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use crate::{Quaternion, SimdRealField};
#[cfg(feature = "serde-serialize")]
use serde::{Deserialize, Deserializer, Serialize, Serializer};
#[repr(C)]
#[derive(Debug, Default, Eq, PartialEq, Copy, Clone)]
pub struct DualQuaternion<N: SimdRealField> {
pub real: Quaternion<N>,
pub dual: Quaternion<N>,
}
impl<N: SimdRealField> DualQuaternion<N>
where
N::Element: SimdRealField,
{
#[inline]
#[must_use = "Did you mean to use normalize_mut()?"]
pub fn normalize(&self) -> Self {
let real_norm = self.real.norm();
Self::from_real_and_dual(self.real / real_norm, self.dual / real_norm)
}
#[inline]
pub fn normalize_mut(&mut self) {
*self = self.normalize();
}
}
#[cfg(feature = "serde-serialize")]
impl<N: SimdRealField> Serialize for DualQuaternion<N>
where
N: Serialize,
{
fn serialize<S>(&self, serializer: S) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error>
where
S: Serializer,
{
self.as_ref().serialize(serializer)
}
}
#[cfg(feature = "serde-serialize")]
impl<'a, N: SimdRealField> Deserialize<'a> for DualQuaternion<N>
where
N: Deserialize<'a>,
{
fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
where
Des: Deserializer<'a>,
{
type Dq<N> = [N; 8];
let dq: Dq<N> = Dq::<N>::deserialize(deserializer)?;
Ok(Self {
real: Quaternion::new(dq[3], dq[0], dq[1], dq[2]),
dual: Quaternion::new(dq[7], dq[4], dq[5], dq[6]),
})
}
}