public void TestCalculateApplyDeltaRoundtrip()
{
var initial = new Swing(0.2f, 0.1f);
var final = new Swing(-0.3f, 0.4f);
var delta = Swing.CalculateDelta(initial, final);
var roundtripFinal = Swing.ApplyDelta(initial, delta);
MathAssert.AreEqual(final, roundtripFinal, Acc);
}
public void FuzzCalculateDelta()
{
var rnd = new Random(0);
for (int i = 0; i < 1000; ++i)
{
var initial = RandomUtil.Swing(rnd);
var final = RandomUtil.Swing(rnd);
var delta = Swing.CalculateDelta(initial, final);
var twistAxis = CartesianAxis.X;
var initialAndDeltaPoint = delta.Transform(twistAxis, initial.TransformTwistAxis(twistAxis));
var finalPoint = final.TransformTwistAxis(twistAxis);
Assert.AreEqual(1, Vector3.Dot(initialAndDeltaPoint, finalPoint), 1e-3f);
}
}
public void TestCalculateDeltaEdgeCases()
{
var rnd = new Random(1);
var swing = RandomUtil.Swing(rnd);
var axis = swing.Axis;
var angle = swing.Angle;
var zero = Swing.Zero;
var full = new Swing(axis.X, axis.Y);
var complement = Swing.AxisAngle(axis.X, axis.Y, MathUtil.Pi - angle);
MathAssert.AreEqual(zero, Swing.CalculateDelta(zero, zero), 1e-3f);
MathAssert.AreEqual(full, Swing.CalculateDelta(zero, full), 1e-3f);
MathAssert.AreEqual(zero, Swing.CalculateDelta(full, full), 1e-3f);
MathAssert.AreEqual(complement, Swing.CalculateDelta(swing, full), 1e-3f);
MathAssert.AreEqual(swing, Swing.CalculateDelta(complement, full), 1e-3f);
}
