public void DivisionScalar()
{
float s = 123.456f;
QuaternionF q = new QuaternionF(1.0f, 2.0f, 3.0f, 4.0f);
QuaternionF expectedResult = new QuaternionF(1.0f / s, 2.0f / s, 3.0f / s, 4.0f / s);
QuaternionF result = QuaternionF.Divide(q, s);
Assert.IsTrue(QuaternionF.AreNumericallyEqual(expectedResult, result));
}
public void Division()
{
float angle1 = 0.4f;
Vector3F axis1 = new Vector3F(1.0f, 2.0f, 3.0f);
QuaternionF q1 = QuaternionF.CreateRotation(axis1, angle1);
Matrix33F m1 = Matrix33F.CreateRotation(axis1, angle1);
float angle2 = -1.6f;
Vector3F axis2 = new Vector3F(1.0f, -2.0f, -3.5f);
QuaternionF q2 = QuaternionF.CreateRotation(axis2, angle2);
Matrix33F m2 = Matrix33F.CreateRotation(axis2, angle2);
Vector3F v = new Vector3F(0.3f, -2.4f, 5.6f);
Vector3F result1 = QuaternionF.Divide(q2, q1).Rotate(v);
Vector3F result2 = m2 * m1.Inverse * v;
Assert.IsTrue(Vector3F.AreNumericallyEqual(result1, result2));
}