forked from M-Labs/nalgebra
58 lines
1.3 KiB
Rust
58 lines
1.3 KiB
Rust
use num::{One, Zero};
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use simba::scalar::{ClosedAdd, ClosedMul, SupersetOf};
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use crate::base::{SMatrix, Scalar};
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use crate::geometry::Rotation;
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/// # 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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{
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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<T, D> {
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Self::from_matrix_unchecked(SMatrix::<T, D, D>::identity())
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}
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}
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impl<T: Scalar, const D: usize> Rotation<T, D> {
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/// Cast the components of `self` to another type.
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///
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/// # Example
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/// ```
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/// # use nalgebra::Rotation2;
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/// let rot = Rotation2::<f64>::identity();
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/// let rot2 = rot.cast::<f32>();
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/// assert_eq!(rot2, Rotation2::<f32>::identity());
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/// ```
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pub fn cast<To: Scalar>(self) -> Rotation<To, D>
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where
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Rotation<To, D>: SupersetOf<Self>,
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{
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crate::convert(self)
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}
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}
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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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{
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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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