use simba::simd::SimdValue;
use crate::base::Vector4;
use crate::geometry::{Quaternion, UnitQuaternion};
use crate::Scalar;
impl<T: Scalar + SimdValue> SimdValue for Quaternion<T>
where
T::Element: Scalar,
{
const LANES: usize = T::LANES;
type Element = Quaternion<T::Element>;
type SimdBool = T::SimdBool;
#[inline]
fn splat(val: Self::Element) -> Self {
Vector4::splat(val.coords).into()
}
#[inline]
fn extract(&self, i: usize) -> Self::Element {
self.coords.extract(i).into()
}
#[inline]
unsafe fn extract_unchecked(&self, i: usize) -> Self::Element {
self.coords.extract_unchecked(i).into()
}
#[inline]
fn replace(&mut self, i: usize, val: Self::Element) {
self.coords.replace(i, val.coords)
}
#[inline]
unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) {
self.coords.replace_unchecked(i, val.coords)
}
#[inline]
fn select(self, cond: Self::SimdBool, other: Self) -> Self {
self.coords.select(cond, other.coords).into()
}
}
impl<T: Scalar + SimdValue> SimdValue for UnitQuaternion<T>
where
T::Element: Scalar,
{
const LANES: usize = T::LANES;
type Element = UnitQuaternion<T::Element>;
type SimdBool = T::SimdBool;
#[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()))
}
}