void TestDecompose(Trafo3d trafo, Rot3d jitter) { var x = (M44d)jitter; trafo = trafo * new Trafo3d(x, x.Inverse); V3d r_d, s_d, t_d; trafo.Decompose(out s_d, out r_d, out t_d); var recomposed = Trafo3d.FromComponents(s_d, r_d, t_d); Assert.IsFalse(s_d.AnyNaN || r_d.AnyNaN || t_d.AnyNaN, "something NaN"); var dt = trafo.Forward - recomposed.Forward; var e = dt.NormMax.Abs(); Assert.IsTrue(e < 1e-9, "DIFF"); var eq = CheckForwardBackwardConsistency(new Trafo3d(trafo.Forward, recomposed.Backward)) && CheckForwardBackwardConsistency(new Trafo3d(recomposed.Forward, trafo.Backward)); Assert.True(eq, "trafo not consistent"); }
void TestDecompose(Trafo3d trafo) { trafo = trafo * Trafo3d.RotationXInDegrees(0.000000000000000001); V3d r_d, s_d, t_d; trafo.Decompose(out s_d, out r_d, out t_d); var recomposed = Trafo3d.FromComponents(s_d, r_d, t_d); Assert.IsFalse(s_d.AnyNaN || r_d.AnyNaN || t_d.AnyNaN, "something NaN"); var eq = CheckForwardBackwardConsistency(new Trafo3d(trafo.Forward, recomposed.Backward)) && CheckForwardBackwardConsistency(new Trafo3d(recomposed.Forward, trafo.Backward)); Assert.True(eq, "trafo not consistent"); }