Add serde support to DQ

src/geometry/dual_quaternion.rs

@@ -1,6 +1,9 @@
 use crate::{Quaternion, RealField, Scalar, SimdRealField};
 use simba::simd::SimdValue;
 
+#[cfg(feature = "serde-serialize")]
+use serde::{Deserialize, Deserializer, Serialize, Serializer};
+
 /// A dual quaternion.
 ///
 /// NOTE:
@@ -78,3 +81,46 @@ where
         }
     }
 }
+
+#[cfg(feature = "serde-serialize")]
+impl<N: SimdRealField> Serialize for DualQuaternion<N>
+where
+    N: Serialize,
+{
+    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+    where
+        S: Serializer,
+    {
+        [
+            self.rot.coords.w,
+            self.rot.coords.x,
+            self.rot.coords.y,
+            self.rot.coords.z,
+            self.trans.coords.w,
+            self.trans.coords.x,
+            self.trans.coords.y,
+            self.trans.coords.z,
+        ]
+        .serialize(serializer)
+    }
+}
+
+type Quats<N> = [N; 8];
+
+#[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>,
+    {
+        let dq = Quats::<N>::deserialize(deserializer)?;
+
+        Ok(Self {
+            rot: Quaternion::new(dq[0], dq[1], dq[2], dq[3]),
+            trans: Quaternion::new(dq[4], dq[5], dq[6], dq[7]),
+        })
+    }
+}