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