public void QuaternionDFromRotationMatrixTest5()
{
for (double angle = 0.0f; angle < 720.0f; angle += 10.0f)
{
Matrix4x4D matrix = Matrix4x4D.CreateRotationX(angle) * Matrix4x4D.CreateRotationY(angle) * Matrix4x4D.CreateRotationZ(angle);
QuaternionD expected =
QuaternionD.CreateFromAxisAngle(Vector3D.UnitZ, angle) *
QuaternionD.CreateFromAxisAngle(Vector3D.UnitY, angle) *
QuaternionD.CreateFromAxisAngle(Vector3D.UnitX, angle);
QuaternionD actual = QuaternionD.CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.EqualRotation(expected, actual),
$"QuaternionD.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.
Matrix4x4D m2 = Matrix4x4D.CreateFromQuaternion(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"QuaternionD.CreateFromQuaternionD angle:{angle} did not return the expected value: matrix {matrix} m2 {m2}");
}
}