nalgebra/geometry/
quaternion_simba.rs

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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    type Element = Quaternion<T::Element>;
12    type SimdBool = T::SimdBool;
13
14    #[inline]
15    fn lanes() -> usize {
16        T::lanes()
17    }
18
19    #[inline]
20    fn splat(val: Self::Element) -> Self {
21        Vector4::splat(val.coords).into()
22    }
23
24    #[inline]
25    fn extract(&self, i: usize) -> Self::Element {
26        self.coords.extract(i).into()
27    }
28
29    #[inline]
30    unsafe fn extract_unchecked(&self, i: usize) -> Self::Element {
31        self.coords.extract_unchecked(i).into()
32    }
33
34    #[inline]
35    fn replace(&mut self, i: usize, val: Self::Element) {
36        self.coords.replace(i, val.coords)
37    }
38
39    #[inline]
40    unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) {
41        self.coords.replace_unchecked(i, val.coords)
42    }
43
44    #[inline]
45    fn select(self, cond: Self::SimdBool, other: Self) -> Self {
46        self.coords.select(cond, other.coords).into()
47    }
48}
49
50impl<T: Scalar + SimdValue> SimdValue for UnitQuaternion<T>
51where
52    T::Element: Scalar,
53{
54    type Element = UnitQuaternion<T::Element>;
55    type SimdBool = T::SimdBool;
56
57    #[inline]
58    fn lanes() -> usize {
59        T::lanes()
60    }
61
62    #[inline]
63    fn splat(val: Self::Element) -> Self {
64        UnitQuaternion::new_unchecked(Quaternion::splat(val.into_inner()))
65    }
66
67    #[inline]
68    fn extract(&self, i: usize) -> Self::Element {
69        UnitQuaternion::new_unchecked(self.as_ref().extract(i))
70    }
71
72    #[inline]
73    unsafe fn extract_unchecked(&self, i: usize) -> Self::Element {
74        UnitQuaternion::new_unchecked(self.as_ref().extract_unchecked(i))
75    }
76
77    #[inline]
78    fn replace(&mut self, i: usize, val: Self::Element) {
79        self.as_mut_unchecked().replace(i, val.into_inner())
80    }
81
82    #[inline]
83    unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) {
84        self.as_mut_unchecked()
85            .replace_unchecked(i, val.into_inner())
86    }
87
88    #[inline]
89    fn select(self, cond: Self::SimdBool, other: Self) -> Self {
90        UnitQuaternion::new_unchecked(self.into_inner().select(cond, other.into_inner()))
91    }
92}
nalgebra/geometry/quaternion_simba.rs

nalgebra/geometry/
quaternion_simba.rs
