glam_det 2.0.0-beta.3

// Copyright (C) 2020-2025 glam-det authors. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

// Generated from quat.rs.tera template. Edit the template, not the generated file.

use crate::{
    euler::EulerRot::{self, *},
    nums::{bool32x4, f32x4},
    Mat3x4, Mat4x4, UnitQuatx4, UnitVec2x4, UnitVec3x4, Vec3x4, Vec4x4,
};

use crate::{nums::num_traits::*, Quat};
use auto_ops_det::{impl_op_ex, impl_op_ex_commutative};
#[cfg(not(target_arch = "spirv"))]
use core::fmt;
use core::iter::Sum;
use core::ops::{self, Neg};

/// Creates a quaternion from `x`, `y`, `z` and `w` values.
#[inline]
pub const fn quatx4(x: f32x4, y: f32x4, z: f32x4, w: f32x4) -> Quatx4 {
    Quatx4::from_xyzw(x, y, z, w)
}

/// A quaternion.
#[derive(Clone, Copy)]
#[repr(C)]
pub struct Quatx4 {
    pub x: f32x4,
    pub y: f32x4,
    pub z: f32x4,
    pub w: f32x4,
}

impl Quatx4 {
    /// All zeros.
    const ZERO: Self = Self::from_array([f32x4::ZERO; 4]);

    /// The identity quaternion. Corresponds to no rotation.
    pub const IDENTITY: Self = Self::from_xyzw(f32x4::ZERO, f32x4::ZERO, f32x4::ZERO, f32x4::ONE);

    /// All NANs.
    pub const NAN: Self = Self::from_array([f32x4::NAN; 4]);

    /// Creates a new quaternion.
    #[inline]
    pub const fn from_xyzw(x: f32x4, y: f32x4, z: f32x4, w: f32x4) -> Self {
        Self { x, y, z, w }
    }

    /// Creates a quaternion from an array.
    #[inline]
    pub const fn from_array(a: [f32x4; 4]) -> Self {
        Self::from_xyzw(a[0], a[1], a[2], a[3])
    }

    /// Select lanes from two SOA `Quatx4` to compose a new SOA `Quatx4`.
    #[inline]
    pub fn lane_select(cond: bool32x4, if_true: Self, if_false: Self) -> Self {
        Self::from_vec4(Vec4x4::lane_select(cond, if_true.into(), if_false.into()))
    }

    /// Create a SOA `Quatx4` with all lanes set to `q`.
    #[inline]
    pub fn splat_soa(q: Quat) -> Self {
        Self {
            x: f32x4::splat(q.x),
            y: f32x4::splat(q.y),
            z: f32x4::splat(q.z),
            w: f32x4::splat(q.w),
        }
    }

    /// Extract a single lane from a SOA `Quatx4`.
    ///
    /// # Panics
    ///
    /// Panics if `i` is larger than 3.
    #[inline]
    pub fn extract_lane(&self, i: usize) -> Quat {
        Quat::from_xyzw(
            self.x.extract(i),
            self.y.extract(i),
            self.z.extract(i),
            self.w.extract(i),
        )
    }

    /// Replace a single lane in a SOA `Quatx4`.
    ///
    /// # Panics
    ///
    /// Panics if `i` is larger than 3.
    #[inline]
    pub fn replace_lane(&mut self, i: usize, q: Quat) {
        self.x.replace(i, q.x);
        self.y.replace(i, q.y);
        self.z.replace(i, q.z);
        self.w.replace(i, q.w);
    }

    /// Split a SOA `Quatx4` into 4 `Quat`.
    #[inline]
    pub fn split_soa(self) -> [Quat; 4] {
        [
            self.extract_lane(0),
            self.extract_lane(1),
            self.extract_lane(2),
            self.extract_lane(3),
        ]
    }

    /// Compose a SOA `Quatx4` from 4 `Quat`.
    #[inline]
    pub fn compose_soa(a: &[Quat; 4]) -> Quatx4 {
        let mut v = Self::default();
        v.replace_lane(0, a[0]);
        v.replace_lane(1, a[1]);
        v.replace_lane(2, a[2]);
        v.replace_lane(3, a[3]);
        v
    }

    /// Creates a new quaternion from a 4D vector.
    #[inline]
    pub fn from_vec4(v: Vec4x4) -> Self {
        Self {
            x: v.x,
            y: v.y,
            z: v.z,
            w: v.w,
        }
    }

    /// Creates a quaternion from a slice.
    ///
    /// # Panics
    ///
    /// Panics if `slice` length is less than 4.
    #[inline]
    pub fn from_slice(slice: &[f32x4]) -> Self {
        Self::from_xyzw(slice[0], slice[1], slice[2], slice[3])
    }

    /// Writes the quaternion to an unaligned slice.
    ///
    /// # Panics
    ///
    /// Panics if `slice` length is less than 4.
    #[inline]
    pub fn write_to_slice(self, slice: &mut [f32x4]) {
        slice[0] = self.x;
        slice[1] = self.y;
        slice[2] = self.z;
        slice[3] = self.w;
    }

    /// Create a quaternion for a unit-length `axis` and `angle` (in radians).
    #[inline]
    pub fn from_axis_angle(axis: UnitVec3x4, angle: f32x4) -> Self {
        glam_assert!(angle.is_finite(), "angle {:?} is not finite.", angle);
        let (s, c) = (angle * f32x4::const_splat(0.5)).sin_cosf();
        let v = axis * s;
        Self::from_xyzw(v.x, v.y, v.z, c)
    }

    /// Create a quaternion that rotates `v.length()` radians around `v.normalize()`.
    ///
    /// `from_scaled_axis(Vec3::ZERO)` results in the identity quaternion.
    #[inline]
    pub fn from_scaled_axis(v: Vec3x4) -> Self {
        let length = v.length();
        let cond = length.eq(f32x4::ZERO);
        let v0 = Self::IDENTITY;
        #[cfg(any(feature = "glam-assert", feature = "debug-glam-assert"))]
        let length = f32x4::select(f32x4::ONE, cond, length);
        #[cfg(any(feature = "glam-assert", feature = "debug-glam-assert"))]
        let v = Vec3x4::lane_select(cond, Vec3x4::ONE, v);
        let v1 = Self::from_axis_angle((v / length).as_unit_vec3x4_unchecked(), length);
        Quatx4::lane_select(cond, v0, v1)
    }

    /// Creates a quaternion from the `angle` (in radians) around the x axis.
    #[inline]
    pub fn from_rotation_x(angle: f32x4) -> Self {
        glam_assert!(angle.is_finite(), "angle {:?} is not finite.", angle);
        let (s, c) = (angle * f32x4::const_splat(0.5)).sin_cosf();
        Self::from_xyzw(s, f32x4::ZERO, f32x4::ZERO, c)
    }

    /// Creates a quaternion from the `angle` (in radians) around the y axis.
    #[inline]
    pub fn from_rotation_y(angle: f32x4) -> Self {
        glam_assert!(angle.is_finite(), "angle {:?} is not finite.", angle);
        let (s, c) = (angle * f32x4::const_splat(0.5)).sin_cosf();
        Self::from_xyzw(f32x4::ZERO, s, f32x4::ZERO, c)
    }

    /// Creates a quaternion from the `angle` (in radians) around the z axis.
    #[inline]
    pub fn from_rotation_z(angle: f32x4) -> Self {
        glam_assert!(angle.is_finite(), "angle {:?} is not finite.", angle);
        let (s, c) = (angle * f32x4::const_splat(0.5)).sin_cosf();
        Self::from_xyzw(f32x4::ZERO, f32x4::ZERO, s, c)
    }

    #[inline]
    /// Creates a quaternion from the given Euler rotation sequence and the angles (in radians).
    pub fn from_euler(euler: EulerRot, a: f32x4, b: f32x4, c: f32x4) -> Self {
        let (sa, ca) = (a * f32x4::const_splat(0.5)).sin_cosf();
        let (sb, cb) = (b * f32x4::const_splat(0.5)).sin_cosf();
        let (sc, cc) = (c * f32x4::const_splat(0.5)).sin_cosf();
        match euler {
            ZYX => Self::from_xyzw(
                ca * cb * sc - cc * sa * sb,
                ca * cc * sb + cb * sa * sc,
                cb * cc * sa - ca * sb * sc,
                ca * cb * cc + sa * sb * sc,
            ),
            ZXY => Self::from_xyzw(
                ca * cc * sb - cb * sa * sc,
                cc * sa * sb + ca * cb * sc,
                cb * cc * sa + ca * sb * sc,
                ca * cb * cc - sa * sb * sc,
            ),
            YXZ => Self::from_xyzw(
                ca * cc * sb + cb * sa * sc,
                cb * cc * sa - ca * sb * sc,
                ca * cb * sc - cc * sa * sb,
                ca * cb * cc + sa * sb * sc,
            ),
            YZX => Self::from_xyzw(
                cc * sa * sb + ca * cb * sc,
                cb * cc * sa + ca * sb * sc,
                ca * cc * sb - cb * sa * sc,
                ca * cb * cc - sa * sb * sc,
            ),
            XYZ => Self::from_xyzw(
                cb * cc * sa + ca * sb * sc,
                ca * cc * sb - cb * sa * sc,
                cc * sa * sb + ca * cb * sc,
                ca * cb * cc - sa * sb * sc,
            ),
            XZY => Self::from_xyzw(
                cb * cc * sa - ca * sb * sc,
                ca * cb * sc - cc * sa * sb,
                ca * cc * sb + cb * sa * sc,
                ca * cb * cc + sa * sb * sc,
            ),
            ZYZ => Self::from_xyzw(
                ca * sb * sc - cc * sa * sb,
                ca * cc * sb + sa * sb * sc,
                cb * cc * sa + ca * cb * sc,
                ca * cb * cc - cb * sa * sc,
            ),
            ZXZ => Self::from_xyzw(
                ca * cc * sb + sa * sb * sc,
                cc * sa * sb - ca * sb * sc,
                cb * cc * sa + ca * cb * sc,
                ca * cb * cc - cb * sa * sc,
            ),
            YXY => Self::from_xyzw(
                ca * cc * sb + sa * sb * sc,
                cb * cc * sa + ca * cb * sc,
                ca * sb * sc - cc * sa * sb,
                ca * cb * cc - cb * sa * sc,
            ),
            YZY => Self::from_xyzw(
                cc * sa * sb - ca * sb * sc,
                cb * cc * sa + ca * cb * sc,
                ca * cc * sb + sa * sb * sc,
                ca * cb * cc - cb * sa * sc,
            ),
            XYX => Self::from_xyzw(
                cb * cc * sa + ca * cb * sc,
                ca * cc * sb + sa * sb * sc,
                cc * sa * sb - ca * sb * sc,
                ca * cb * cc - cb * sa * sc,
            ),
            XZX => Self::from_xyzw(
                cb * cc * sa + ca * cb * sc,
                ca * sb * sc - cc * sa * sb,
                ca * cc * sb + sa * sb * sc,
                ca * cb * cc - cb * sa * sc,
            ),
        }
        .normalize()
    }

    #[inline]
    /// Creates a unit quaternion from the given the angles (in radians).
    /// Default euler rotation sequence is `Z -> Y -> X` as roll (z-axis) -> yaw (y-axis) -> pitch (x-axis).
    /// First apply the z-axis rotation.
    pub fn from_euler_default(a: f32x4, b: f32x4, c: f32x4) -> Self {
        Self::from_euler(EulerRot::default(), a, b, c)
    }

    /// From the columns of a 3x3 rotation matrix.
    #[inline]
    pub(crate) fn from_rotation_axes(x_axis: Vec3x4, y_axis: Vec3x4, z_axis: Vec3x4) -> Self {
        // Based on https://github.com/microsoft/DirectXMath `XM$quaternionRotationMatrix`
        let (m00, m01, m02) = x_axis.into();
        let (m10, m11, m12) = y_axis.into();
        let (m20, m21, m22) = z_axis.into();
        let branch0 = m22.le(f32x4::ZERO);
        // x^2 + y^2 >= z^2 + w^2
        let dif10 = m11 - m00;
        let omm22 = f32x4::ONE - m22;

        let branch00 = dif10.le(f32x4::ZERO);
        // x^2 >= y^2
        let four_xsq = omm22 - dif10;
        let inv4x = f32x4::HALF * four_xsq.sqrtf().recip();
        // y^2 >= x^2
        let four_ysq = omm22 + dif10;
        let inv4y = f32x4::HALF * four_ysq.sqrtf().recip();
        // z^2 + w^2 >= x^2 + y^2
        let sum10 = m11 + m00;
        let opm22 = f32x4::ONE + m22;

        let branch01 = sum10.le(f32x4::ZERO);
        // z^2 >= w^2
        let four_zsq = opm22 - sum10;
        let inv4z = f32x4::HALF * four_zsq.sqrtf().recip();
        // w^2 >= z^2
        let four_wsq = opm22 + sum10;
        let inv4w = f32x4::HALF * four_wsq.sqrtf().recip();

        Self::from_xyzw(
            (four_xsq * inv4x)
                .select(branch00, (m01 + m10) * inv4y)
                .select(
                    branch0,
                    ((m02 + m20) * inv4z).select(branch01, (m12 - m21) * inv4w),
                ),
            ((m01 + m10) * inv4x)
                .select(branch00, four_ysq * inv4y)
                .select(
                    branch0,
                    ((m12 + m21) * inv4z).select(branch01, (m20 - m02) * inv4w),
                ),
            ((m02 + m20) * inv4x)
                .select(branch00, (m12 + m21) * inv4y)
                .select(
                    branch0,
                    (four_zsq * inv4z).select(branch01, (m01 - m10) * inv4w),
                ),
            ((m12 - m21) * inv4x)
                .select(branch00, (m20 - m02) * inv4y)
                .select(
                    branch0,
                    ((m01 - m10) * inv4z).select(branch01, four_wsq * inv4w),
                ),
        )
    }

    /// Creates a quaternion from a 3x3 rotation matrix.
    #[inline]
    pub fn from_mat3(mat: &Mat3x4) -> Self {
        Self::from_rotation_axes(mat.x_axis, mat.y_axis, mat.z_axis)
    }

    /// Creates a quaternion from a 3x3 rotation matrix inside a homogeneous 4x4 matrix.
    #[inline]
    pub fn from_mat4(mat: &Mat4x4) -> Self {
        Self::from_rotation_axes(
            mat.x_axis.truncate(),
            mat.y_axis.truncate(),
            mat.z_axis.truncate(),
        )
    }

    /// Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.
    #[inline]
    pub fn from_affine3(a: &crate::Affine3x4) -> Self {
        #[allow(clippy::useless_conversion)]
        Self::from_rotation_axes(
            a.matrix3.x_axis.into(),
            a.matrix3.y_axis.into(),
            a.matrix3.z_axis.into(),
        )
    }

    /// Gets the minimal rotation for transforming `from` to `to`.  The rotation is in the
    /// plane spanned by the two vectors.  Will rotate at most 180 degrees.
    pub fn from_rotation_arc(from: UnitVec3x4, to: UnitVec3x4) -> Self {
        let one_minus_eps = f32x4::ONE - f32x4::const_splat(2.0) * f32x4::EPSILON;
        let dot = from.dot(to);
        let cond1 = dot.gt(one_minus_eps);
        let cond2 = dot.lt(-one_minus_eps);
        let res1 = Self::IDENTITY;
        let res2 = Self::from_axis_angle(from.any_orthogonal_vector(), f32x4::PI);
        let c = from.cross(to);
        let res3 = Vec4x4::new(c.x, c.y, c.z, f32x4::ONE + dot);
        #[cfg(any(feature = "glam-assert", feature = "debug-glam-assert"))]
        let res3 = Vec4x4::lane_select(cond2, Vec4x4::X, res3);
        let res3 = Self::from_vec4(res3.normalize());
        Quatx4::lane_select(cond2, Quatx4::lane_select(cond1, res1, res2), res3)
    }

    /// Gets the minimal rotation for transforming `from` to either `to` or `-to`.  This means
    /// that the resulting quaternion will rotate `from` so that it is colinear with `to`.
    ///
    /// The rotation is in the plane spanned by the two vectors.  Will rotate at most 90
    /// degrees.
    #[inline]
    pub fn from_rotation_arc_colinear(from: UnitVec3x4, to: UnitVec3x4) -> Self {
        let cond = from.dot(to).le(f32x4::ZERO);
        let res1 = Self::from_rotation_arc(from, -to);
        let res2 = Self::from_rotation_arc(from, to);
        Quatx4::lane_select(cond, res1, res2)
    }

    /// Gets the minimal rotation for transforming `from` to `to`.  The resulting rotation is
    /// around the z axis. Will rotate at most 180 degrees.
    pub fn from_rotation_arc_2d(from: UnitVec2x4, to: UnitVec2x4) -> Self {
        let one_minus_epsilon = f32x4::ONE - f32x4::const_splat(2.0) * f32x4::EPSILON;
        let dot = from.dot(to);
        let cond1 = dot.gt(one_minus_epsilon);
        let cond2 = dot.lt(-one_minus_epsilon);
        let res1 = Self::IDENTITY;
        const COS_FRAC_PI_2: f32x4 = f32x4::ZERO;
        const SIN_FRAC_PI_2: f32x4 = f32x4::ONE;
        // rotation around z by PI radians
        let res2 = Self::from_xyzw(f32x4::ZERO, f32x4::ZERO, SIN_FRAC_PI_2, COS_FRAC_PI_2);
        let z = from.x * to.y - to.x * from.y;
        let w = f32x4::ONE + dot;
        // calculate length with x=0 and y=0 to normalize
        let len_rcp = f32x4::ONE / (z * z + w * w).sqrtf();
        let res3 = Self::from_xyzw(f32x4::ZERO, f32x4::ZERO, z * len_rcp, w * len_rcp);
        Quatx4::lane_select(cond2, Quatx4::lane_select(cond1, res1, res2), res3)
    }

    /// `[x, y, z, w]`
    #[inline]
    pub fn to_array(&self) -> [f32x4; 4] {
        [self.x, self.y, self.z, self.w]
    }

    /// Returns the vector part of the quaternion.
    #[inline]
    pub fn xyz(self) -> Vec3x4 {
        Vec3x4::new(self.x, self.y, self.z)
    }

    /// Returns the quaternion conjugate of `self`. For a unit quaternion the
    /// conjugate is also the inverse.
    #[must_use]
    #[inline]
    pub fn conjugate(self) -> Self {
        Self {
            x: -self.x,
            y: -self.y,
            z: -self.z,
            w: self.w,
        }
    }

    /// Computes the dot product of `self` and `rhs`.
    #[inline]
    pub fn dot(self, rhs: Self) -> f32x4 {
        Vec4x4::from(self).dot(Vec4x4::from(rhs))
    }

    /// Computes the length of `self`.
    #[doc(alias = "magnitude")]
    #[inline]
    pub fn length(self) -> f32x4 {
        Vec4x4::from(self).length()
    }

    /// Computes the squared length of `self`.
    ///
    /// This is generally faster than `length()` as it avoids a square
    /// root operation.
    #[doc(alias = "magnitude2")]
    #[inline]
    pub fn length_squared(self) -> f32x4 {
        Vec4x4::from(self).length_squared()
    }

    /// Computes `1.0 / length()`.
    ///
    /// For valid results, `self` must _not_ be of length zero.
    #[inline]
    pub fn length_recip(self) -> f32x4 {
        Vec4x4::from(self).length_recip()
    }

    /// Returns `self` normalized to length 1.0.
    ///
    /// For valid results, `self` must _not_ be of length zero or infinite.
    ///
    /// Panics
    ///
    /// Will panic if `self` is zero or infinite length when `glam_assert` is enabled.
    #[must_use]
    #[inline]
    pub fn normalize(self) -> Self {
        Self::from_vec4(Vec4x4::from(self).normalize())
    }

    /// Returns `self` normalized to a unit quaternion.
    ///
    /// For valid results, `self` must _not_ be of length zero or infinite.
    ///
    /// Panics
    ///
    /// Will panic if `self` is zero or infinite length when `glam_assert` is enabled.
    #[must_use]
    #[inline]
    pub fn normalize_to_unit(self) -> UnitQuatx4 {
        self.normalize().as_unit_quatx4_unchecked()
    }

    /// Returns `true` if, and only if, all elements are finite.
    /// If any element is either `NaN`, positive or negative infinity, this will return `false`.
    #[inline]
    pub fn is_finite(self) -> bool32x4 {
        Vec4x4::from(self).is_finite()
    }

    #[inline]
    pub fn is_nan(self) -> bool32x4 {
        Vec4x4::from(self).is_nan()
    }

    /// Returns whether `self` of length `1.0` or not.
    ///
    /// Uses a precision threshold of `1e-6`.
    #[inline]
    pub fn is_normalized(self) -> bool32x4 {
        Vec4x4::from(self).is_normalized()
    }

    /// Returns true if the absolute difference of all elements between `self` and `rhs`
    /// is less than or equal to `max_abs_diff`.
    ///
    /// This can be used to compare if two quaternions contain similar elements. It works
    /// best when comparing with a known value. The `max_abs_diff` that should be used used
    /// depends on the values being compared against.
    ///
    /// For more see
    /// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
    #[inline]
    pub fn abs_diff_eq(self, rhs: Self, max_abs_diff: f32x4) -> bool32x4 {
        Vec4x4::from(self).abs_diff_eq(Vec4x4::from(rhs), max_abs_diff)
    }

    /// Multiplies two quaternions. If they each represent a rotation, the result will
    /// represent the combined rotation.
    ///
    /// Note that due to floating point rounding the result may not be perfectly normalized.
    #[inline]
    pub fn mul_quat(self, rhs: Self) -> Self {
        let (x0, y0, z0, w0) = self.into();
        let (x1, y1, z1, w1) = rhs.into();
        Self::from_xyzw(
            w0 * x1 + x0 * w1 + y0 * z1 - z0 * y1,
            w0 * y1 - x0 * z1 + y0 * w1 + z0 * x1,
            w0 * z1 + x0 * y1 - y0 * x1 + z0 * w1,
            w0 * w1 - x0 * x1 - y0 * y1 - z0 * z1,
        )
    }
}

#[cfg(not(target_arch = "spirv"))]
impl fmt::Debug for Quatx4 {
    fn fmt(&self, fmt: &mut fmt::Formatter<'_>) -> fmt::Result {
        fmt.debug_tuple(stringify!(Quatx4))
            .field(&self.x)
            .field(&self.y)
            .field(&self.z)
            .field(&self.w)
            .finish()
    }
}

#[cfg(not(target_arch = "spirv"))]
impl fmt::Display for Quatx4 {
    fn fmt(&self, fmt: &mut fmt::Formatter<'_>) -> fmt::Result {
        write!(fmt, "[{}, {}, {}, {}]", self.x, self.y, self.z, self.w)
    }
}

impl_op_ex!(+ |a: &Quatx4, b: &Quatx4| -> Quatx4{
    Quatx4::from_vec4(Vec4x4::from(a) + Vec4x4::from(b))
});

impl_op_ex!(-|a: &Quatx4, b: &Quatx4| -> Quatx4 {
    Quatx4::from_vec4(Vec4x4::from(a) - Vec4x4::from(b))
});

impl_op_ex!(+= |a: &mut Quatx4, b: &Quatx4| { *a = *a + b });
impl_op_ex!(-= |a: &mut Quatx4, b: &Quatx4| { *a = *a - b });

impl_op_ex_commutative!(*|a: &Quatx4, b: &f32x4| -> Quatx4 {
    Quatx4::from_vec4(Vec4x4::from(a) * b)
});

impl_op_ex!(/ |a: &Quatx4, b: &f32x4| -> Quatx4{
    Quatx4::from_vec4(Vec4x4::from(a) / b)
});

impl_op_ex!(*|a: &Quatx4, b: &Quatx4| -> Quatx4 { a.mul_quat(*b) });

impl_op_ex!(*= |a: &mut Quatx4, b: &Quatx4| {
    *a = a.mul_quat(*b)
});

impl Neg for Quatx4 {
    type Output = Self;
    #[inline]
    fn neg(self) -> Self {
        self * f32x4::NEG_ONE
    }
}

impl Default for Quatx4 {
    #[inline]
    fn default() -> Self {
        Self::IDENTITY
    }
}

impl PartialEq for Quatx4 {
    #[inline]
    fn eq(&self, rhs: &Self) -> bool {
        Vec4x4::from(*self).eq(&Vec4x4::from(*rhs)).all()
    }
}

#[cfg(not(target_arch = "spirv"))]
impl AsRef<[f32x4; 4]> for Quatx4 {
    #[inline]
    fn as_ref(&self) -> &[f32x4; 4] {
        unsafe { &*(self as *const Self as *const [f32x4; 4]) }
    }
}

impl<'a> Sum<&'a Self> for Quatx4 {
    fn sum<I>(iter: I) -> Self
    where
        I: Iterator<Item = &'a Self>,
    {
        iter.fold(Self::ZERO, |a, &b| a + b)
    }
}

impl From<Quatx4> for Vec4x4 {
    #[inline]
    fn from(q: Quatx4) -> Self {
        Self::new(q.x, q.y, q.z, q.w)
    }
}

impl From<Quatx4> for (f32x4, f32x4, f32x4, f32x4) {
    #[inline]
    fn from(q: Quatx4) -> Self {
        (q.x, q.y, q.z, q.w)
    }
}

impl From<Quatx4> for [f32x4; 4] {
    #[inline]
    fn from(q: Quatx4) -> Self {
        [q.x, q.y, q.z, q.w]
    }
}

impl From<&Quatx4> for Vec4x4 {
    #[inline]
    fn from(q: &Quatx4) -> Self {
        Self::new(q.x, q.y, q.z, q.w)
    }
}

impl From<&Quatx4> for (f32x4, f32x4, f32x4, f32x4) {
    #[inline]
    fn from(q: &Quatx4) -> Self {
        (q.x, q.y, q.z, q.w)
    }
}

impl From<&Quatx4> for [f32x4; 4] {
    #[inline]
    fn from(q: &Quatx4) -> Self {
        [q.x, q.y, q.z, q.w]
    }
}