nalgebra/src/geometry/rotation_construction.rs

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use num::{One, Zero};
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use simba::scalar::{ClosedAdd, ClosedMul};
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use crate::base::allocator::Allocator;
use crate::base::dimension::DimName;
use crate::base::{DefaultAllocator, MatrixN, Scalar};
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use crate::geometry::Rotation;
/// # Identity
impl<N, D: DimName> Rotation<N, D>
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where
N: Scalar + Zero + One,
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DefaultAllocator: Allocator<N, D, D>,
{
/// Creates a new square identity rotation of the given `dimension`.
///
/// # Example
/// ```
/// # use nalgebra::Quaternion;
/// let rot1 = Quaternion::identity();
/// let rot2 = Quaternion::new(1.0, 2.0, 3.0, 4.0);
///
/// assert_eq!(rot1 * rot2, rot2);
/// assert_eq!(rot2 * rot1, rot2);
/// ```
#[inline]
pub fn identity() -> Rotation<N, D> {
Self::from_matrix_unchecked(MatrixN::<N, D>::identity())
}
}
impl<N, D: DimName> One for Rotation<N, D>
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where
N: Scalar + Zero + One + ClosedAdd + ClosedMul,
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DefaultAllocator: Allocator<N, D, D>,
{
#[inline]
fn one() -> Self {
Self::identity()
}
}