public void TestAsQuaternion()
{
var twist = new Twist(0.4f);
var swing = new Swing(0.2f, 0.3f);
var twistSwing = new TwistSwing(twist, swing);
MathAssert.AreEqual(
twist.AsQuaternion(CartesianAxis.X).Chain(swing.AsQuaternion(CartesianAxis.X)),
twistSwing.AsQuaternion(CartesianAxis.X),
Acc);
MathAssert.AreEqual(
twist.AsQuaternion(CartesianAxis.X).Chain(swing.AsQuaternion(CartesianAxis.X)),
twistSwing.AsQuaternion(CartesianAxis.X),
Acc);
MathAssert.AreEqual(
twist.AsQuaternion(CartesianAxis.X).Chain(swing.AsQuaternion(CartesianAxis.X)),
twistSwing.AsQuaternion(CartesianAxis.X),
Acc);
MathAssert.AreEqual(
twist.AsQuaternion(CartesianAxis.X).Chain(swing.AsQuaternion(CartesianAxis.X)),
twistSwing.AsQuaternion(CartesianAxis.X),
Acc);
}
public void TestFromTo()
{
var rnd = new Random(0);
Vector3 a = MakeRandomUnitVector(rnd);
Vector3 b = MakeRandomUnitVector(rnd);
foreach (CartesianAxis twistAxis in CartesianAxes.Values)
{
Swing fromAToB = Swing.FromTo(twistAxis, a, b);
MathAssert.AreEqual(b, Vector3.Transform(a, fromAToB.AsQuaternion(twistAxis)), Acc);
Swing fromBToA = Swing.FromTo(twistAxis, b, a);
MathAssert.AreEqual(a, Vector3.Transform(b, fromBToA.AsQuaternion(twistAxis)), Acc);
}
}