public void QuaternionCreateFromAxisAngleTest2()
{
Vector3 axis = new Vector3(1, 0, 0);
Single angle1 = MathHelper.ToRadians(30.0f);
Single angle2 = MathHelper.ToRadians(750.0f);
Quaternion actual1 = Quaternion.CreateFromAxisAngle(axis, angle1);
Quaternion actual2 = Quaternion.CreateFromAxisAngle(axis, angle2);
Assert.True(MathHelper.Equal(actual1, actual2), $"Quaternion.CreateFromAxisAngle did not return the expected value: actual1 {actual1} actual2 {actual2}");
}
public void QuaternionCreateFromAxisAngleTest1()
{
Vector3 axis = new Vector3();
Single angle = MathHelper.ToRadians(-30.0f);
Single cos = (Single)Math.Cos(angle / 2.0f);
Quaternion actual = Quaternion.CreateFromAxisAngle(axis, angle);
Assert.True(actual.X == 0.0f && actual.Y == 0.0f && actual.Z == 0.0f && MathHelper.Equal(cos, actual.W)
, "Quaternion.CreateFromAxisAngle did not return the expected value.");
}
public void QuaternionCreateFromAxisAngleTest()
{
Vector3 axis = Vector3.Normalize(new Vector3(1.0f, 2.0f, 3.0f));
Single angle = MathHelper.ToRadians(30.0f);
Quaternion expected = new Quaternion(0.0691723f, 0.1383446f, 0.207516879f, 0.9659258f);
Quaternion actual;
actual = Quaternion.CreateFromAxisAngle(axis, angle);
Assert.True(MathHelper.Equal(expected, actual), $"Quaternion.CreateFromAxisAngle did not return the expected value: expected {expected} actual {actual}");
}
public void QuaternionLerpTest1()
{
Vector3 axis = Vector3.Normalize(new Vector3(1.0f, 2.0f, 3.0f));
Quaternion a = Quaternion.CreateFromAxisAngle(axis, MathHelper.ToRadians(10.0f));
Quaternion b = Quaternion.CreateFromAxisAngle(axis, MathHelper.ToRadians(30.0f));
Single t = 0.0f;
Quaternion expected = new Quaternion(a.X, a.Y, a.Z, a.W);
Quaternion actual = Quaternion.Lerp(a, b, t);
Assert.True(MathHelper.Equal(expected, actual), $"Quaternion.Lerp 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}");
}
public void QuaternionLerpTest3()
{
Vector3 axis = Vector3.Normalize(new Vector3(1.0f, 2.0f, 3.0f));
Quaternion a = Quaternion.CreateFromAxisAngle(axis, MathHelper.ToRadians(10.0f));
Quaternion b = Quaternion.Negate(a);
Single t = 1.0f;
Quaternion actual = Quaternion.Lerp(a, b, t);
// Note that in quaternion world, Q == -Q. In the case of quaternions dot product is zero,
// one of the quaternion will be flipped to compute the shortest distance. When t = 1, we
// expect the result to be the same as quaternion b but flipped.
Assert.True(actual == a, $"Quaternion.Lerp did not return the expected value: expected {a} actual {actual}");
}
public void QuaternionFromRotationMatrixWithScaledMatrixTest3()
{
Single angle = MathHelper.ToRadians(180.0f);
Matrix4x4 matrix = Matrix4x4.CreateRotationX(angle) * Matrix4x4.CreateRotationY(angle);
Quaternion expected = Quaternion.CreateFromAxisAngle(Vector3.UnitY, angle) * Quaternion.CreateFromAxisAngle(Vector3.UnitX, angle);
Quaternion actual = Quaternion.CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.EqualRotation(expected, actual),
$"Quaternion.CreateFromRotationMatrix did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4x4 m2 = Matrix4x4.CreateFromQuaternion(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion.CreateFromQuaternion did not return the expected value: matrix {matrix} m2 {m2}");
}
public void QuaternionFromRotationMatrixTest4()
{
for (Single angle = 0.0f; angle < 720.0f; angle += 10.0f)
{
Matrix4x4 matrix = Matrix4x4.CreateRotationZ(angle);
Quaternion expected = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, angle);
Quaternion actual = Quaternion.CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.EqualRotation(expected, actual),
$"Quaternion.CreateFromRotationMatrix angle:{angle} did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4x4 m2 = Matrix4x4.CreateFromQuaternion(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion.CreateFromQuaternion angle:{angle} did not return the expected value: matrix {matrix} m2 {m2}");
}
}
public void QuaternionLerpTest()
{
Vector3 axis = Vector3.Normalize(new Vector3(1.0f, 2.0f, 3.0f));
Quaternion a = Quaternion.CreateFromAxisAngle(axis, MathHelper.ToRadians(10.0f));
Quaternion b = Quaternion.CreateFromAxisAngle(axis, MathHelper.ToRadians(30.0f));
Single t = 0.5f;
Quaternion expected = Quaternion.CreateFromAxisAngle(axis, MathHelper.ToRadians(20.0f));
Quaternion actual;
actual = Quaternion.Lerp(a, b, t);
Assert.True(MathHelper.Equal(expected, actual), $"Quaternion.Lerp did not return the expected value: expected {expected} actual {actual}");
// Case a and b are same.
expected = a;
actual = Quaternion.Lerp(a, a, t);
Assert.True(MathHelper.Equal(expected, actual), $"Quaternion.Lerp did not return the expected value: expected {expected} actual {actual}");
}
