public static void FromM33d()
{
TrafoTesting.GenericTest(rnd =>
{
var rot = rnd.UniformV3dFull() * Constant.PiTimesFour - Constant.PiTimesTwo;
var mat = M44d.RotationEuler(rot);
var mat2 = (M44d)Rot3d.FromM33d((M33d)mat);
Assert.IsFalse(mat.Elements.Any(x => x.IsNaN()), "NaN");
if (!Fun.ApproximateEquals(mat, mat2, 1e-9))
{
Assert.Fail("FAIL");
}
});
}
public static void YawPitchRoll()
{
TrafoTesting.GenericTest(rnd =>
{
var yaw = rnd.UniformDouble() * Constant.PiTimesFour - Constant.PiTimesTwo;
var pitch = rnd.UniformDouble() * Constant.PiTimesFour - Constant.PiTimesTwo;
var roll = rnd.UniformDouble() * Constant.PiTimesFour - Constant.PiTimesTwo;
// Aardvark euler angles: roll (X), pitch (Y), yaw (Z). Ther are applied in reversed order.
var mat = (M33d)(M44d.RotationZ(yaw) * M44d.RotationY(pitch) * M44d.RotationX(roll));
var mat2 = (M33d)M44d.RotationEuler(roll, pitch, yaw);
var mat3 = (M33d)(Rot3d.RotationZ(yaw) * Rot3d.RotationY(pitch) * Rot3d.RotationX(roll));
var mat4 = (M33d)Rot3d.RotationEuler(roll, pitch, yaw);
Assert.IsTrue(Fun.ApproximateEquals(mat, mat2, 1e-7));
Assert.IsTrue(Fun.ApproximateEquals(mat, mat3, 1e-7));
Assert.IsTrue(Fun.ApproximateEquals(mat, mat4, 1e-7));
});
}