Math: construct identity transformation by default.

Square matrices already had that, (dual) quaternions too, making that
the default also with complex numbers. Updated the documentation to
reflect that.

src/Math/Complex.h

@@ -52,11 +52,11 @@ template<class T> class Complex {
         /**
          * @brief Default constructor
          *
-         * @f[
+         * Constructs unit complex number. @f[
-         *      c = 0 + i0
+         *      c = 1 + i0
          * @f]
          */
-        inline constexpr /*implicit*/ Complex(): _real(T(0)), _imaginary(T(0)) {}
+        inline constexpr /*implicit*/ Complex(): _real(T(1)), _imaginary(T(0)) {}
 
         /**
          * @brief Construct complex number from real and imaginary part

src/Math/DualQuaternion.h

@@ -69,7 +69,7 @@ template<class T> class DualQuaternion: public Dual<Quaternion<T>> {
         /**
          * @brief Default constructor
          *
-         * @f[
+         * Creates unit dual quaternion. @f[
          *      \hat q = [\boldsymbol 0, 1] + \epsilon [\boldsymbol 0, 0]
          * @f]
          * @todoc Remove workaround when Doxygen is predictable
@@ -212,7 +212,7 @@ template<class T> class DualQuaternion: public Dual<Quaternion<T>> {
             return Math::sqrt(lengthSquared());
         }
 
-        /** @brief Normalized quaternion (of length 1) */
+        /** @brief Normalized quaternion (of unit length) */
         inline DualQuaternion<T> normalized() const {
             return (*this)/length();
         }

src/Math/Matrix3.h

@@ -116,8 +116,14 @@ template<class T> class Matrix3: public Matrix<3, T> {
         /** @copydoc Matrix::Matrix(ZeroType) */
         inline constexpr explicit Matrix3(typename Matrix<3, T>::ZeroType): Matrix<3, T>(Matrix<3, T>::Zero) {}
 
-        /** @copydoc Matrix::Matrix(IdentityType, T) */
+        /**
-        /** @todo Use constexpr implementation in Matrix, when done */
+         * @brief Default constructor
+         *
+         * Creates identity matrix. You can also explicitly call this
+         * constructor with `Matrix3 m(Matrix3::Identity);`. Optional parameter
+         * @p value allows you to specify value on diagonal.
+         * @todo Use constexpr implementation in Matrix, when done
+         */
         inline constexpr /*implicit*/ Matrix3(typename Matrix<3, T>::IdentityType = (Matrix<3, T>::Identity), T value = T(1)): Matrix<3, T>(
             Vector<3, T>(value,  T(0),  T(0)),
             Vector<3, T>( T(0), value,  T(0)),

src/Math/Matrix4.h

@@ -249,8 +249,14 @@ template<class T> class Matrix4: public Matrix<4, T> {
         /** @copydoc Matrix::Matrix(ZeroType) */
         inline constexpr explicit Matrix4(typename Matrix<4, T>::ZeroType): Matrix<4, T>(Matrix<4, T>::Zero) {}
 
-        /** @copydoc Matrix::Matrix(IdentityType, T) */
+        /**
-        /** @todo Use constexpr implementation in Matrix, when done */
+         * @brief Default constructor
+         *
+         * Creates identity matrix. You can also explicitly call this
+         * constructor with `Matrix4 m(Matrix4::Identity);`. Optional parameter
+         * @p value allows you to specify value on diagonal.
+         * @todo Use constexpr implementation in Matrix, when done
+         */
         inline constexpr /*implicit*/ Matrix4(typename Matrix<4, T>::IdentityType = (Matrix<4, T>::Identity), T value = T(1)): Matrix<4, T>(
             Vector<4, T>(value,  T(0),  T(0),  T(0)),
             Vector<4, T>( T(0), value,  T(0),  T(0)),

src/Math/Quaternion.h

@@ -127,7 +127,7 @@ template<class T> class Quaternion {
         /**
          * @brief Default constructor
          *
-         * @f[
+         * Creates unit quaternion. @f[
          *      q = [\boldsymbol 0, 1]
          * @f]
          */
@@ -356,7 +356,7 @@ template<class T> class Quaternion {
             return std::sqrt(dot());
         }
 
-        /** @brief Normalized quaternion (of length 1) */
+        /** @brief Normalized quaternion (of unit length) */
         inline Quaternion<T> normalized() const {
             return (*this)/length();
         }

src/Math/Test/ComplexTest.cpp

@@ -74,7 +74,8 @@ void ComplexTest::construct() {
 }
 
 void ComplexTest::constructDefault() {
-    CORRADE_COMPARE(Complex(), Complex(0.0f, 0.0f));
+    CORRADE_COMPARE(Complex(), Complex(1.0f, 0.0f));
+    CORRADE_COMPARE(Complex().length(), 1.0f);
 }
 
 void ComplexTest::compare() {
@@ -87,7 +88,7 @@ void ComplexTest::compare() {
 void ComplexTest::constExpressions() {
     /* Default constructor */
     constexpr Complex a;
-    CORRADE_COMPARE(a, Complex(0.0f, 0.0f));
+    CORRADE_COMPARE(a, Complex(1.0f, 0.0f));
 
     /* Value constructor */
     constexpr Complex b(2.5f, -5.0f);

src/Math/Test/DualQuaternionTest.cpp

@@ -92,6 +92,7 @@ void DualQuaternionTest::construct() {
 
 void DualQuaternionTest::constructDefault() {
     CORRADE_COMPARE(DualQuaternion(), DualQuaternion({{0.0f, 0.0f, 0.0f}, 1.0f}, {{0.0f, 0.0f, 0.0f}, 0.0f}));
+    CORRADE_COMPARE(DualQuaternion().length(), 1.0f);
 }
 
 void DualQuaternionTest::constructFromVector() {
@@ -117,15 +118,11 @@ void DualQuaternionTest::constExpressions() {
 }
 
 void DualQuaternionTest::lengthSquared() {
-    CORRADE_COMPARE(DualQuaternion().lengthSquared(), 1.0f);
-
     DualQuaternion a({{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.5f, -3.0f, 3.0f}, 2.0f});
     CORRADE_COMPARE(a.lengthSquared(), Dual(30.0f, -9.0f));
 }
 
 void DualQuaternionTest::length() {
-    CORRADE_COMPARE(DualQuaternion().length(), 1.0f);
-
     DualQuaternion a({{1.0f, 2.0f, 3.0f}, -4.0f}, {{0.5f, -3.0f, 3.0f}, 2.0f});
     CORRADE_COMPARE(a.length(), Dual(5.477226f, -0.821584f));
 }

src/Math/Test/QuaternionTest.cpp

@@ -106,6 +106,7 @@ void QuaternionTest::construct() {
 
 void QuaternionTest::constructDefault() {
     CORRADE_COMPARE(Quaternion(), Quaternion({0.0f, 0.0f, 0.0f}, 1.0f));
+    CORRADE_COMPARE(Quaternion().length(), 1.0f);
 }
 
 void QuaternionTest::constructFromVector() {

src/Math/Vector.h

@@ -405,7 +405,7 @@ template<std::size_t size, class T> class Vector {
             return std::sqrt(dot());
         }
 
-        /** @brief Normalized vector (of length 1) */
+        /** @brief Normalized vector (of unit length) */
         inline Vector<size, T> normalized() const {
             return *this/length();
         }