static Vector3D NextOrthogonalVector3D(Vector3D v)
{
var a0 = v.X == 0 ? Rotation3DHelper.UnitX : new Vector3D(v.Y, -v.X, 0);
a0.Normalize();
var angle = RandomHelper.NextDouble(-π, π);
var q = Rotation3DHelper.CreateQuaternionInRadians(v, angle);
return(a0.Multiply(q));
}
public void PointsToPoints_Many()
{
for (var i = 0; i < 1000; i++)
{
var rotatedUnitZ = NextVector3D();
var rotatedUnitY = NextOrthogonalVector3D(rotatedUnitZ);
var m = Rotation3DHelper.ToEulerAngles(rotatedUnitZ, rotatedUnitY).ToMatrix3D();
AssertVector3D(rotatedUnitZ, Rotation3DHelper.UnitZ * m);
AssertVector3D(rotatedUnitY, Rotation3DHelper.UnitY * m);
}
}
static void ToEulerAngles_One(EulerAngles expected, Vector3D rotatedUnitZ, Vector3D rotatedUnitY)
{
var actual = Rotation3DHelper.ToEulerAngles(rotatedUnitZ, rotatedUnitY);
AssertEulerAngles(expected, actual);
}
static Quaternion NextQuaternion() => Rotation3DHelper.CreateQuaternionInRadians(
new Vector3D(RandomHelper.NextDouble(-1, 1), RandomHelper.NextDouble(-1, 1), RandomHelper.NextDouble(-1, 1)),
RandomHelper.NextDouble(-7, 7));
