Add scalar multiplication to DQ

dimforge · Dec 16, 2020 · 61f0bc5 · 61f0bc5
1 parent 6bb5503
commit 61f0bc5
Show file tree

Hide file tree

Showing 2 changed files with 20 additions and 1 deletion.
diff --git a/src/geometry/dual_quaternion.rs b/src/geometry/dual_quaternion.rs
@@ -18,7 +18,10 @@ pub struct DualQuaternion<N: Scalar + SimdValue> {
 
 impl<N: RealField> Default for DualQuaternion<N> {
     fn default() -> Self {
-        Self::identity()
+        Self {
+            rot: Quaternion::default(),
+            trans: Quaternion::default(),
+        }
     }
 }
 

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,
+        }
+    }
+}