rotation_construction.rs - source

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paste

attr.rs error.rs lib.rs segment.rs

png

decoder

mod.rs stream.rs zlib.rs

chunk.rs common.rs encoder.rs filter.rs lib.rs traits.rs utils.rs

proc_macro2

detection.rs fallback.rs lib.rs marker.rs parse.rs wrapper.rs

proc_macro_error

imp

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proc_macro_error_attr

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quote

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simba

scalar

complex.rs field.rs mod.rs real.rs subset.rs

simd

auto_simd_impl.rs mod.rs simd_bool.rs simd_complex.rs simd_option.rs simd_partial_ord.rs simd_real.rs simd_signed.rs simd_value.rs

smawk

lib.rs monge.rs

spin_sleep

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syn

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textwrap

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thiserror_impl

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tiff

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ifd.rs mod.rs stream.rs

encoder

colortype.rs mod.rs writer.rs

bytecast.rs error.rs lib.rs tags.rs

time

display.rs duration.rs lib.rs parse.rs sys.rs

triple_buffer

ttf_parser

typenum

array.rs bit.rs int.rs lib.rs marker_traits.rs operator_aliases.rs private.rs type_operators.rs uint.rs

unicode_width

lib.rs tables.rs

unicode_xid

lib.rs tables.rs

unindent

vk_sys

weezl

decode.rs encode.rs error.rs lib.rs

yansi

color.rs docify.rs lib.rs macros.rs paint.rs style.rs windows.rs

use num::{One, Zero};

use simba::scalar::{ClosedAdd, ClosedMul, SupersetOf};

use crate::base::allocator::Allocator;
use crate::base::dimension::DimName;
use crate::base::{DefaultAllocator, MatrixN, Scalar};

use crate::geometry::Rotation;

/// # Identity
impl<N, D: DimName> Rotation<N, D>
where
    N: Scalar + Zero + One,
    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: Scalar, D: DimName> Rotation<N, D>
where
    DefaultAllocator: Allocator<N, D, 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>,
        DefaultAllocator: Allocator<To, D, D>,
    {
        crate::convert(self)
    }
}

impl<N, D: DimName> One for Rotation<N, D>
where
    N: Scalar + Zero + One + ClosedAdd + ClosedMul,
    DefaultAllocator: Allocator<N, D, D>,
{
    #[inline]
    fn one() -> Self {
        Self::identity()
    }
}