dual_quaternion_ops.rs

/*
 * This file provides:
 * NOTE: Work in progress https://github.com/dimforge/nalgebra/issues/487
 *
 * References:
 *   Multiplication:
 *   - https://cs.gmu.edu/~jmlien/teaching/cs451/uploads/Main/dual-quaternion.pdf
 * ===================
 *
 */

use crate::base::allocator::Allocator;
use crate::{DefaultAllocator, DualQuaternion, Scalar, SimdRealField, U1, U4};
use simba::simd::SimdValue;
use std::ops::Mul;

impl<N: Scalar + SimdValue + SimdRealField> Mul<DualQuaternion<N>> for DualQuaternion<N>
where
    N::Element: Scalar + SimdValue + SimdRealField,
    DefaultAllocator: Allocator<N, U4, U1> + Allocator<N, U4, U1>,
{
    type Output = DualQuaternion<N>;

    fn mul(self, rhs: Self) -> Self::Output {
        Self {
            rot: self.rot * rhs.rot,
            trans: self.rot * rhs.trans + rhs.rot * self.trans,
        }
    }
}