105 lines
2.3 KiB
Rust
105 lines
2.3 KiB
Rust
/*
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* This file provides:
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*
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* NOTE: Work in progress https://github.com/dimforge/nalgebra/issues/487
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*
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* (Dual Quaternion)
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*
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* Index<usize>
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* IndexMut<usize>
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*
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* (Assignment Operators)
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*
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* DualQuaternion × Scalar
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* DualQuaternion × DualQuaternion
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* DualQuaternion + DualQuaternion
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* DualQuaternion - DualQuaternion
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*
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* ---
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*
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* References:
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* Multiplication:
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* - https://cs.gmu.edu/~jmlien/teaching/cs451/uploads/Main/dual-quaternion.pdf
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*/
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use crate::{DualQuaternion, SimdRealField};
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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.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.as_mut()[i]
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}
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}
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impl<N: SimdRealField> Mul<DualQuaternion<N>> for DualQuaternion<N>
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where
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N::Element: SimdRealField,
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{
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type Output = DualQuaternion<N>;
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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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)
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}
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}
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impl<N: SimdRealField> Mul<N> for DualQuaternion<N>
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where
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N::Element: SimdRealField,
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{
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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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}
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}
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impl<N: SimdRealField> Add<DualQuaternion<N>> for DualQuaternion<N>
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where
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N::Element: SimdRealField,
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{
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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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}
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}
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impl<N: SimdRealField> Sub<DualQuaternion<N>> for DualQuaternion<N>
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where
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N::Element: SimdRealField,
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{
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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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}
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}
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