public static void Rot3dTransformTest()
{
var rnd = new RandomSystem(1);
for (int i = 0; i < 10000; i++)
{
var v = rnd.UniformV3d();
var axis = rnd.UniformV3dDirection();
var ang = rnd.UniformDouble();
var rot = Rot3d.Rotation(axis, ang);
var test1 = TransformUsingM33d(rot, v);
var test2 = rot.Transform(v);
var test3 = TransformUsingQuaternion(rot, v);
var test4 = TransformUsingQuaternionOpt1(rot, v);
Assert.IsTrue(test1.ApproximateEquals(test2, 1e-5));
Assert.IsTrue(test1.ApproximateEquals(test3, 1e-5));
Assert.IsTrue(test1.ApproximateEquals(test4, 1e-5));
}
}
public static Shift3d GetRandomShift3(RandomSystem rnd) => new Shift3d(rnd.UniformV3d() * 10);
public static Scale3d GetRandomScale3(RandomSystem rnd) => new Scale3d(rnd.UniformV3d() * 5);
