Add missing implementatino of SimdValue for UnitQuaternion.
use simba::simd::SimdValue;
use crate::base::Vector4;
-use crate::geometry::Quaternion;
+use crate::geometry::{Quaternion, UnitQuaternion};
use crate::{RealField, Scalar};
impl<N: Scalar + SimdValue> SimdValue for Quaternion<N>
@@ -45,3 +45,46 @@ where N::Element: Scalar
self.coords.select(cond, other.coords).into()
}
}
+
+impl<N: Scalar + SimdValue> SimdValue for UnitQuaternion<N>
+where N::Element: Scalar
+{
+ type Element = UnitQuaternion<N::Element>;
+ type SimdBool = N::SimdBool;
+
+ #[inline]
+ fn lanes() -> usize {
+ N::lanes()
+ }
+
+ #[inline]
+ fn splat(val: Self::Element) -> Self {
+ UnitQuaternion::new_unchecked(Quaternion::splat(val.into_inner()))
+ }
+
+ #[inline]
+ fn extract(&self, i: usize) -> Self::Element {
+ UnitQuaternion::new_unchecked(self.as_ref().extract(i))
+ }
+
+ #[inline]
+ unsafe fn extract_unchecked(&self, i: usize) -> Self::Element {
+ UnitQuaternion::new_unchecked(self.as_ref().extract_unchecked(i))
+ }
+
+ #[inline]
+ fn replace(&mut self, i: usize, val: Self::Element) {
+ self.as_mut_unchecked().replace(i, val.into_inner())
+ }
+
+ #[inline]
+ unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) {
+ self.as_mut_unchecked()
+ .replace_unchecked(i, val.into_inner())
+ }
+
+ #[inline]
+ fn select(self, cond: Self::SimdBool, other: Self) -> Self {
+ UnitQuaternion::new_unchecked(self.into_inner().select(cond, other.into_inner()))
+ }
+}
