forked from M-Labs/nalgebra
46 lines
1.3 KiB
Rust
46 lines
1.3 KiB
Rust
use crate::{DualQuaternion, Quaternion, SimdRealField};
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impl<N: SimdRealField> DualQuaternion<N> {
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/// Creates a dual quaternion from its rotation and translation components.
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///
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/// # Example
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/// ```
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/// # use nalgebra::{DualQuaternion, Quaternion};
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/// let rot = Quaternion::new(1.0, 2.0, 3.0, 4.0);
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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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/// ```
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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 { real, dual }
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}
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}
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impl<N: SimdRealField> DualQuaternion<N> {
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/// The dual quaternion multiplicative identity
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///
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/// # Example
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///
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/// ```
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/// # use nalgebra::{DualQuaternion, Quaternion};
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///
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/// let dq1 = DualQuaternion::identity();
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/// let dq2 = DualQuaternion::from_real_and_dual(
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/// Quaternion::new(1.,2.,3.,4.),
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/// Quaternion::new(5.,6.,7.,8.)
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/// );
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///
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/// assert_eq!(dq1 * dq2, dq2);
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/// assert_eq!(dq2 * dq1, dq2);
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/// ```
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#[inline]
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pub fn identity() -> Self {
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Self::from_real_and_dual(
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Quaternion::from_real(N::one()),
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Quaternion::from_real(N::zero()),
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)
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}
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}
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