public void TestQuaternionAngleAxis()
{
var q = RIJK.AngleAxis(45, 2, 3, 4);
var Q = Quaternion.AngleAxis(45, new Vector3(2, 3, 4));
var delta = 1e-4f;
Assert.AreEqual(Q.x, q.i.x, delta);
Assert.AreEqual(Q.y, q.j.y, delta);
Assert.AreEqual(Q.z, q.k.z, delta);
Assert.AreEqual(Q.w, q.r.w, delta);
}
public void TestQuaternionMultiplication()
{
var f1 = 1f;
var f2 = 2f;
var f3 = 3f;
var f4 = 4f;
var f5 = -5f;
var f6 = -6f;
var f7 = -7f;
var f8 = -8f;
var q1 = new RIJK((I)f2, (J)f3, (K)f4, (R)f1).Normalized;
var q2 = new RIJK((I)f6, (J)f7, (K)f8, (R)f5).Normalized;
var q12 = q1 * q2;
var uq1 = (RIJK)q1;
var uq2 = (RIJK)q2;
var q = (RIJK)q12;
var Q1 = new Quaternion(f2, f3, f4, f1).normalized;
var Q2 = new Quaternion(f6, f7, f8, f5).normalized;
var Q = Q1 * Q2;
Debug.Log(q12);
Debug.Log($"Mine: {q}");
Debug.Log($"Unity: {Q}");
var delta = 1e-4f;
Assert.AreEqual(Q1.w, uq1.r.w, delta);
Assert.AreEqual(Q1.x, uq1.i.x, delta);
Assert.AreEqual(Q1.y, uq1.j.y, delta);
Assert.AreEqual(Q1.z, uq1.k.z, delta);
Assert.AreEqual(Q2.w, uq2.r.w, delta);
Assert.AreEqual(Q2.x, uq2.i.x, delta);
Assert.AreEqual(Q2.y, uq2.j.y, delta);
Assert.AreEqual(Q2.z, uq2.k.z, delta);
Assert.AreEqual(Q.w, q.r.w, delta);
Assert.AreEqual(Q.x, q.i.x, delta);
Assert.AreEqual(Q.y, q.j.y, delta);
Assert.AreEqual(Q.z, q.k.z, delta);
}