @@ where N::Element: Scalar
         self.coords.select(cond, other.coords).into()
     }
 }
+
+impl<N: Scalar + SimdValue> SimdValue for UnitQuaternion<N>
+where N::Element: Scalar
+{
+    type Element = UnitQuaternion<N::Element>;
+    type SimdBool = N::SimdBool;
+
+    #[inline]
+    fn lanes() -> usize {
+        N::lanes()
+    }
+
+    #[inline]
+    fn splat(val: Self::Element) -> Self {
+        UnitQuaternion::new_unchecked(Quaternion::splat(val.into_inner()))
+    }
+
+    #[inline]
+    fn extract(&self, i: usize) -> Self::Element {
+        UnitQuaternion::new_unchecked(self.as_ref().extract(i))
+    }
+
+    #[inline]
+    unsafe fn extract_unchecked(&self, i: usize) -> Self::Element {
+        UnitQuaternion::new_unchecked(self.as_ref().extract_unchecked(i))
+    }
+
+    #[inline]
+    fn replace(&mut self, i: usize, val: Self::Element) {
+        self.as_mut_unchecked().replace(i, val.into_inner())
+    }
+
+    #[inline]
+    unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) {
+        self.as_mut_unchecked()
+            .replace_unchecked(i, val.into_inner())
+    }
+
+    #[inline]
+    fn select(self, cond: Self::SimdBool, other: Self) -> Self {
+        UnitQuaternion::new_unchecked(self.into_inner().select(cond, other.into_inner()))
+    }
+}