static void test_func_call()
{
test_name("func_call");
// TVector
Vec3f v31 = new Vec3f(1.0f, 2.0f, 3.0f);
put("Vec3f: square ", "14.0", v31.square());
put("Vec3f: norm ", "3.7416574", v31.norm());
Vec3f v3u = v31; v3u.unitize();
Vec3f v3r = new Vec3f(0.2672612f, 0.5345225f, 0.8017837f);
put2("Vec3f: unitize", edit_vector(v3r), edit_vector(v3u));
// TQuaternion
System.Console.WriteLine("");
float pi = 3.1415927f;
float rad90 = pi / 2;
float rad45 = pi / 4;
float cos45 = 0.7071069f;
float sqrt3 = 1.7320508f;
float sqrt3div3 = sqrt3 / 3;
Quaternionf q1 = new Quaternionf(cos45, sqrt3div3, sqrt3div3, sqrt3div3);
Quaternionf q2 = new Quaternionf(q1.W(), q1.X(), q1.Y(), q1.Z());
Vec3f qv1 = new Vec3f(sqrt3div3, sqrt3div3, sqrt3div3);
put2("Quaternionf: W(),X(),Y(),Z()", edit_quaternion(q1), edit_quaternion(q2));
put2("Quaternionf: V", edit_vector(qv1), edit_vector(q1.V()));
put2("Quaternionf: Axis", edit_vector(qv1), edit_vector(q1.Axis()));
put("Quaternionf: Theta", rad90.ToString(), q1.Theta());
System.Console.WriteLine("");
float half = pi / (2 * sqrt3);
Vec3f qv2 = new Vec3f(half, half, half);
put2("Quaternionf: RotationHalf", edit_vector(qv2), edit_vector(q1.RotationHalf()));
put2("Quaternionf: Rotation ", edit_vector(qv2), edit_vector(q1.Rotation()));
float angle = rad90;
float d = sqrt3;
float s = (float)Math.Sin(angle / 2) / d;
Quaternionf qr = new Quaternionf((float)Math.Cos(angle / 2), s, s, s);
Quaternionf q3 = Quaternionf.Rot(angle, new Vec3f(1f, 1f, 1f));
put2("Quaternionf: Rot", edit_quaternion(qr), edit_quaternion(q3));
float c1 = (float)Math.Cos(angle / 2);
float s1 = (float)Math.Sin(angle / 2);
Quaternionf qs = new Quaternionf(c1, s1, 0f, 0f);
Quaternionf q4 = Quaternionf.Rot(angle, (sbyte)'x');
put2("Quaternionf: Rot", edit_quaternion(qs), edit_quaternion(q4));
Vec3f qv3 = new Vec3f(1f, 1f, 1f);
float c2 = (float)Math.Cos(sqrt3 / 2);
float s2 = (float)Math.Sin(sqrt3 / 2);
Vec3f qv4 = (s2 / sqrt3) * qv3;
Quaternionf qt = new Quaternionf(c2, qv4[0], qv4[1], qv4[2]);
Quaternionf q5 = Quaternionf.Rot(qv3);
put2("Quaternionf: Rot", edit_quaternion(qt), edit_quaternion(q5));
Quaternionf qc1 = new Quaternionf(cos45, sqrt3div3, sqrt3div3, sqrt3div3);
Quaternionf qc2 = new Quaternionf(cos45, sqrt3div3, sqrt3div3, sqrt3div3);
Quaternionf qc = new Quaternionf(cos45, -sqrt3div3, -sqrt3div3, -sqrt3div3);
qc1.Conjugate();
put2("Quaternionf: Conjugate", edit_quaternion(qc), edit_quaternion(qc1));
put2("Quaternionf: Conjugated", edit_quaternion(qc), edit_quaternion(qc2.Conjugated()));
float qf1 = (float)(cos45 * cos45 + 3 * sqrt3div3 * sqrt3div3);
Quaternionf qe = qc2.Conjugated() / qf1;
put2("Quaternionf: Inv", edit_quaternion(qe), edit_quaternion(qc2.Inv()));
// TPose
System.Console.WriteLine("");
Posef p1 = new Posef(cos45, sqrt3, sqrt3, sqrt3, 1f, 2f, 3f);
Posef p2 = new Posef(p1.W(), p1.X(), p1.Y(), p1.Z(), p1.Px(), p1.Py(), p1.Pz());
Vec3f pv31 = new Vec3f(1f, 2f, 3f);
Quaternionf pq1 = new Quaternionf(cos45, sqrt3, sqrt3, sqrt3);
Quaternionf pq2 = new Quaternionf();
Vec3f pv32 = new Vec3f();
Posef pp1 = new Posef(pq2.w, pq2.x, pq2.y, pq2.z, pv32.x, pv32.y, pv32.z);
Posef pp2 = new Posef(pq2.w, pq2.x, pq2.y, pq2.z, 1f, 2f, 3f);
put2("Posef: W(),X(),Y(),Z(),Px(),Py(),Pz()", edit_pose(p1), edit_pose(p2));
put2("Posef: Pos()", edit_vector(pv31), edit_vector(p1.Pos()));
put2("Posef: Ori()", edit_quaternion(pq1), edit_quaternion(p1.Ori()));
put2("Posef: Unit ", edit_pose(pp1), edit_pose(Posef.Unit()));
put2("Posef: Trn ", edit_pose(pp2), edit_pose(Posef.Trn(1f, 2f, 3f)));
put2("Posef: Trn ", edit_pose(pp2), edit_pose(Posef.Trn(pv31)));
}
