public void QuaternionFromRotationMatrixTest1()
{
Matrix4X4 <float> matrix = Matrix4X4 <float> .Identity;
Quaternion <float> expected = new Quaternion <float>(0.0f, 0.0f, 0.0f, 1.0f);
Quaternion <float> actual = Quaternion <float> .CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.Equal(expected, actual),
$"Quaternion<float>.CreateFromRotationMatrix did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4X4 <float> m2 = Matrix4X4.CreateFromQuaternion <float>(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion<float>.CreateFromQuaternion did not return the expected value: matrix {matrix} m2 {m2}");
}
public void QuaternionFromRotationMatrixWithScaledMatrixTest3()
{
float angle = MathHelper.ToRadians(180.0f);
Matrix4X4 <float> matrix = Matrix4X4.CreateRotationX <float>(angle) * Matrix4X4.CreateRotationY <float>(angle);
Quaternion <float> expected = Quaternion <float> .CreateFromAxisAngle(Vector3D <float> .UnitY, angle) * Quaternion <float> .CreateFromAxisAngle(Vector3D <float> .UnitX, angle);
Quaternion <float> actual = Quaternion <float> .CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.EqualRotation(expected, actual),
$"Quaternion<float>.CreateFromRotationMatrix did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4X4 <float> m2 = Matrix4X4.CreateFromQuaternion <float>(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion<float>.CreateFromQuaternion did not return the expected value: matrix {matrix} m2 {m2}");
}
public void QuaternionFromRotationMatrixTest4()
{
for (float angle = 0.0f; angle < 720.0f; angle += 10.0f)
{
Matrix4X4 <float> matrix = Matrix4X4.CreateRotationZ <float>(angle);
Quaternion <float> expected = Quaternion <float> .CreateFromAxisAngle(Vector3D <float> .UnitZ, angle);
Quaternion <float> actual = Quaternion <float> .CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.EqualRotation(expected, actual),
$"Quaternion<float>.CreateFromRotationMatrix angle:{angle} did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4X4 <float> m2 = Matrix4X4.CreateFromQuaternion <float>(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion<float>.CreateFromQuaternion angle:{angle} did not return the expected value: matrix {matrix} m2 {m2}");
}
}