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");
}
