dual_quaternion.rs

use crate::{Quaternion, RealField, Scalar, 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 {
            rot: Quaternion::default(),
            trans: Quaternion::default(),
        }
    }
}

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(),
        }
    }
}