public void QuaternionCreateFromYawPitchRollTest2()
{
Single step = 35.0f;
for (Single yawAngle = -720.0f; yawAngle <= 720.0f; yawAngle += step)
{
for (Single pitchAngle = -720.0f; pitchAngle <= 720.0f; pitchAngle += step)
{
for (Single rollAngle = -720.0f; rollAngle <= 720.0f; rollAngle += step)
{
Single yawRad = MathHelper.ToRadians(yawAngle);
Single pitchRad = MathHelper.ToRadians(pitchAngle);
Single rollRad = MathHelper.ToRadians(rollAngle);
Quaternion yaw = Quaternion.CreateFromAxisAngle(Vector3.UnitY, yawRad);
Quaternion pitch = Quaternion.CreateFromAxisAngle(Vector3.UnitX, pitchRad);
Quaternion roll = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, rollRad);
Quaternion expected = yaw * pitch * roll;
Quaternion actual = Quaternion.CreateFromYawPitchRoll(yawRad, pitchRad, rollRad);
Assert.True(MathHelper.Equal(expected, actual), $"Quaternion.QuaternionCreateFromYawPitchRollTest2 Yaw:{yawAngle} Pitch:{pitchAngle} Roll:{rollAngle} did not return the expected value: expected {expected} actual {actual}");
}
}
}
}
public void QuaternionCreateFromYawPitchRollTest1()
{
Single yawAngle = MathHelper.ToRadians(30.0f);
Single pitchAngle = MathHelper.ToRadians(40.0f);
Single rollAngle = MathHelper.ToRadians(50.0f);
Quaternion yaw = Quaternion.CreateFromAxisAngle(Vector3.UnitY, yawAngle);
Quaternion pitch = Quaternion.CreateFromAxisAngle(Vector3.UnitX, pitchAngle);
Quaternion roll = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, rollAngle);
Quaternion expected = yaw * pitch * roll;
Quaternion actual = Quaternion.CreateFromYawPitchRoll(yawAngle, pitchAngle, rollAngle);
Assert.True(MathHelper.Equal(expected, actual), $"Quaternion.QuaternionCreateFromYawPitchRollTest1 did not return the expected value: expected {expected} actual {actual}");
}
