public void WorldToLocalTest()
{
var o = new Orient3D();
var two = Math.Sqrt(2.0) * 0.5;
o.Q = QuaternionD.FromAxisAngle(new Vector3D(1, 1, 1), 77 * Math.PI / 180.0);
var tstVec1 = new Vector3D(4, 4, 4);
var answ1 = tstVec1 - o.M_1 * tstVec1;
Assert.AreEqual(0d, answ1.GetLength(), 0.000001);
o.Q = QuaternionD.FromAxisAngle(Vector3D.XAxis, -45 * Math.PI / 180.0);
var tstVec2 = Vector3D.YAxis;
var answ2 = new Vector3D(0, two, two) - o.M_1 * tstVec2;
Assert.AreEqual(0d, answ2.GetLength(), 0.000001);
var tstVec3 = Vector3D.ZAxis;
var answ3 = new Vector3D(0, -two, two) - o.M_1 * tstVec3;
Assert.AreEqual(0d, answ3.GetLength(), 0.000001);
o.Q = QuaternionD.FromAxisAngle(Vector3D.ZAxis, 45 * Math.PI / 180.0);
tstVec2 = Vector3D.XAxis;
answ2 = new Vector3D(two, -two, 0) - o.M_1 * tstVec2;
Assert.AreEqual(0d, answ2.GetLength(), 0.000001);
tstVec3 = Vector3D.YAxis;
answ3 = new Vector3D(two, two, 0) - o.M_1 * tstVec3;
Assert.AreEqual(0d, answ3.GetLength(), 0.000001);
}
public void RotateOZtoVecTest()
{
var o = new Orient3D();
var rnd = new Random();
double min = -33d;
double max = 33d;
for (int i = 0; i < 333; i++)
{
var v = new Vector3D(min + (max - min) * rnd.NextDouble(), min + (max - min) * rnd.NextDouble(), min + (max - min) * rnd.NextDouble());
//v.Normalize();
o.RotateOZtoVec(v);
v.Normalize();
Assert.AreEqual(0d, (v - o.ZAxis).GetLength(), 0.0000001);
}
}
public void Robust_FromFile_Pscico_ShouldSucceed()
{
double[] points =
File.ReadAllLines("test_data/pscico_data/orient3d.txt")
.Select(n => n.Split()).SelectMany(x => x)
.Select(s => double.Parse(s)).ToArray();
for (int i = 0; i < NPscicoData; i += 14)
{
Assert.Equal(Math.Sign(points[i + 13]), Math.Sign(Orient3D.Robust(
new double[] { points[i + 1], points[i + 2], points[i + 3] },
new double[] { points[i + 4], points[i + 5], points[i + 6] },
new double[] { points[i + 7], points[i + 8], points[i + 9] },
new double[] { points[i + 10], points[i + 11], points[i + 12] })));
}
}
public void LocalToWorldTest()
{
var o = new Orient3D();
o.Q = QuaternionD.FromAxisAngle(Vector3D.XAxis, 45 * Math.PI / 180.0);
var tstVec1 = Vector3D.XAxis;
var answ1 = tstVec1 - o.M * tstVec1;
Assert.AreEqual(0d, answ1.GetLength(), 0.000001);
var tstVec2 = Vector3D.YAxis;
var answ2 = new Vector3D(0, Math.Sqrt(2.0), Math.Sqrt(2.0)) / 2 - o.M * tstVec2;
Assert.AreEqual(0d, answ2.GetLength(), 0.000001);
var tstVec3 = Vector3D.ZAxis;
var answ3 = new Vector3D(0, -Math.Sqrt(2.0), Math.Sqrt(2.0)) / 2 - o.M * tstVec3;
Assert.AreEqual(0d, answ3.GetLength(), 0.000001);
o.Q = QuaternionD.FromAxisAngle(Vector3D.YAxis, 45 * Math.PI / 180.0);
tstVec1 = Vector3D.YAxis;
answ1 = tstVec1 - o.M * tstVec1;
Assert.AreEqual(0d, answ1.GetLength(), 0.000001);
tstVec2 = Vector3D.XAxis;
answ2 = new Vector3D(Math.Sqrt(2.0), 0, -Math.Sqrt(2.0)) / 2 - o.M * tstVec2;
Assert.AreEqual(0d, answ2.GetLength(), 0.000001);
tstVec3 = Vector3D.ZAxis;
answ3 = new Vector3D(Math.Sqrt(2.0), 0, Math.Sqrt(2.0)) / 2 - o.M * tstVec3;
Assert.AreEqual(0d, answ3.GetLength(), 0.000001);
o.Q = QuaternionD.FromAxisAngle(Vector3D.ZAxis, 45 * Math.PI / 180.0);
tstVec1 = Vector3D.ZAxis;
answ1 = tstVec1 - o.M * tstVec1;
Assert.AreEqual(0d, answ1.GetLength(), 0.000001);
tstVec2 = Vector3D.XAxis;
answ2 = new Vector3D(Math.Sqrt(2.0), Math.Sqrt(2.0), 0) / 2 - o.M * tstVec2;
Assert.AreEqual(0d, answ2.GetLength(), 0.000001);
tstVec3 = Vector3D.YAxis;
answ3 = new Vector3D(-Math.Sqrt(2.0), Math.Sqrt(2.0), 0) / 2 - o.M * tstVec3;
Assert.AreEqual(0d, answ3.GetLength(), 0.000001);
}
public void Fast_ShouldSucceed()
{
Assert.True(Orient3D.Fast(
new double[] { 0, 0, 0 },
new double[] { 1, 0, 0 },
new double[] { 0, 1, 1 },
new double[] { 0, 0, 1 }) < 0);
Assert.True(Orient3D.Fast(
new double[] { 0, 0, 0 },
new double[] { 0, 1, 0 },
new double[] { 1, 0, 0 },
new double[] { 0, 0, 1 }) > 0);
Assert.True(Orient3D.Fast(
new double[] { 0, 0, 0 },
new double[] { 1, 1, 0 },
new double[] { 0, 1, 1 },
new double[] { 0, 1, 1 }) == 0);
}
public void Fast_FromFile_ShouldSucceed()
{
double[] numbers =
File.ReadAllLines("test_data/simple_data/orient3d-points3d.txt")
.Select(n => n.Split()).SelectMany(x => x)
.Select(s => double.Parse(s)).ToArray();
double[] results =
File.ReadAllLines("test_data/simple_data/results-orient3d.txt")
.Select(n => n.Split()).SelectMany(x => x)
.Select(s => double.Parse(s)).ToArray();
int count = 0;
for (int i = 0; i < NSimpleData; i += 12)
{
var orient3DResult = Orient3D.Fast(
new double[] { numbers[i], numbers[i + 1], numbers[i + 2] },
new double[] { numbers[i + 3], numbers[i + 4], numbers[i + 5] },
new double[] { numbers[i + 6], numbers[i + 7], numbers[i + 8] },
new double[] { numbers[i + 9], numbers[i + 10], numbers[i + 11] });
Assert.Equal(Math.Sign(results[count++]), Math.Sign(orient3DResult));
}
}
