use simba::simd::{SimdRealField, SimdValue};
use crate::geometry::{AbstractRotation, Isometry, Similarity};
impl<T: SimdRealField, R, const D: usize> SimdValue for Similarity<T, R, D>
where
T::Element: SimdRealField,
R: SimdValue<SimdBool = T::SimdBool> + AbstractRotation<T, D>,
R::Element: AbstractRotation<T::Element, D>,
{
const LANES: usize = T::LANES;
type Element = Similarity<T::Element, R::Element, D>;
type SimdBool = T::SimdBool;
#[inline]
fn splat(val: Self::Element) -> Self {
let scaling = T::splat(val.scaling());
Similarity::from_isometry(Isometry::splat(val.isometry), scaling)
}
#[inline]
fn extract(&self, i: usize) -> Self::Element {
Similarity::from_isometry(self.isometry.extract(i), self.scaling().extract(i))
}
#[inline]
unsafe fn extract_unchecked(&self, i: usize) -> Self::Element {
Similarity::from_isometry(
self.isometry.extract_unchecked(i),
self.scaling().extract_unchecked(i),
)
}
#[inline]
fn replace(&mut self, i: usize, val: Self::Element) {
let mut s = self.scaling();
s.replace(i, val.scaling());
self.set_scaling(s);
self.isometry.replace(i, val.isometry);
}
#[inline]
unsafe fn replace_unchecked(&mut self, i: usize, val: Self::Element) {
let mut s = self.scaling();
s.replace_unchecked(i, val.scaling());
self.set_scaling(s);
self.isometry.replace_unchecked(i, val.isometry);
}
#[inline]
fn select(self, cond: Self::SimdBool, other: Self) -> Self {
let scaling = self.scaling().select(cond, other.scaling());
Similarity::from_isometry(self.isometry.select(cond, other.isometry), scaling)
}
}