void TestDecompose(Trafo3d trafo, Rot3d jitter)
{
var x = (M44d)jitter;
trafo = trafo * new Trafo3d(x, x.Inverse);
V3d r_d, s_d, t_d;
trafo.Decompose(out s_d, out r_d, out t_d);
var recomposed = Trafo3d.FromComponents(s_d, r_d, t_d);
Assert.IsFalse(s_d.AnyNaN || r_d.AnyNaN || t_d.AnyNaN, "something NaN");
var dt = trafo.Forward - recomposed.Forward;
var e = dt.NormMax.Abs();
Assert.IsTrue(e < 1e-9, "DIFF");
var eq = CheckForwardBackwardConsistency(new Trafo3d(trafo.Forward, recomposed.Backward)) &&
CheckForwardBackwardConsistency(new Trafo3d(recomposed.Forward, trafo.Backward));
Assert.True(eq, "trafo not consistent");
}
void TestDecompose(V3d scale, V3d rotation, V3d translation)
{
var trafo = Trafo3d.FromComponents(scale, rotation, translation);
V3d r_d, s_d, t_d;
trafo.Decompose(out s_d, out r_d, out t_d);
var recomposed = Trafo3d.FromComponents(s_d, r_d, t_d);
Assert.IsFalse(s_d.AnyNaN || r_d.AnyNaN || t_d.AnyNaN, "something NaN");
ValidateTrafos(trafo, recomposed);
}
public static Trafo3d GetRandomTrafo(RandomSystem rnd, bool withPerspective)
{
var rot = rnd.UniformV3dFull() * Constant.PiTimesFour - Constant.PiTimesTwo;
var trans = rnd.UniformV3dFull() * 10 - 5;
var scale = rnd.UniformV3dFull() * 4 - 2;
var trafo = Trafo3d.FromComponents(scale, rot, trans);
if (withPerspective)
{
trafo *= Trafo3d.PerspectiveProjectionRH(-1, 1, -1, 1, rnd.UniformDouble(), rnd.UniformDouble() * 100);
}
return(trafo);
}
void TestDecompose(V3d scale, V3d rotation, V3d translation)
{
var trafo = Trafo3d.FromComponents(scale, rotation, translation);
V3d r_d, s_d, t_d;
trafo.Decompose(out s_d, out r_d, out t_d);
var recomposed = Trafo3d.FromComponents(s_d, r_d, t_d);
Assert.IsFalse(s_d.AnyNaN || r_d.AnyNaN || t_d.AnyNaN, "something NaN");
var eq = CheckForwardBackwardConsistency(new Trafo3d(trafo.Forward, recomposed.Backward)) &&
CheckForwardBackwardConsistency(new Trafo3d(recomposed.Forward, trafo.Backward));
Assert.True(eq, "trafo not consistent");
}
void TestDecompose(Trafo3d trafo)
{
trafo = trafo * Trafo3d.RotationXInDegrees(0.000000000000000001);
V3d r_d, s_d, t_d;
trafo.Decompose(out s_d, out r_d, out t_d);
var recomposed = Trafo3d.FromComponents(s_d, r_d, t_d);
Assert.IsFalse(s_d.AnyNaN || r_d.AnyNaN || t_d.AnyNaN, "something NaN");
var eq = CheckForwardBackwardConsistency(new Trafo3d(trafo.Forward, recomposed.Backward)) &&
CheckForwardBackwardConsistency(new Trafo3d(recomposed.Forward, trafo.Backward));
Assert.True(eq, "trafo not consistent");
}
void TestDecompose(V3d scale, V3d rotation, V3d translation)
{
var trafo = Trafo3d.FromComponents(scale, rotation, translation);
V3d r_d, s_d, t_d;
trafo.Decompose(out s_d, out r_d, out t_d);
var recomposed = Trafo3d.FromComponents(s_d, r_d, t_d);
Assert.IsFalse(s_d.AnyNaN || r_d.AnyNaN || t_d.AnyNaN, "something NaN");
var e_scale = (s_d.Abs() - scale.Abs()).LengthSquared;
var e_trans = (t_d - translation).LengthSquared;
Assert.True(e_scale < 1e-5, "Scale");
Assert.True(e_trans < 1e-5, "Translation");
ValidateTrafos(trafo, recomposed);
}