#![allow(clippy::op_ref)]
use crate::base::storage::Storage;
use crate::{
DualQuaternion, Isometry3, Point, Point3, Quaternion, SimdRealField, Translation3, Unit,
UnitDualQuaternion, UnitQuaternion, Vector, Vector3, U3,
};
use std::ops::{
Add, AddAssign, Div, DivAssign, Index, IndexMut, Mul, MulAssign, Neg, Sub, SubAssign,
};
impl<T: SimdRealField> AsRef<[T; 8]> for DualQuaternion<T> {
#[inline]
fn as_ref(&self) -> &[T; 8] {
unsafe { &*(self as *const Self as *const [T; 8]) }
}
}
impl<T: SimdRealField> AsMut<[T; 8]> for DualQuaternion<T> {
#[inline]
fn as_mut(&mut self) -> &mut [T; 8] {
unsafe { &mut *(self as *mut Self as *mut [T; 8]) }
}
}
impl<T: SimdRealField> Index<usize> for DualQuaternion<T> {
type Output = T;
#[inline]
fn index(&self, i: usize) -> &Self::Output {
&self.as_ref()[i]
}
}
impl<T: SimdRealField> IndexMut<usize> for DualQuaternion<T> {
#[inline]
fn index_mut(&mut self, i: usize) -> &mut T {
&mut self.as_mut()[i]
}
}
impl<T: SimdRealField> Neg for DualQuaternion<T>
where
T::Element: SimdRealField,
{
type Output = DualQuaternion<T>;
#[inline]
fn neg(self) -> Self::Output {
DualQuaternion::from_real_and_dual(-self.real, -self.dual)
}
}
impl<'a, T: SimdRealField> Neg for &'a DualQuaternion<T>
where
T::Element: SimdRealField,
{
type Output = DualQuaternion<T>;
#[inline]
fn neg(self) -> Self::Output {
DualQuaternion::from_real_and_dual(-&self.real, -&self.dual)
}
}
impl<T: SimdRealField> Neg for UnitDualQuaternion<T>
where
T::Element: SimdRealField,
{
type Output = UnitDualQuaternion<T>;
#[inline]
fn neg(self) -> Self::Output {
UnitDualQuaternion::new_unchecked(-self.into_inner())
}
}
impl<'a, T: SimdRealField> Neg for &'a UnitDualQuaternion<T>
where
T::Element: SimdRealField,
{
type Output = UnitDualQuaternion<T>;
#[inline]
fn neg(self) -> Self::Output {
UnitDualQuaternion::new_unchecked(-self.as_ref())
}
}
macro_rules! dual_quaternion_op_impl(
($Op: ident, $op: ident;
($LhsRDim: ident, $LhsCDim: ident), ($RhsRDim: ident, $RhsCDim: ident)
$(for $Storage: ident: $StoragesBound: ident $(<$($BoundParam: ty),*>)*),*;
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Result: ty $(=> $VDimA: ty, $VDimB: ty)*;
$action: expr; $($lives: tt),*) => {
impl<$($lives ,)* T: SimdRealField $(, $Storage: $StoragesBound $(<$($BoundParam),*>)*)*> $Op<$Rhs> for $Lhs
where T::Element: SimdRealField, {
type Output = $Result;
#[inline]
fn $op($lhs, $rhs: $Rhs) -> Self::Output {
$action
}
}
}
);
dual_quaternion_op_impl!(
Add, add;
(U4, U1), (U4, U1);
self: &'a DualQuaternion<T>, rhs: &'b DualQuaternion<T>, Output = DualQuaternion<T>;
DualQuaternion::from_real_and_dual(
&self.real + &rhs.real,
&self.dual + &rhs.dual,
);
'a, 'b);
dual_quaternion_op_impl!(
Add, add;
(U4, U1), (U4, U1);
self: &'a DualQuaternion<T>, rhs: DualQuaternion<T>, Output = DualQuaternion<T>;
DualQuaternion::from_real_and_dual(
&self.real + rhs.real,
&self.dual + rhs.dual,
);
'a);
dual_quaternion_op_impl!(
Add, add;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: &'b DualQuaternion<T>, Output = DualQuaternion<T>;
DualQuaternion::from_real_and_dual(
self.real + &rhs.real,
self.dual + &rhs.dual,
);
'b);
dual_quaternion_op_impl!(
Add, add;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: DualQuaternion<T>, Output = DualQuaternion<T>;
DualQuaternion::from_real_and_dual(
self.real + rhs.real,
self.dual + rhs.dual,
); );
dual_quaternion_op_impl!(
Sub, sub;
(U4, U1), (U4, U1);
self: &'a DualQuaternion<T>, rhs: &'b DualQuaternion<T>, Output = DualQuaternion<T>;
DualQuaternion::from_real_and_dual(
&self.real - &rhs.real,
&self.dual - &rhs.dual,
);
'a, 'b);
dual_quaternion_op_impl!(
Sub, sub;
(U4, U1), (U4, U1);
self: &'a DualQuaternion<T>, rhs: DualQuaternion<T>, Output = DualQuaternion<T>;
DualQuaternion::from_real_and_dual(
&self.real - rhs.real,
&self.dual - rhs.dual,
);
'a);
dual_quaternion_op_impl!(
Sub, sub;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: &'b DualQuaternion<T>, Output = DualQuaternion<T>;
DualQuaternion::from_real_and_dual(
self.real - &rhs.real,
self.dual - &rhs.dual,
);
'b);
dual_quaternion_op_impl!(
Sub, sub;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: DualQuaternion<T>, Output = DualQuaternion<T>;
DualQuaternion::from_real_and_dual(
self.real - rhs.real,
self.dual - rhs.dual,
); );
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a DualQuaternion<T>, rhs: &'b DualQuaternion<T>, Output = DualQuaternion<T>;
DualQuaternion::from_real_and_dual(
&self.real * &rhs.real,
&self.real * &rhs.dual + &self.dual * &rhs.real,
);
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a DualQuaternion<T>, rhs: DualQuaternion<T>, Output = DualQuaternion<T>;
self * &rhs;
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: &'b DualQuaternion<T>, Output = DualQuaternion<T>;
&self * rhs;
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: DualQuaternion<T>, Output = DualQuaternion<T>;
&self * &rhs; );
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a DualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>, Output = DualQuaternion<T>;
self * rhs.dual_quaternion();
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a DualQuaternion<T>, rhs: UnitDualQuaternion<T>, Output = DualQuaternion<T>;
self * rhs.dual_quaternion();
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>, Output = DualQuaternion<T>;
self * rhs.dual_quaternion();
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: UnitDualQuaternion<T>, Output = DualQuaternion<T>;
self * rhs.dual_quaternion(););
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: &'a DualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>, Output = DualQuaternion<T>;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * rhs.inverse().dual_quaternion() };
'a, 'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: &'a DualQuaternion<T>, rhs: UnitDualQuaternion<T>, Output = DualQuaternion<T>;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * rhs.inverse().dual_quaternion() };
'a);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>, Output = DualQuaternion<T>;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * rhs.inverse().dual_quaternion() };
'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: UnitDualQuaternion<T>, Output = DualQuaternion<T>;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * rhs.inverse().dual_quaternion() };);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a UnitDualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>, Output = UnitDualQuaternion<T>;
UnitDualQuaternion::new_unchecked(self.as_ref() * rhs.as_ref());
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a UnitDualQuaternion<T>, rhs: UnitDualQuaternion<T>, Output = UnitDualQuaternion<T>;
self * &rhs;
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>, Output = UnitDualQuaternion<T>;
&self * rhs;
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: UnitDualQuaternion<T>, Output = UnitDualQuaternion<T>;
&self * &rhs; );
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: &'a UnitDualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>, Output = UnitDualQuaternion<T>;
#[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
'a, 'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: &'a UnitDualQuaternion<T>, rhs: UnitDualQuaternion<T>, Output = UnitDualQuaternion<T>;
self / &rhs;
'a);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>, Output = UnitDualQuaternion<T>;
&self / rhs;
'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: UnitDualQuaternion<T>, Output = UnitDualQuaternion<T>;
&self / &rhs; );
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a UnitDualQuaternion<T>, rhs: &'b DualQuaternion<T>,
Output = DualQuaternion<T> => U1, U4;
self.dual_quaternion() * rhs;
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a UnitDualQuaternion<T>, rhs: DualQuaternion<T>,
Output = DualQuaternion<T> => U3, U3;
self.dual_quaternion() * rhs;
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: &'b DualQuaternion<T>,
Output = DualQuaternion<T> => U3, U3;
self.dual_quaternion() * rhs;
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: DualQuaternion<T>,
Output = DualQuaternion<T> => U3, U3;
self.dual_quaternion() * rhs;);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a UnitDualQuaternion<T>, rhs: &'b UnitQuaternion<T>,
Output = UnitDualQuaternion<T> => U1, U4;
self * UnitDualQuaternion::<T>::new_unchecked(DualQuaternion::from_real(rhs.clone().into_inner()));
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a UnitDualQuaternion<T>, rhs: UnitQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
self * UnitDualQuaternion::<T>::new_unchecked(DualQuaternion::from_real(rhs.into_inner()));
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: &'b UnitQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
self * UnitDualQuaternion::<T>::new_unchecked(DualQuaternion::from_real(rhs.clone().into_inner()));
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: UnitQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
self * UnitDualQuaternion::<T>::new_unchecked(DualQuaternion::from_real(rhs.into_inner())););
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a UnitQuaternion<T>, rhs: &'b UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U1, U4;
UnitDualQuaternion::<T>::new_unchecked(DualQuaternion::from_real(self.clone().into_inner())) * rhs;
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: &'a UnitQuaternion<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
UnitDualQuaternion::<T>::new_unchecked(DualQuaternion::from_real(self.clone().into_inner())) * rhs;
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: UnitQuaternion<T>, rhs: &'b UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
UnitDualQuaternion::<T>::new_unchecked(DualQuaternion::from_real(self.into_inner())) * rhs;
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U4, U1);
self: UnitQuaternion<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
UnitDualQuaternion::<T>::new_unchecked(DualQuaternion::from_real(self.into_inner())) * rhs;);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: &'a UnitDualQuaternion<T>, rhs: &'b UnitQuaternion<T>,
Output = UnitDualQuaternion<T> => U1, U4;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * UnitDualQuaternion::<T>::from_rotation(rhs.inverse()) };
'a, 'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: &'a UnitDualQuaternion<T>, rhs: UnitQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * UnitDualQuaternion::<T>::from_rotation(rhs.inverse()) };
'a);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: &'b UnitQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * UnitDualQuaternion::<T>::from_rotation(rhs.inverse()) };
'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: UnitQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * UnitDualQuaternion::<T>::from_rotation(rhs.inverse()) };);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: &'a UnitQuaternion<T>, rhs: &'b UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U1, U4;
#[allow(clippy::suspicious_arithmetic_impl)]
{
UnitDualQuaternion::<T>::new_unchecked(
DualQuaternion::from_real(self.clone().into_inner())
) * rhs.inverse()
}; 'a, 'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: &'a UnitQuaternion<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
#[allow(clippy::suspicious_arithmetic_impl)]
{
UnitDualQuaternion::<T>::new_unchecked(
DualQuaternion::from_real(self.clone().into_inner())
) * rhs.inverse()
}; 'a);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: UnitQuaternion<T>, rhs: &'b UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
#[allow(clippy::suspicious_arithmetic_impl)]
{
UnitDualQuaternion::<T>::new_unchecked(
DualQuaternion::from_real(self.into_inner())
) * rhs.inverse()
}; 'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U4, U1);
self: UnitQuaternion<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U3;
#[allow(clippy::suspicious_arithmetic_impl)]
{
UnitDualQuaternion::<T>::new_unchecked(
DualQuaternion::from_real(self.into_inner())
) * rhs.inverse()
};);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1);
self: &'a UnitDualQuaternion<T>, rhs: &'b Translation3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self * UnitDualQuaternion::<T>::from_parts(rhs.clone(), UnitQuaternion::identity());
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U3);
self: &'a UnitDualQuaternion<T>, rhs: Translation3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self * UnitDualQuaternion::<T>::from_parts(rhs, UnitQuaternion::identity());
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U3);
self: UnitDualQuaternion<T>, rhs: &'b Translation3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self * UnitDualQuaternion::<T>::from_parts(rhs.clone(), UnitQuaternion::identity());
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U3);
self: UnitDualQuaternion<T>, rhs: Translation3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self * UnitDualQuaternion::<T>::from_parts(rhs, UnitQuaternion::identity()); );
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U3, U1);
self: &'a UnitDualQuaternion<T>, rhs: &'b Translation3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * UnitDualQuaternion::<T>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };
'a, 'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U3, U3);
self: &'a UnitDualQuaternion<T>, rhs: Translation3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * UnitDualQuaternion::<T>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };
'a);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U3, U3);
self: UnitDualQuaternion<T>, rhs: &'b Translation3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * UnitDualQuaternion::<T>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };
'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U3, U3);
self: UnitDualQuaternion<T>, rhs: Translation3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
#[allow(clippy::suspicious_arithmetic_impl)]
{ self * UnitDualQuaternion::<T>::from_parts(rhs.inverse(), UnitQuaternion::identity()) };);
dual_quaternion_op_impl!(
Mul, mul;
(U3, U1), (U4, U1);
self: &'b Translation3<T>, rhs: &'a UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_parts(self.clone(), UnitQuaternion::identity()) * rhs;
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U3, U1), (U4, U1);
self: &'a Translation3<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_parts(self.clone(), UnitQuaternion::identity()) * rhs;
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U3, U1), (U4, U1);
self: Translation3<T>, rhs: &'b UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_parts(self, UnitQuaternion::identity()) * rhs;
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U3, U1), (U4, U1);
self: Translation3<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_parts(self, UnitQuaternion::identity()) * rhs;);
dual_quaternion_op_impl!(
Div, div;
(U3, U1), (U4, U1);
self: &'b Translation3<T>, rhs: &'a UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_parts(self.clone(), UnitQuaternion::identity()) / rhs;
'a, 'b);
dual_quaternion_op_impl!(
Div, div;
(U3, U1), (U4, U1);
self: &'a Translation3<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_parts(self.clone(), UnitQuaternion::identity()) / rhs;
'a);
dual_quaternion_op_impl!(
Div, div;
(U3, U1), (U4, U1);
self: Translation3<T>, rhs: &'b UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_parts(self, UnitQuaternion::identity()) / rhs;
'b);
dual_quaternion_op_impl!(
Div, div;
(U3, U1), (U4, U1);
self: Translation3<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_parts(self, UnitQuaternion::identity()) / rhs;);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1);
self: &'a UnitDualQuaternion<T>, rhs: &'b Isometry3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self * UnitDualQuaternion::<T>::from_isometry(rhs);
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U3);
self: &'a UnitDualQuaternion<T>, rhs: Isometry3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self * UnitDualQuaternion::<T>::from_isometry(&rhs);
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U3);
self: UnitDualQuaternion<T>, rhs: &'b Isometry3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self * UnitDualQuaternion::<T>::from_isometry(rhs);
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U3);
self: UnitDualQuaternion<T>, rhs: Isometry3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self * UnitDualQuaternion::<T>::from_isometry(&rhs); );
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U3, U1);
self: &'a UnitDualQuaternion<T>, rhs: &'b Isometry3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self / UnitDualQuaternion::<T>::from_isometry(rhs);
'a, 'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U3, U3);
self: &'a UnitDualQuaternion<T>, rhs: Isometry3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self / UnitDualQuaternion::<T>::from_isometry(&rhs);
'a);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U3, U3);
self: UnitDualQuaternion<T>, rhs: &'b Isometry3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self / UnitDualQuaternion::<T>::from_isometry(rhs);
'b);
dual_quaternion_op_impl!(
Div, div;
(U4, U1), (U3, U3);
self: UnitDualQuaternion<T>, rhs: Isometry3<T>,
Output = UnitDualQuaternion<T> => U3, U1;
self / UnitDualQuaternion::<T>::from_isometry(&rhs); );
dual_quaternion_op_impl!(
Mul, mul;
(U3, U1), (U4, U1);
self: &'a Isometry3<T>, rhs: &'b UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_isometry(self) * rhs;
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U3, U1), (U4, U1);
self: &'a Isometry3<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_isometry(self) * rhs;
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U3, U1), (U4, U1);
self: Isometry3<T>, rhs: &'b UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_isometry(&self) * rhs;
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U3, U1), (U4, U1);
self: Isometry3<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_isometry(&self) * rhs; );
dual_quaternion_op_impl!(
Div, div;
(U3, U1), (U4, U1);
self: &'a Isometry3<T>, rhs: &'b UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_isometry(self) / rhs;
'a, 'b);
dual_quaternion_op_impl!(
Div, div;
(U3, U1), (U4, U1);
self: &'a Isometry3<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_isometry(self) / rhs;
'a);
dual_quaternion_op_impl!(
Div, div;
(U3, U1), (U4, U1);
self: Isometry3<T>, rhs: &'b UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_isometry(&self) / rhs;
'b);
dual_quaternion_op_impl!(
Div, div;
(U3, U1), (U4, U1);
self: Isometry3<T>, rhs: UnitDualQuaternion<T>,
Output = UnitDualQuaternion<T> => U3, U1;
UnitDualQuaternion::<T>::from_isometry(&self) / rhs; );
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<T, U3> ;
self: &'a UnitDualQuaternion<T>, rhs: &'b Vector<T, U3, SB>,
Output = Vector3<T> => U3, U1;
Unit::new_unchecked(self.as_ref().real.clone()) * rhs;
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<T, U3> ;
self: &'a UnitDualQuaternion<T>, rhs: Vector<T, U3, SB>,
Output = Vector3<T> => U3, U1;
self * &rhs;
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<T, U3> ;
self: UnitDualQuaternion<T>, rhs: &'b Vector<T, U3, SB>,
Output = Vector3<T> => U3, U1;
&self * rhs;
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<T, U3> ;
self: UnitDualQuaternion<T>, rhs: Vector<T, U3, SB>,
Output = Vector3<T> => U3, U1;
&self * &rhs; );
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1);
self: &'a UnitDualQuaternion<T>, rhs: &'b Point3<T>,
Output = Point3<T> => U3, U1;
{
let two: T = crate::convert(2.0f64);
let q_point = Quaternion::from_parts(T::zero(), rhs.coords.clone());
Point::from(
((self.as_ref().real.clone() * q_point + self.as_ref().dual.clone() * two) * self.as_ref().real.clone().conjugate())
.vector()
.into_owned(),
)
};
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1);
self: &'a UnitDualQuaternion<T>, rhs: Point3<T>,
Output = Point3<T> => U3, U1;
self * &rhs;
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1);
self: UnitDualQuaternion<T>, rhs: &'b Point3<T>,
Output = Point3<T> => U3, U1;
&self * rhs;
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1);
self: UnitDualQuaternion<T>, rhs: Point3<T>,
Output = Point3<T> => U3, U1;
&self * &rhs; );
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<T, U3> ;
self: &'a UnitDualQuaternion<T>, rhs: &'b Unit<Vector<T, U3, SB>>,
Output = Unit<Vector3<T>> => U3, U4;
Unit::new_unchecked(self * rhs.as_ref());
'a, 'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<T, U3> ;
self: &'a UnitDualQuaternion<T>, rhs: Unit<Vector<T, U3, SB>>,
Output = Unit<Vector3<T>> => U3, U4;
Unit::new_unchecked(self * rhs.into_inner());
'a);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<T, U3> ;
self: UnitDualQuaternion<T>, rhs: &'b Unit<Vector<T, U3, SB>>,
Output = Unit<Vector3<T>> => U3, U4;
Unit::new_unchecked(self * rhs.as_ref());
'b);
dual_quaternion_op_impl!(
Mul, mul;
(U4, U1), (U3, U1) for SB: Storage<T, U3> ;
self: UnitDualQuaternion<T>, rhs: Unit<Vector<T, U3, SB>>,
Output = Unit<Vector3<T>> => U3, U4;
Unit::new_unchecked(self * rhs.into_inner()); );
macro_rules! left_scalar_mul_impl(
($($T: ty),* $(,)*) => {$(
impl Mul<DualQuaternion<$T>> for $T {
type Output = DualQuaternion<$T>;
#[inline]
fn mul(self, right: DualQuaternion<$T>) -> Self::Output {
DualQuaternion::from_real_and_dual(
self * right.real,
self * right.dual
)
}
}
impl<'b> Mul<&'b DualQuaternion<$T>> for $T {
type Output = DualQuaternion<$T>;
#[inline]
fn mul(self, right: &'b DualQuaternion<$T>) -> Self::Output {
DualQuaternion::from_real_and_dual(
self * &right.real,
self * &right.dual
)
}
}
)*}
);
left_scalar_mul_impl!(f32, f64);
macro_rules! dual_quaternion_op_impl(
($OpAssign: ident, $op_assign: ident;
($LhsRDim: ident, $LhsCDim: ident), ($RhsRDim: ident, $RhsCDim: ident);
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty $(=> $VDimA: ty, $VDimB: ty)*;
$action: expr; $($lives: tt),*) => {
impl<$($lives ,)* T: SimdRealField> $OpAssign<$Rhs> for $Lhs
where T::Element: SimdRealField {
#[inline]
fn $op_assign(&mut $lhs, $rhs: $Rhs) {
$action
}
}
}
);
dual_quaternion_op_impl!(
AddAssign, add_assign;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: &'b DualQuaternion<T>;
{
self.real += &rhs.real;
self.dual += &rhs.dual;
};
'b);
dual_quaternion_op_impl!(
AddAssign, add_assign;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: DualQuaternion<T>;
{
self.real += rhs.real;
self.dual += rhs.dual;
};);
dual_quaternion_op_impl!(
SubAssign, sub_assign;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: &'b DualQuaternion<T>;
{
self.real -= &rhs.real;
self.dual -= &rhs.dual;
};
'b);
dual_quaternion_op_impl!(
SubAssign, sub_assign;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: DualQuaternion<T>;
{
self.real -= rhs.real;
self.dual -= rhs.dual;
};);
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: &'b DualQuaternion<T>;
{
let res = &*self * rhs;
self.real.coords.copy_from(&res.real.coords);
self.dual.coords.copy_from(&res.dual.coords);
};
'b);
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: DualQuaternion<T>;
*self *= &rhs;);
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>;
{
let res = &*self * rhs;
self.real.coords.copy_from(&res.real.coords);
self.dual.coords.copy_from(&res.dual.coords);
};
'b);
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: UnitDualQuaternion<T>;
*self *= &rhs; );
dual_quaternion_op_impl!(
DivAssign, div_assign;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>;
{
let res = &*self / rhs;
self.real.coords.copy_from(&res.real.coords);
self.dual.coords.copy_from(&res.dual.coords);
};
'b);
dual_quaternion_op_impl!(
DivAssign, div_assign;
(U4, U1), (U4, U1);
self: DualQuaternion<T>, rhs: UnitDualQuaternion<T>;
*self /= &rhs; );
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>;
{
let res = &*self * rhs;
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
};
'b);
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: UnitDualQuaternion<T>;
*self *= &rhs; );
dual_quaternion_op_impl!(
DivAssign, div_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: &'b UnitDualQuaternion<T>;
{
let res = &*self / rhs;
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
};
'b);
dual_quaternion_op_impl!(
DivAssign, div_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: UnitDualQuaternion<T>;
*self /= &rhs; );
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: UnitQuaternion<T>;
{
let res = &*self * UnitDualQuaternion::from_rotation(rhs);
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
};);
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: &'b UnitQuaternion<T>;
*self *= rhs.clone(); 'b);
dual_quaternion_op_impl!(
DivAssign, div_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: &'b UnitQuaternion<T>;
#[allow(clippy::suspicious_op_assign_impl)]
{
let res = &*self * UnitDualQuaternion::from_rotation(rhs.inverse());
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
};
'b);
dual_quaternion_op_impl!(
DivAssign, div_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: UnitQuaternion<T>;
*self /= &rhs; );
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: Translation3<T>;
{
let res = &*self * UnitDualQuaternion::from_parts(rhs, UnitQuaternion::identity());
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
};);
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: &'b Translation3<T>;
*self *= rhs.clone(); 'b);
dual_quaternion_op_impl!(
DivAssign, div_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: &'b Translation3<T>;
#[allow(clippy::suspicious_op_assign_impl)]
{
let res = &*self * UnitDualQuaternion::from_parts(rhs.inverse(), UnitQuaternion::identity());
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
};
'b);
dual_quaternion_op_impl!(
DivAssign, div_assign;
(U4, U1), (U4, U1);
self: UnitDualQuaternion<T>, rhs: Translation3<T>;
*self /= &rhs; );
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U3, U1);
self: UnitDualQuaternion<T>, rhs: &'b Isometry3<T> => U3, U1;
{
let res = &*self * rhs;
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
};
'b);
dual_quaternion_op_impl!(
MulAssign, mul_assign;
(U4, U1), (U3, U1);
self: UnitDualQuaternion<T>, rhs: Isometry3<T> => U3, U1;
*self *= &rhs; );
dual_quaternion_op_impl!(
DivAssign, div_assign;
(U4, U1), (U3, U1);
self: UnitDualQuaternion<T>, rhs: &'b Isometry3<T> => U3, U1;
{
let res = &*self / rhs;
self.as_mut_unchecked().real.coords.copy_from(&res.as_ref().real.coords);
self.as_mut_unchecked().dual.coords.copy_from(&res.as_ref().dual.coords);
};
'b);
dual_quaternion_op_impl!(
DivAssign, div_assign;
(U4, U1), (U3, U1);
self: UnitDualQuaternion<T>, rhs: Isometry3<T> => U3, U1;
*self /= &rhs; );
macro_rules! scalar_op_impl(
($($Op: ident, $op: ident, $OpAssign: ident, $op_assign: ident);* $(;)*) => {$(
impl<T: SimdRealField> $Op<T> for DualQuaternion<T>
where T::Element: SimdRealField {
type Output = DualQuaternion<T>;
#[inline]
fn $op(self, n: T) -> Self::Output {
DualQuaternion::from_real_and_dual(
self.real.clone().$op(n.clone()),
self.dual.clone().$op(n)
)
}
}
impl<'a, T: SimdRealField> $Op<T> for &'a DualQuaternion<T>
where T::Element: SimdRealField {
type Output = DualQuaternion<T>;
#[inline]
fn $op(self, n: T) -> Self::Output {
DualQuaternion::from_real_and_dual(
self.real.clone().$op(n.clone()),
self.dual.clone().$op(n)
)
}
}
impl<T: SimdRealField> $OpAssign<T> for DualQuaternion<T>
where T::Element: SimdRealField {
#[inline]
fn $op_assign(&mut self, n: T) {
self.real.$op_assign(n.clone());
self.dual.$op_assign(n);
}
}
)*}
);
scalar_op_impl!(
Mul, mul, MulAssign, mul_assign;
Div, div, DivAssign, div_assign;
);