/
dual_quaternion.rs
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/
dual_quaternion.rs
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use crate::{Quaternion, SimdRealField};
#[cfg(feature = "serde-serialize")]
use serde::{Deserialize, Deserializer, Serialize, Serializer};
/// A dual quaternion.
///
/// # Indexing
///
/// DualQuaternions are stored as \[..real, ..dual\].
/// Both of the quaternion components are laid out in `i, j, k, w` order.
///
/// ```
/// # use nalgebra::{DualQuaternion, Quaternion};
///
/// let real = Quaternion::new(1.0, 2.0, 3.0, 4.0);
/// let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);
///
/// let dq = DualQuaternion::from_real_and_dual(real, dual);
/// assert_eq!(dq[0], 2.0);
/// assert_eq!(dq[1], 3.0);
///
/// assert_eq!(dq[4], 6.0);
/// assert_eq!(dq[7], 5.0);
/// ```
///
/// 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, Default, Eq, PartialEq, Copy, Clone)]
pub struct DualQuaternion<N: SimdRealField> {
/// The real component of the quaternion
pub real: Quaternion<N>,
/// The dual component of the quaternion
pub dual: Quaternion<N>,
}
impl<N: SimdRealField> DualQuaternion<N>
where
N::Element: SimdRealField,
{
/// Normalizes this quaternion.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
/// # use nalgebra::{DualQuaternion, Quaternion};
/// let real = Quaternion::new(1.0, 2.0, 3.0, 4.0);
/// let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);
/// let dq = DualQuaternion::from_real_and_dual(real, dual);
///
/// let dq_normalized = dq.normalize();
///
/// relative_eq!(dq_normalized.real.norm(), 1.0);
/// ```
#[inline]
#[must_use = "Did you mean to use normalize_mut()?"]
pub fn normalize(&self) -> Self {
let real_norm = self.real.norm();
Self::from_real_and_dual(self.real / real_norm, self.dual / real_norm)
}
/// Normalizes this quaternion.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
/// # use nalgebra::{DualQuaternion, Quaternion};
/// let real = Quaternion::new(1.0, 2.0, 3.0, 4.0);
/// let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);
/// let mut dq = DualQuaternion::from_real_and_dual(real, dual);
///
/// dq.normalize_mut();
///
/// relative_eq!(dq.real.norm(), 1.0);
/// ```
#[inline]
pub fn normalize_mut(&mut self) {
*self = self.normalize();
}
}
#[cfg(feature = "serde-serialize")]
impl<N: SimdRealField> Serialize for DualQuaternion<N>
where
N: Serialize,
{
fn serialize<S>(&self, serializer: S) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error>
where
S: Serializer,
{
self.as_ref().serialize(serializer)
}
}
#[cfg(feature = "serde-serialize")]
impl<'a, N: SimdRealField> Deserialize<'a> for DualQuaternion<N>
where
N: Deserialize<'a>,
{
fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
where
Des: Deserializer<'a>,
{
type Dq<N> = [N; 8];
let dq: Dq<N> = Dq::<N>::deserialize(deserializer)?;
Ok(Self {
real: Quaternion::new(dq[3], dq[0], dq[1], dq[2]),
dual: Quaternion::new(dq[7], dq[4], dq[5], dq[6]),
})
}
}