1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
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)
}
}