public void CreateRotationZTest(float angle)
{
float radians = (float)(angle * System.Math.PI / 180);
Matrix3x3 matrix = Matrix3x3.CreateRotationZ(radians);
float sin = (float)System.Math.Sin(radians);
float cos = (float)System.Math.Cos(radians);
float[] expectedArray = new float[9]
{
cos, -sin, 0, sin, cos, 0, 0, 0, 1
};
CompareMatrixWithArray(matrix, expectedArray);
}
public void CreateFromYawPitchRollTest(float yaw, float pitch, float roll)
{
float radiansYaw = (float)(yaw * System.Math.PI / 180);
float radiansPitch = (float)(pitch * System.Math.PI / 180);
float radiansRoll = (float)(roll * System.Math.PI / 180);
Matrix3x3 matrix = Matrix3x3.CreateFromYawPitchRoll(radiansYaw, radiansPitch, radiansRoll);
Matrix3x3 xMatrix = Matrix3x3.CreateRotationX(radiansPitch);
Matrix3x3 yMatrix = Matrix3x3.CreateRotationY(radiansYaw);
Matrix3x3 zMatrix = Matrix3x3.CreateRotationZ(radiansRoll);
Matrix3x3 rotationMatrix = (yMatrix * xMatrix) * zMatrix;
CompareMatrixWithArray(matrix, rotationMatrix.ToArray());
}
