// public void Transform()
// {
// GameObject toUnityObj = new GameObject();
// GameObject fromUnityObj = new GameObject();
//
// foreach (CoordinateFrame frame in Enum.GetValues(typeof(CoordinateFrame)))
// {
// FrameTransform.SetFrameRotation(toUnityObj.transform, frame);
// }
// Debug.Log("ok");
// }
public void FrameConsistency()
{
Matrix4x4 toUnity = new Matrix4x4();
string message;
bool shouldChangeHands;
bool changedHands;
bool ok = true;
foreach (CoordinateFrame frame in Enum.GetValues(typeof(CoordinateFrame)))
{
//string FrameName = frame.ToString();
FrameTransform.SetFrameRotation(ref toUnity, frame);
shouldChangeHands = frame < CoordinateFrame.LeftHanded;
changedHands = FrameTransform.EffectsHandChange(toUnity);
ok = ok && shouldChangeHands == changedHands;
message = string.Format("{0} R? {1} : Ok? {2}", frame.ToString(), shouldChangeHands, changedHands);
if (shouldChangeHands == changedHands)
{
Debug.Log(message);
}
else
{
Debug.LogError(message);
}
}
if (!ok)
{
throw new Exception("failed");
}
}
public void Conversion()
{
GameObject parent = new GameObject("Parent");
GameObject child = new GameObject("Child");
Matrix4x4 toUnity = new Matrix4x4();
Matrix4x4 toRemote = new Matrix4x4();
Vector3 v, v1, v2;
bool stepOk = true;
bool ok = true;
child.transform.SetParent(parent.transform);
foreach (CoordinateFrame frame in Enum.GetValues(typeof(CoordinateFrame)))
{
//string FrameName = frame.ToString();
FrameTransform.SetFrameRotation(ref toUnity, frame);
FrameTransform.SetFrameRotationInverse(ref toRemote, frame);
FrameTransform.SetFrameRotation(parent.transform, frame);
for (int i = 0; i < TestVectors.Length; ++i)
{
v = TestVectors[i];
child.transform.localPosition = v;
v1 = toUnity.MultiplyPoint(v);
v2 = toRemote.MultiplyPoint(v1);
stepOk = ApproxEqual(v, v2);
ok = ok && stepOk;
if (!stepOk)
{
Debug.LogError(string.Format("Transformation {0} failed: {1} -> {2} -> {3}", frame, v, v1, v2));
}
v2 = child.transform.position;
stepOk = ApproxEqual(v1, v2);
ok = ok && stepOk;
if (!stepOk)
{
Debug.LogError(string.Format("Transform/Matrix {0} disagreement: {1} : {2} <> {3}", frame, v, v2, v1));
}
}
}
GameObject.Destroy(parent);
GameObject.Destroy(child);
if (!ok)
{
throw new Exception("failed");
}
}