public void DivisionScalar()
{
double s = 123.456;
QuaternionD q = new QuaternionD(1.0, 2.0, 3.0, 4.0);
QuaternionD expectedResult = new QuaternionD(1.0 / s, 2.0 / s, 3.0 / s, 4.0 / s);
QuaternionD result = QuaternionD.Divide(q, s);
Assert.IsTrue(QuaternionD.AreNumericallyEqual(expectedResult, result));
}
public void QuaternionDDivideTest()
{
QuaternionD a = new QuaternionD(1.0f, 2.0f, 3.0f, 4.0f);
QuaternionD b = new QuaternionD(5.0f, 6.0f, 7.0f, 8.0f);
QuaternionD expected = new QuaternionD(-0.045977015f, -0.09195402f, -7.450581E-9f, 0.402298868f);
QuaternionD actual;
actual = QuaternionD.Divide(a, b);
Assert.True(MathHelper.Equal(expected, actual), $"QuaternionD.Divide did not return the expected value: expected {expected} actual {actual}");
}
public void Division()
{
double angle1 = 0.4;
Vector3D axis1 = new Vector3D(1.0, 2.0, 3.0);
QuaternionD q1 = QuaternionD.CreateRotation(axis1, angle1);
Matrix33D m1 = Matrix33D.CreateRotation(axis1, angle1);
double angle2 = -1.6;
Vector3D axis2 = new Vector3D(1.0, -2.0, -3.5);
QuaternionD q2 = QuaternionD.CreateRotation(axis2, angle2);
Matrix33D m2 = Matrix33D.CreateRotation(axis2, angle2);
Vector3D v = new Vector3D(0.3, -2.4, 5.6);
Vector3D result1 = QuaternionD.Divide(q2, q1).Rotate(v);
Vector3D result2 = m2 * m1.Inverse * v;
Assert.IsTrue(Vector3D.AreNumericallyEqual(result1, result2));
}
