public void RotationMatrix_ToQuaternion_ToRotationMatrix()
{
RotationMatrix m1, m2;
Quaternion q;
Vector vecX, vecY;
int dir;
double[] r = new double[9];
for (var i = 0; i < 100; i++)
{
vecX = Vector.RandomFromDoubles(-100, 100);
vecY = Vector.RandomFromDoubles(-100, 100);
dir = Vector.CompareDirections(vecX, vecY);
m1 = new RotationMatrix(vecX, vecY);
q = m1.ToQuaternion();
m2 = q.ToRotationMatrix();
Trace.WriteLine("");
Trace.WriteLine(vecX + " " + vecY + " dir:" + dir);
Trace.WriteLine(m1);
Trace.WriteLine(q);
Trace.WriteLine(m2);
Assert.IsTrue(m1.IsSimilar(m2));
}
}
public void RotationMatrix_ToQuaternion_LowTrace()
{
RotationMatrix m = new RotationMatrix(new Vector(0, 1, 0), new Vector(-1, 0, 0));
Quaternion q = m.ToQuaternion();
RotationMatrix m1 = q.ToRotationMatrix();
Assert.IsTrue(m.IsSimilar(m1));
}