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

use simba::simd::SimdValue;

use crate::base::{OMatrix, Scalar};

use crate::geometry::Rotation;

impl<T, const D: usize> SimdValue for Rotation<T, D>
where
    T: Scalar + SimdValue,
    T::Element: Scalar,
{
    type Element = Rotation<T::Element, D>;
    type SimdBool = T::SimdBool;

    #[inline]
    fn lanes() -> usize {
        T::lanes()
    }

    #[inline]
    fn splat(val: Self::Element) -> Self {
        Rotation::from_matrix_unchecked(OMatrix::splat(val.into_inner()))
    }

    #[inline]
    fn extract(&self, i: usize) -> Self::Element {
        Rotation::from_matrix_unchecked(self.matrix().extract(i))
    }

    #[inline]
    unsafe fn extract_unchecked(&self, i: usize) -> Self::Element {
        Rotation::from_matrix_unchecked(self.matrix().extract_unchecked(i))
    }

    #[inline]
    fn replace(&mut self, i: usize, val: Self::Element) {
        self.matrix_mut_unchecked().replace(i, val.into_inner())
    }

    #[inline]
    unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) {
        self.matrix_mut_unchecked()
            .replace_unchecked(i, val.into_inner())
    }

    #[inline]
    fn select(self, cond: Self::SimdBool, other: Self) -> Self {
        Rotation::from_matrix_unchecked(self.into_inner().select(cond, other.into_inner()))
    }
}