Add scalar multiplication to DQ

dimforge · Dec 16, 2020 · 3ed1452 · 3ed1452
1 parent 6bb5503
commit 3ed1452
Showing 1 changed file with 16 additions and 0 deletions.
diff --git a/src/geometry/dual_quaternion_ops.rs b/src/geometry/dual_quaternion_ops.rs
@@ -5,6 +5,7 @@
  *
  * (Assignment Operators)
  *
+ * DualQuaternion × Scalar
  * DualQuaternion × DualQuaternion
  *
  * ---
@@ -33,3 +34,18 @@ where
         }
     }
 }
+
+impl<N: Scalar + SimdValue + SimdRealField> Mul<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: N) -> Self::Output {
+        Self {
+            rot: self.rot * rhs,
+            trans: self.trans * rhs,
+        }
+    }
+}