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/* * This file provides: * * NOTE: Work in progress https://github.com/dimforge/nalgebra/issues/487 * * (Dual Quaternion) * * Index<usize> * IndexMut<usize> * * (Assignment Operators) * * DualQuaternion × Scalar * DualQuaternion × DualQuaternion * DualQuaternion + DualQuaternion * DualQuaternion - DualQuaternion * * --- * * References: * Multiplication: * - https://cs.gmu.edu/~jmlien/teaching/cs451/uploads/Main/dual-quaternion.pdf */ use crate::{DualQuaternion, SimdRealField}; use std::mem; use std::ops::{Add, Index, IndexMut, Mul, Sub}; impl<N: SimdRealField> AsRef<[N; 8]> for DualQuaternion<N> { #[inline] fn as_ref(&self) -> &[N; 8] { unsafe { mem::transmute(self) } } } impl<N: SimdRealField> AsMut<[N; 8]> for DualQuaternion<N> { #[inline] fn as_mut(&mut self) -> &mut [N; 8] { unsafe { mem::transmute(self) } } } impl<N: SimdRealField> Index<usize> for DualQuaternion<N> { type Output = N; #[inline] fn index(&self, i: usize) -> &Self::Output { &self.as_ref()[i] } } impl<N: SimdRealField> IndexMut<usize> for DualQuaternion<N> { #[inline] fn index_mut(&mut self, i: usize) -> &mut N { &mut self.as_mut()[i] } } impl<N: SimdRealField> Mul<DualQuaternion<N>> for DualQuaternion<N> where N::Element: SimdRealField, { type Output = DualQuaternion<N>; fn mul(self, rhs: Self) -> Self::Output { Self::from_real_and_dual( self.real * rhs.real, self.real * rhs.dual + self.dual * rhs.real, ) } } impl<N: SimdRealField> Mul<N> for DualQuaternion<N> where N::Element: SimdRealField, { type Output = DualQuaternion<N>; fn mul(self, rhs: N) -> Self::Output { Self::from_real_and_dual(self.real * rhs, self.dual * rhs) } } impl<N: SimdRealField> Add<DualQuaternion<N>> for DualQuaternion<N> where N::Element: SimdRealField, { type Output = DualQuaternion<N>; fn add(self, rhs: DualQuaternion<N>) -> Self::Output { Self::from_real_and_dual(self.real + rhs.real, self.dual + rhs.dual) } } impl<N: SimdRealField> Sub<DualQuaternion<N>> for DualQuaternion<N> where N::Element: SimdRealField, { type Output = DualQuaternion<N>; fn sub(self, rhs: DualQuaternion<N>) -> Self::Output { Self::from_real_and_dual(self.real - rhs.real, self.dual - rhs.dual) } }