public void ShouldConvertToQuaternionCorrectly()
{
AxisAngle aa = new AxisAngle { Axis = new Vector { x = 1, y = 2, z = 3 }, Angle = 4 };
Quat q = aa.ToQuaternion();
Assert.That(q.x, Is.EqualTo(0.2430199533700943).Within(EPS));
Assert.That(q.y, Is.EqualTo(0.4860399067401886).Within(EPS));
Assert.That(q.z, Is.EqualTo(0.7290598750114441).Within(EPS));
Assert.That(q.w, Is.EqualTo(-0.416146844625473).Within(EPS));
}
public void ShouldHandleInvalidAxisAngleOnConversionToQuaternionCorrectly()
{
AxisAngle aa = new AxisAngle { Axis = new Vector { x = 0, y = 0, z = 0 }, Angle = 1 };
Quat q = aa.ToQuaternion();
Assert.That(q.x, Is.EqualTo(0).Within(EPS));
Assert.That(q.y, Is.EqualTo(0).Within(EPS));
Assert.That(q.z, Is.EqualTo(0).Within(EPS));
Assert.That(q.w, Is.EqualTo(1).Within(EPS));
}
public void ShouldHandleInvalidQuaternionCorrectly()
{
Quat q = new Quat { x = 0, y = 0, z = 0, w = 10 };
AxisAngle aa = new AxisAngle();
aa.FromQuaternion(q);
Assert.That(aa.Axis.x, Is.EqualTo(0).Within(EPS));
Assert.That(aa.Axis.y, Is.EqualTo(0).Within(EPS));
Assert.That(aa.Axis.z, Is.EqualTo(1).Within(EPS));
Assert.That(aa.Angle, Is.EqualTo(0).Within(EPS));
}
public void ShouldConvertFromQuaternionCorrectly()
{
Quat q = new Quat { x = 0.2430199533700943, y = 0.4860399067401886, z = 0.7290598750114441,
w = -0.416146844625473 };
AxisAngle aa = new AxisAngle();
aa.FromQuaternion(q);
Assert.That(aa.Axis.x, Is.EqualTo(0.26726123690605164).Within(EPS));
Assert.That(aa.Axis.y, Is.EqualTo(0.5345224738121033).Within(EPS));
Assert.That(aa.Axis.z, Is.EqualTo(0.8017837405204773).Within(EPS));
Assert.That(aa.Angle, Is.EqualTo(4.000000017768291).Within(EPS));
}
public void ShouldHandleInvalidQuaternionCorrectly()
{
Quat q = new Quat {
x = 0, y = 0, z = 0, w = 10
};
AxisAngle aa = new AxisAngle();
aa.FromQuaternion(q);
Assert.That(aa.Axis.x, Is.EqualTo(0).Within(EPS));
Assert.That(aa.Axis.y, Is.EqualTo(0).Within(EPS));
Assert.That(aa.Axis.z, Is.EqualTo(1).Within(EPS));
Assert.That(aa.Angle, Is.EqualTo(0).Within(EPS));
}
public void ShouldHandleInvalidAxisAngleOnConversionToQuaternionCorrectly()
{
AxisAngle aa = new AxisAngle {
Axis = new Vector {
x = 0, y = 0, z = 0
}, Angle = 1
};
Quat q = aa.ToQuaternion();
Assert.That(q.x, Is.EqualTo(0).Within(EPS));
Assert.That(q.y, Is.EqualTo(0).Within(EPS));
Assert.That(q.z, Is.EqualTo(0).Within(EPS));
Assert.That(q.w, Is.EqualTo(1).Within(EPS));
}
public void ShouldConvertToQuaternionCorrectly()
{
AxisAngle aa = new AxisAngle {
Axis = new Vector {
x = 1, y = 2, z = 3
}, Angle = 4
};
Quat q = aa.ToQuaternion();
Assert.That(q.x, Is.EqualTo(0.2430199533700943).Within(EPS));
Assert.That(q.y, Is.EqualTo(0.4860399067401886).Within(EPS));
Assert.That(q.z, Is.EqualTo(0.7290598750114441).Within(EPS));
Assert.That(q.w, Is.EqualTo(-0.416146844625473).Within(EPS));
}
public void ShouldConvertFromQuaternionCorrectly()
{
Quat q = new Quat {
x = 0.2430199533700943, y = 0.4860399067401886, z = 0.7290598750114441,
w = -0.416146844625473
};
AxisAngle aa = new AxisAngle();
aa.FromQuaternion(q);
Assert.That(aa.Axis.x, Is.EqualTo(0.26726123690605164).Within(EPS));
Assert.That(aa.Axis.y, Is.EqualTo(0.5345224738121033).Within(EPS));
Assert.That(aa.Axis.z, Is.EqualTo(0.8017837405204773).Within(EPS));
Assert.That(aa.Angle, Is.EqualTo(4.000000017768291).Within(EPS));
}
void RotateEntity(EntityInfo info)
{
AxisAngle aa = new AxisAngle();
aa.FromQuaternion(info.Orientation);
aa.Angle += 0.1;
if (aa.Angle > 2 * Math.PI)
{
aa.Angle = 0;
}
info.Orientation = aa.ToQuaternion();
communicator.Call("location.updateOrientation", info.Guid, info.Orientation, Timestamps.UnixTimestamp);
}
void RotateEntity(EntityInfo info)
{
AxisAngle aa = new AxisAngle();
aa.FromQuaternion(info.Orientation);
aa.Angle += 0.1;
if (aa.Angle > 2 * Math.PI)
aa.Angle = 0;
info.Orientation = aa.ToQuaternion();
communicator.Call("location.updateOrientation", info.Guid, info.Orientation, Timestamps.UnixTimestamp);
}
