Dual quat add/subtract

dimforge · Dec 17, 2020 · cbab6de · cbab6de
1 parent 0498ee9
commit cbab6de
Showing 1 changed file with 33 additions and 1 deletion.
diff --git a/src/geometry/dual_quaternion_ops.rs b/src/geometry/dual_quaternion_ops.rs
@@ -7,6 +7,8 @@
  *
  * DualQuaternion × Scalar
  * DualQuaternion × DualQuaternion
+ * DualQuaternion + DualQuaternion
+ * DualQuaternion - DualQuaternion
  *
  * ---
  *
@@ -18,7 +20,7 @@
 use crate::base::allocator::Allocator;
 use crate::{DefaultAllocator, DualQuaternion, Scalar, SimdRealField, U1, U4};
 use simba::simd::SimdValue;
-use std::ops::Mul;
+use std::ops::{Add, Mul, Sub};
 
 impl<N: Scalar + SimdValue + SimdRealField> Mul<DualQuaternion<N>> for DualQuaternion<N>
 where
@@ -49,3 +51,33 @@ where
         }
     }
 }
+
+impl<N: Scalar + SimdValue + SimdRealField> Add<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 add(self, rhs: DualQuaternion<N>) -> Self::Output {
+        Self {
+            rot: self.rot + rhs.rot,
+            trans: self.trans + rhs.trans,
+        }
+    }
+}
+
+impl<N: Scalar + SimdValue + SimdRealField> Sub<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 sub(self, rhs: DualQuaternion<N>) -> Self::Output {
+        Self {
+            rot: self.rot - rhs.rot,
+            trans: self.trans - rhs.trans,
+        }
+    }
+}