nalgebra/src/geometry/rotation_construction.rs

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use num::{One, Zero};
use simba::scalar::{ClosedAdd, ClosedMul, SupersetOf};
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use crate::base::{SMatrix, Scalar};
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use crate::geometry::Rotation;
/// # Identity
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impl<T, const D: usize> Rotation<T, D>
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where
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T: Scalar + Zero + One,
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{
/// 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]
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pub fn identity() -> Rotation<T, D> {
Self::from_matrix_unchecked(SMatrix::<T, D, D>::identity())
}
}
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impl<T: Scalar, const D: usize> Rotation<T, D> {
/// Cast the components of `self` to another type.
///
/// # Example
/// ```
/// # use nalgebra::Rotation2;
/// let rot = Rotation2::<f64>::identity();
/// let rot2 = rot.cast::<f32>();
/// assert_eq!(rot2, Rotation2::<f32>::identity());
/// ```
pub fn cast<To: Scalar>(self) -> Rotation<To, D>
where
Rotation<To, D>: SupersetOf<Self>,
{
crate::convert(self)
}
}
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impl<T, const D: usize> One for Rotation<T, D>
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where
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T: Scalar + Zero + One + ClosedAdd + ClosedMul,
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{
#[inline]
fn one() -> Self {
Self::identity()
}
}