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

use simba::simd::{SimdRealField, SimdValue};

use crate::geometry::{AbstractRotation, Isometry, Similarity};

impl<T: SimdRealField, R, const D: usize> SimdValue for Similarity<T, R, D>
where
    T::Element: SimdRealField,
    R: SimdValue<SimdBool = T::SimdBool> + AbstractRotation<T, D>,
    R::Element: AbstractRotation<T::Element, D>,
{
    type Element = Similarity<T::Element, R::Element, D>;
    type SimdBool = T::SimdBool;

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

    #[inline]
    fn splat(val: Self::Element) -> Self {
        let scaling = T::splat(val.scaling());
        Similarity::from_isometry(Isometry::splat(val.isometry), scaling)
    }

    #[inline]
    fn extract(&self, i: usize) -> Self::Element {
        Similarity::from_isometry(self.isometry.extract(i), self.scaling().extract(i))
    }

    #[inline]
    unsafe fn extract_unchecked(&self, i: usize) -> Self::Element {
        Similarity::from_isometry(
            self.isometry.extract_unchecked(i),
            self.scaling().extract_unchecked(i),
        )
    }

    #[inline]
    fn replace(&mut self, i: usize, val: Self::Element) {
        let mut s = self.scaling();
        s.replace(i, val.scaling());
        self.set_scaling(s);
        self.isometry.replace(i, val.isometry);
    }

    #[inline]
    unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) {
        let mut s = self.scaling();
        s.replace_unchecked(i, val.scaling());
        self.set_scaling(s);
        self.isometry.replace_unchecked(i, val.isometry);
    }

    #[inline]
    fn select(self, cond: Self::SimdBool, other: Self) -> Self {
        let scaling = self.scaling().select(cond, other.scaling());
        Similarity::from_isometry(self.isometry.select(cond, other.isometry), scaling)
    }
}