[Test] public void Orthonormalise()
{
var a2b = new m4x4();
a2b.x = new v4(-2.0f, 3.0f, 1.0f, 0.0f);
a2b.y = new v4(4.0f, -1.0f, 2.0f, 0.0f);
a2b.z = new v4(1.0f, -2.0f, 4.0f, 0.0f);
a2b.w = new v4(1.0f, 2.0f, 3.0f, 1.0f);
Assert.True(Math_.IsOrthonormal(Math_.Orthonormalise(a2b)));
}
public void TestOriFromDir()
{
var dir = new v4(0, 1, 0, 0);
{
var ori = Math_.OriFromDir(EAxisId.PosZ, dir, v4.ZAxis);
Assert.True(dir == ori.z);
Assert.True(Math_.IsOrthonormal(ori));
}
{
var ori = Math_.OriFromDir(EAxisId.NegX, dir);
Assert.True(dir == -ori.x);
Assert.True(Math_.IsOrthonormal(ori));
}
}
[Test] public void CreateFrom()
{
var rnd = new Random(123456789);
var V1 = v4.Random3(0.0f, 10.0f, 1.0f, rnd);
var a2b = m4x4.Transform(v4.Random3N(0.0f, rnd), rnd.FloatC(0, (float)Math_.TauBy2), v4.Random3(0.0f, 10.0f, 1.0f, rnd));
var b2c = m4x4.Transform(v4.Random3N(0.0f, rnd), rnd.FloatC(0, (float)Math_.TauBy2), v4.Random3(0.0f, 10.0f, 1.0f, rnd));
Assert.True(Math_.IsOrthonormal(a2b));
Assert.True(Math_.IsOrthonormal(b2c));
var V2 = a2b * V1;
var V3 = b2c * V2;
var a2c = b2c * a2b;
var V4 = a2c * V1;
Assert.True(Math_.FEql(V3, V4));
}
[Test] public void CreateFrom2()
{
var m1 = m4x4.Transform(1.0f, 0.5f, 0.7f, v4.Origin);
var m2 = new m4x4(new quat(1.0f, 0.5f, 0.7f), v4.Origin);
Assert.True(Math_.IsOrthonormal(m1));
Assert.True(Math_.IsOrthonormal(m2));
Assert.True(Math_.FEql(m1, m2));
var rng = new Random(123456879);
var ang = rng.FloatC(0.0f, 1.0f);
var axis = v4.Random3N(0.0f, rng);
m1 = m4x4.Transform(axis, ang, v4.Origin);
m2 = new m4x4(new quat(axis, ang), v4.Origin);
Assert.True(Math_.IsOrthonormal(m1));
Assert.True(Math_.IsOrthonormal(m2));
Assert.True(Math_.FEql(m1, m2));
}