public static void Multiplication3x3Test()
=> TrafoTesting.GenericMatrixMultiplicationTest <Euclidean3d, M33d, M34d>(
rnd => TrafoTesting.GetRandomEuclidean(rnd, false),
Euclidean.TransformPos,
Mat.Transform,
Mat.TransformPos,
(a, v) => (a * new V4d(v, 1)).XYZ,
(m, v) => m * v,
(m, v) => m * new V4d(v, 1));
public static void FromM33dAndV3d()
=> TrafoTesting.GenericTest(rnd =>
{
var a = TrafoTesting.GetRandomEuclidean(rnd);
var m = (M33d)a.Rot;
var t = a.Trans;
var restored = Euclidean3d.FromM33dAndV3d(m, t);
TrafoTesting.AreEqual(a, restored);
});
public static void InverseTest()
=> TrafoTesting.GenericTest(rnd =>
{
var e = TrafoTesting.GetRandomEuclidean(rnd);
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
var q = e.TransformPos(p);
// Inverse property
var res = e.Inverse.TransformPos(q);
// Invert method
Euclidean.Invert(ref e);
var res2 = e.TransformPos(q);
TrafoTesting.AreEqual(p, res);
TrafoTesting.AreEqual(p, res2);
});
