public void TrafoDecomposeCornerCasesTest()
{
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, V3d.YAxis, V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, V3d.ZAxis, V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, V3d.XAxis, V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, V3d.ZAxis, V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, V3d.YAxis, V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, V3d.XAxis, V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, V3d.YAxis, V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, V3d.ZAxis, V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, V3d.XAxis, V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, V3d.ZAxis, V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, V3d.YAxis, V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, V3d.XAxis, V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, -V3d.YAxis, V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, -V3d.ZAxis, V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, -V3d.XAxis, V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, -V3d.ZAxis, V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, -V3d.YAxis, V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, -V3d.XAxis, V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, V3d.YAxis, -V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, V3d.ZAxis, -V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, V3d.XAxis, -V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, V3d.ZAxis, -V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, V3d.YAxis, -V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, V3d.XAxis, -V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, -V3d.YAxis, V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, -V3d.ZAxis, V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, -V3d.XAxis, V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, -V3d.ZAxis, V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, -V3d.YAxis, V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, -V3d.XAxis, V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, V3d.YAxis, -V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, V3d.ZAxis, -V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, V3d.XAxis, -V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, V3d.ZAxis, -V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, V3d.YAxis, -V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, V3d.XAxis, -V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, -V3d.YAxis, -V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, -V3d.ZAxis, -V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, -V3d.XAxis, -V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, -V3d.ZAxis, -V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, -V3d.YAxis, -V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, -V3d.XAxis, -V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, -V3d.YAxis, -V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, -V3d.ZAxis, -V3d.YAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, -V3d.XAxis, -V3d.ZAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, -V3d.ZAxis, -V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, -V3d.YAxis, -V3d.XAxis));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, -V3d.XAxis, -V3d.YAxis));
}
public void TrafoDecomposeCornerCasesTest()
{
TrafoTesting.GenericTest((rnd, i) =>
{
var jitter = (i / 100) * 1e-15;
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, V3d.YAxis, V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, V3d.ZAxis, V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, V3d.XAxis, V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, V3d.ZAxis, V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, V3d.YAxis, V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, V3d.XAxis, V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, V3d.YAxis, V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, V3d.ZAxis, V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, V3d.XAxis, V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, V3d.ZAxis, V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, V3d.YAxis, V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, V3d.XAxis, V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, -V3d.YAxis, V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, -V3d.ZAxis, V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, -V3d.XAxis, V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, -V3d.ZAxis, V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, -V3d.YAxis, V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, -V3d.XAxis, V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, V3d.YAxis, -V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, V3d.ZAxis, -V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, V3d.XAxis, -V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, V3d.ZAxis, -V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, V3d.YAxis, -V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, V3d.XAxis, -V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, -V3d.YAxis, V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, -V3d.ZAxis, V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, -V3d.XAxis, V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, -V3d.ZAxis, V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, -V3d.YAxis, V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, -V3d.XAxis, V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, V3d.YAxis, -V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, V3d.ZAxis, -V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, V3d.XAxis, -V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, V3d.ZAxis, -V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, V3d.YAxis, -V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, V3d.XAxis, -V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, -V3d.YAxis, -V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.XAxis, -V3d.ZAxis, -V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, -V3d.XAxis, -V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.YAxis, -V3d.ZAxis, -V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, -V3d.YAxis, -V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(V3d.ZAxis, -V3d.XAxis, -V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, -V3d.YAxis, -V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.XAxis, -V3d.ZAxis, -V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, -V3d.XAxis, -V3d.ZAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.YAxis, -V3d.ZAxis, -V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, -V3d.YAxis, -V3d.XAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
TestDecompose(Trafo3d.FromOrthoNormalBasis(-V3d.ZAxis, -V3d.XAxis, -V3d.YAxis), Rot3d.Rotation(rnd.UniformV3dDirection(), jitter * rnd.UniformDouble()));
});
}
