public void MultiplyVector4()
{
var a = new SrtTransform(new Vector3F(1, 2, 7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var v = new Vector4F(7, 9, -12, -2);
var result1 = a * v;
var result2 = a.ToMatrix44F() * v;
Assert.IsTrue(Vector4F.AreNumericallyEqual(result1, result2));
result1 = SrtTransform.Multiply(a, v);
result2 = a.ToMatrix44F() * v;
Assert.IsTrue(Vector4F.AreNumericallyEqual(result1, result2));
}
public void ToLocalPosition()
{
var a = new SrtTransform(new Vector3F(1, 2, 7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var v = new Vector3F(7, 9, -12);
var result1 = a.ToLocalPosition(v);
var result2 = a.ToMatrix44F().Inverse.TransformPosition(v);
Assert.IsTrue(Vector3F.AreNumericallyEqual(result1, result2));
}
public void MultiplyWithUniformScaleIsTheSameAsMatrixMultiply()
{
// Result is the same as Matrix mulitiplication without scale.
var a = new SrtTransform(new Vector3F(7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var b = new SrtTransform(new Vector3F(-3), new QuaternionF(3, -2, 1, 9).Normalized, new Vector3F(7, -4, 2));
var result1 = (a * b).ToMatrix44F();
var result2 = a.ToMatrix44F() * b.ToMatrix44F();
Assert.IsTrue(Matrix44F.AreNumericallyEqual(result1, result2));
}
public void MultiplyWithoutRotationIsTheSameAsMatrixMultiply()
{
// Result is the same as Matrix mulitiplication without scale.
var a = new SrtTransform(new Vector3F(1, 2, 3), QuaternionF.Identity, new Vector3F(4, -5, 6));
var b = new SrtTransform(new Vector3F(5, 6, -3), QuaternionF.Identity, new Vector3F(7, -4, 2));
var result1 = (a * b).ToMatrix44F();
var result2 = a.ToMatrix44F() * b.ToMatrix44F();
Assert.IsTrue(Matrix44F.AreNumericallyEqual(result1, result2));
}
public void ToParentPosition()
{
var a = new SrtTransform(new Vector3F(1, 2, 7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var v = new Vector3F(7, 9, -12);
var result1 = a.ToParentPosition(v);
var result2 = a.ToMatrix44F().TransformPosition(v);
Assert.IsTrue(Vector3F.AreNumericallyEqual(result1, result2));
}
public void MultiplyWithUniformScaleIsTheSameAsMatrixMultiply()
{
// Result is the same as Matrix mulitiplication without scale.
var a = new SrtTransform(new Vector3F(7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var b = new SrtTransform(new Vector3F(-3), new QuaternionF(3, -2, 1, 9).Normalized, new Vector3F(7, -4, 2));
var result1 = (a * b).ToMatrix44F();
var result2 = a.ToMatrix44F() * b.ToMatrix44F();
Assert.IsTrue(Matrix44F.AreNumericallyEqual(result1, result2));
}
public void MultiplyWithoutRotationIsTheSameAsMatrixMultiply()
{
// Result is the same as Matrix mulitiplication without scale.
var a = new SrtTransform(new Vector3F(1, 2, 3), QuaternionF.Identity, new Vector3F(4, -5, 6));
var b = new SrtTransform(new Vector3F(5, 6, -3), QuaternionF.Identity, new Vector3F(7, -4, 2));
var result1 = (a * b).ToMatrix44F();
var result2 = a.ToMatrix44F() * b.ToMatrix44F();
Assert.IsTrue(Matrix44F.AreNumericallyEqual(result1, result2));
}
public void MultiplyVector4()
{
var a = new SrtTransform(new Vector3F(1, 2, 7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var v = new Vector4F(7, 9, -12, -2);
var result1 = a * v;
var result2 = a.ToMatrix44F() * v;
Assert.IsTrue(Vector4F.AreNumericallyEqual(result1, result2));
result1 = SrtTransform.Multiply(a, v);
result2 = a.ToMatrix44F() * v;
Assert.IsTrue(Vector4F.AreNumericallyEqual(result1, result2));
}