public void TestTransform()
{
Vector3 translation = new Vector3(2, 3, 4);
Quaternion rotation = Quaternion.RotationYawPitchRoll(1, 2, 3);
Matrix matrix = Matrix.RotationQuaternion(rotation) * Matrix.Translation(translation);
DualQuaternion dq = DualQuaternion.FromRotationTranslation(rotation, translation);
Vector3 v = new Vector3(3, 4, 5);
Assert.IsTrue(dq.Transform(v) == Vector3.TransformCoordinate(v, matrix));
}
public void TestInvert()
{
Vector3 translation = new Vector3(2, 3, 4);
Quaternion rotation = Quaternion.RotationYawPitchRoll(1, 2, 3);
DualQuaternion dq = DualQuaternion.FromRotationTranslation(rotation, translation);
Vector3 v = new Vector3(3, 4, 5);
Vector3 transformed = dq.Transform(v);
Vector3 inverseTransformed = dq.Invert().Transform(transformed);
Assert.AreEqual(
v,
inverseTransformed);
}