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