public void MultiplyVector4()
{
var a = new SrtTransform(new Vector3(1, 2, 7), new Quaternion(1, 2, 3, 4).Normalized, new Vector3(4, -5, 6));
var v = new Vector4(7, 9, -12, -2);
var result1 = a * v;
var result2 = a.ToMatrix() * v;
Assert.IsTrue(Vector4.AreNumericallyEqual(result1, result2));
result1 = SrtTransform.Multiply(a, v);
result2 = a.ToMatrix() * v;
Assert.IsTrue(Vector4.AreNumericallyEqual(result1, result2));
}
public void ToLocalPosition()
{
var a = new SrtTransform(new Vector3(1, 2, 7), new Quaternion(1, 2, 3, 4).Normalized, new Vector3(4, -5, 6));
var v = new Vector3(7, 9, -12);
var result1 = a.ToLocalPosition(v);
var result2 = a.ToMatrix().Inverse.TransformPosition(v);
Assert.IsTrue(Vector3.AreNumericallyEqual(result1, result2));
}
public void MultiplyWithUniformScaleIsTheSameAsMatrixMultiply()
{
// Result is the same as Matrix mulitiplication without scale.
var a = new SrtTransform(new Vector3(7), new Quaternion(1, 2, 3, 4).Normalized, new Vector3(4, -5, 6));
var b = new SrtTransform(new Vector3(-3), new Quaternion(3, -2, 1, 9).Normalized, new Vector3(7, -4, 2));
var result1 = (a * b).ToMatrix();
var result2 = a.ToMatrix() * b.ToMatrix();
Assert.IsTrue(Matrix.AreNumericallyEqual(result1, result2));
}
public void MultiplyWithoutRotationIsTheSameAsMatrixMultiply()
{
// Result is the same as Matrix mulitiplication without scale.
var a = new SrtTransform(new Vector3(1, 2, 3), Quaternion.Identity, new Vector3(4, -5, 6));
var b = new SrtTransform(new Vector3(5, 6, -3), Quaternion.Identity, new Vector3(7, -4, 2));
var result1 = (a * b).ToMatrix();
var result2 = a.ToMatrix() * b.ToMatrix();
Assert.IsTrue(Matrix.AreNumericallyEqual(result1, result2));
}