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use simba::simd::SimdValue; use crate::base::Vector4; use crate::geometry::{Quaternion, UnitQuaternion}; use crate::Scalar; impl<N: Scalar + SimdValue> SimdValue for Quaternion<N> where N::Element: Scalar, { type Element = Quaternion<N::Element>; type SimdBool = N::SimdBool; #[inline] fn lanes() -> usize { N::lanes() } #[inline] fn splat(val: Self::Element) -> Self { Vector4::splat(val.coords).into() } #[inline] fn extract(&self, i: usize) -> Self::Element { self.coords.extract(i).into() } #[inline] unsafe fn extract_unchecked(&self, i: usize) -> Self::Element { self.coords.extract_unchecked(i).into() } #[inline] fn replace(&mut self, i: usize, val: Self::Element) { self.coords.replace(i, val.coords) } #[inline] unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) { self.coords.replace_unchecked(i, val.coords) } #[inline] fn select(self, cond: Self::SimdBool, other: Self) -> Self { self.coords.select(cond, other.coords).into() } } impl<N: Scalar + SimdValue> SimdValue for UnitQuaternion<N> where N::Element: Scalar, { type Element = UnitQuaternion<N::Element>; type SimdBool = N::SimdBool; #[inline] fn lanes() -> usize { N::lanes() } #[inline] fn splat(val: Self::Element) -> Self { UnitQuaternion::new_unchecked(Quaternion::splat(val.into_inner())) } #[inline] fn extract(&self, i: usize) -> Self::Element { UnitQuaternion::new_unchecked(self.as_ref().extract(i)) } #[inline] unsafe fn extract_unchecked(&self, i: usize) -> Self::Element { UnitQuaternion::new_unchecked(self.as_ref().extract_unchecked(i)) } #[inline] fn replace(&mut self, i: usize, val: Self::Element) { self.as_mut_unchecked().replace(i, val.into_inner()) } #[inline] unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) { self.as_mut_unchecked() .replace_unchecked(i, val.into_inner()) } #[inline] fn select(self, cond: Self::SimdBool, other: Self) -> Self { UnitQuaternion::new_unchecked(self.into_inner().select(cond, other.into_inner())) } }