public AngleBetweenDouble()
{
var rnd = new RandomSystem(1);
A.SetByIndex(i => rnd.UniformV3dDirection());
angles.SetByIndex(i => rnd.UniformDouble() * (double)Constant.Pi);
B.SetByIndex(i =>
{
V3d v;
do
{
v = rnd.UniformV3dDirection();
}while (v.Dot(A[i]).IsTiny());
V3d axis = v.Cross(A[i]).Normalized;
return(M44d.Rotation(axis, angles[i]).TransformDir(A[i]));
});
}
public static void Rot3dInvTransformTest()
{
var rnd = new RandomSystem(1);
for (int i = 0; i < 10000; i++)
{
var v = rnd.UniformV3d();
var axis = rnd.UniformV3dDirection();
var ang = rnd.UniformDouble();
var rot = Rot3d.Rotation(axis, ang);
var test1 = InvTransformUsingM33d(rot, v);
var test2 = rot.InvTransform(v);
var test3 = InvTransformUsingQuaternion(rot, v);
var test4 = InvTransformUsingQuaternionOpt(rot, v);
Assert.IsTrue(test1.ApproximateEquals(test2, 1e-5));
Assert.IsTrue(test1.ApproximateEquals(test3, 1e-5));
Assert.IsTrue(test1.ApproximateEquals(test4, 1e-5));
}
}
public static Rot3d GetRandomRot3(RandomSystem rnd) => Rot3d.Rotation(rnd.UniformV3dDirection(), rnd.UniformDouble() * Constant.PiTimesTwo);
private static V3d RndAxis(RandomSystem rnd) => rnd.UniformV3dDirection();