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dual_quaternion.rs
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dual_quaternion.rs
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use crate::{Quaternion, Scalar, RealField, SimdRealField};
use simba::simd::SimdValue;
/// A dual quaternion.
///
/// NOTE:
/// As of December 2020, dual quaternion support is a work in progress.
/// If a feature that you need is missing, feel free to open an issue or a PR.
/// See https://github.com/dimforge/nalgebra/issues/487
#[repr(C)]
#[derive(Debug)]
pub struct DualQuaternion<N: Scalar + SimdValue> {
/// The rotation part of the dual quaternion.
pub rot: Quaternion<N>,
/// The translation part of the dual quaternion.
pub trans: Quaternion<N>
}
impl<N: RealField> Default for DualQuaternion<N> {
fn default() -> Self {
Self::identity()
}
}
impl<N: SimdRealField + Eq> Eq for DualQuaternion<N> where N::Element: SimdRealField {}
impl<N: SimdRealField> PartialEq for DualQuaternion<N>
where
N::Element: SimdRealField,
{
fn eq(&self, rhs: &Self) -> bool {
self.rot == rhs.rot && self.trans == rhs.trans
}
}
impl<N: Scalar + Copy + SimdValue> Copy for DualQuaternion<N> {}
impl<N: Scalar + SimdValue> Clone for DualQuaternion<N> {
#[inline]
fn clone(&self) -> Self {
Self {
rot: self.rot.clone(),
trans: self.trans.clone()
}
}
}