nalgebra/geometry/
quaternion_simba.rs

1use simba::simd::SimdValue;
2
3use crate::base::Vector4;
4use crate::geometry::{Quaternion, UnitQuaternion};
5use crate::Scalar;
6
7impl<T: Scalar + SimdValue> SimdValue for Quaternion<T>
8where
9    T::Element: Scalar,
10{
11    const LANES: usize = T::LANES;
12    type Element = Quaternion<T::Element>;
13    type SimdBool = T::SimdBool;
14
15    #[inline]
16    fn splat(val: Self::Element) -> Self {
17        Vector4::splat(val.coords).into()
18    }
19
20    #[inline]
21    fn extract(&self, i: usize) -> Self::Element {
22        self.coords.extract(i).into()
23    }
24
25    #[inline]
26    unsafe fn extract_unchecked(&self, i: usize) -> Self::Element {
27        self.coords.extract_unchecked(i).into()
28    }
29
30    #[inline]
31    fn replace(&mut self, i: usize, val: Self::Element) {
32        self.coords.replace(i, val.coords)
33    }
34
35    #[inline]
36    unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) {
37        self.coords.replace_unchecked(i, val.coords)
38    }
39
40    #[inline]
41    fn select(self, cond: Self::SimdBool, other: Self) -> Self {
42        self.coords.select(cond, other.coords).into()
43    }
44}
45
46impl<T: Scalar + SimdValue> SimdValue for UnitQuaternion<T>
47where
48    T::Element: Scalar,
49{
50    const LANES: usize = T::LANES;
51    type Element = UnitQuaternion<T::Element>;
52    type SimdBool = T::SimdBool;
53
54    #[inline]
55    fn splat(val: Self::Element) -> Self {
56        UnitQuaternion::new_unchecked(Quaternion::splat(val.into_inner()))
57    }
58
59    #[inline]
60    fn extract(&self, i: usize) -> Self::Element {
61        UnitQuaternion::new_unchecked(self.as_ref().extract(i))
62    }
63
64    #[inline]
65    unsafe fn extract_unchecked(&self, i: usize) -> Self::Element {
66        UnitQuaternion::new_unchecked(self.as_ref().extract_unchecked(i))
67    }
68
69    #[inline]
70    fn replace(&mut self, i: usize, val: Self::Element) {
71        self.as_mut_unchecked().replace(i, val.into_inner())
72    }
73
74    #[inline]
75    unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) {
76        self.as_mut_unchecked()
77            .replace_unchecked(i, val.into_inner())
78    }
79
80    #[inline]
81    fn select(self, cond: Self::SimdBool, other: Self) -> Self {
82        UnitQuaternion::new_unchecked(self.into_inner().select(cond, other.into_inner()))
83    }
84}
nalgebra/geometry/quaternion_simba.rs

nalgebra/geometry/
quaternion_simba.rs
