public void Conversion()
{
Vector3d v = new Vector3d(1.0, 1.0, 1.0);
Cylindricald c = v.Cylindrical;
Assert.IsTrue(Vector3d.NearEqual(v, c.Cartesian));
Assert.IsTrue(MathHelper.NearEqual(v.Length, c.Length));
Assert.AreEqual(c.Phi, c.Polar.Phi);
Assert.AreEqual(c.R, c.Polar.R);
}
public void Transform()
{
Quaterniond q2 = Quaterniond.FromAxis(new Vector3d(0, 1, 0), 0.0);
Assert.IsTrue(q2 == Quaterniond.Identity);
Quaterniond q = Quaterniond.FromAxis(new Vector3d(0, 0, 1), (double)(global::System.Math.PI / 2.0));
Matrix3x3d m = q.ToMatrix();
Assert.IsTrue(Vector3d.NearEqual(m * Vector3d.AxisY, new Vector3d(-1, 0, 0)));
Assert.IsTrue(Vector3d.NearEqual(q * Vector3d.AxisY, new Vector3d(-1, 0, 0)));
}
/// <summary>
/// Are vectors nearly equal.
/// </summary>
/// <param name="q1">The quaternion to compare.</param>
/// <param name="q2">The other quaternion.</param>
/// <param name="eps">Maximum difference.</param>
public static bool NearEqual(Quaterniond q1, Quaterniond q2, double eps)
{
return(MathHelper.NearEqual(q2.Re, q1.Re, eps) &&
Vector3d.NearEqual(q1.Im, q2.Im, eps));
}