public void RotationByIdentityQuaternion()
{
var vector = new Vector3(3, 4, 5);
var rotated = vector.RotatedBy(Quaternion.Identity);
Assert.AreEqual(vector.x, rotated.x, Delta);
Assert.AreEqual(vector.y, rotated.y, Delta);
Assert.AreEqual(vector.z, rotated.z, Delta);
}
public void RotationByNonZeroQuaternion()
{
var vector = new Vector3(3, 4, 5);
var rotated = vector.RotatedBy(new Quaternion(0.5f, 0.5f, 0.5f, 0.5f));
Assert.AreEqual(5, rotated.x, Delta);
Assert.AreEqual(3, rotated.y, Delta);
Assert.AreEqual(4, rotated.z, Delta);
}
public Ray ViewportPointToRay(float posX, float posY)
{
float dirY = posY * _tanHalfFoV;
float dirX = posX * _tanHalfFoV * AspectRatio;
var rayDirection = new Vector3(dirX, dirY, 1.0f);
Vector3 rotatedDirection = rayDirection.RotatedBy(_rotation);
return new Ray(_position, rotatedDirection);
}