public void Polyhedron_MultiShiftReturnToOriginal()
{
Polyhedron polyhedron = new TestRectangularBox2();
//rotate 90 degrees towards z
Angle zAngle = Angle.RightAngle;
Rotation zRotation = new Rotation(Line.ZAxis, zAngle);
Angle xAngle = Angle.RightAngle; //This is the X axis
Rotation xRotation = new Rotation(Line.XAxis, xAngle);
Shift ninetyShift = new Shift(new List<Rotation>() { zRotation, xRotation });
Polyhedron shifted = polyhedron.Shift(ninetyShift);
//undo the previous shift
Polyhedron s = new Polyhedron(shifted.Shift(ninetyShift.Inverse()));
s.Should().Be(polyhedron);
}
public void CoordinateSystem_RotationMatrix()
{
Point origin = Point.Origin;
Angle angleX = new Angle(-46.775, Degrees);
Angle angleY = new Angle(23.6, Degrees);
Angle angleZ = new Angle(213, Degrees);
CoordinateSystem testSystem = new CoordinateSystem(origin, angleX, angleY, angleZ);
Matrix test1 = Matrix.RotationMatrixAboutZ(angleZ) * Matrix.RotationMatrixAboutY(angleY) * Matrix.RotationMatrixAboutX(angleX);
List<Angle> results1 = test1.EulerAngles();
Matrix test2 = Matrix.RotationMatrixAboutX(angleX) * Matrix.RotationMatrixAboutY(angleY) * Matrix.RotationMatrixAboutZ(angleZ);
List<Angle> results2 = test2.EulerAngles();
Matrix testMatrix = testSystem.RotationMatrixFromThisToWorld();
List<Angle> results = testMatrix.EulerAngles();
List<Rotation> resultRotations = new List<Rotation>();
resultRotations.Add(new Rotation(Line.XAxis, results[0]));
resultRotations.Add(new Rotation(Line.YAxis, results[1]));
resultRotations.Add(new Rotation(Line.ZAxis, results[2]));
Shift resultShift = new Shift(resultRotations, origin);
List<Rotation> resultRotations2 = new List<Rotation>();
resultRotations2.Add(new Rotation(Line.ZAxis, results[2]));
resultRotations2.Add(new Rotation(Line.YAxis, results[1]));
resultRotations2.Add(new Rotation(Line.XAxis, results[0]));
Shift resultShift2 = new Shift(resultRotations2, origin);
Point testPoint = Point.MakePointWithInches(3, -1, -20);
Point expectedPoint = testPoint.Shift(testSystem.ShiftToThisFrom());
Point expectedPoint2 = testPoint.Shift(testSystem.ShiftFromThisTo());
Point resultPoint = testPoint.Shift(resultShift);
Point resultPoint2 = testPoint.Shift(resultShift.Inverse());
Point resultPoint3 = testPoint.Shift(resultShift2);
(results[0] == angleX.ProperAngle).Should().BeTrue();
(results[1] == angleY).Should().BeTrue();
(results[2] == angleZ).Should().BeTrue();
}
public void CoordinateSystem_Shift_FromAndTo()
{
CoordinateSystem test = new CoordinateSystem(Point.MakePointWithInches(1, -2, -3), new Angle(new Degree(), -45), new Angle(new Degree(), 23.6), new Angle(new Degree(), 243));
Shift resultFrom = test.ShiftFromThisTo();
Shift resultTo = test.ShiftToThisFrom();
List<Rotation> expectedRotations = new List<Rotation>();
expectedRotations.Add(new Rotation(Line.XAxis, new Angle(new Degree(), -45)));
expectedRotations.Add(new Rotation(Line.YAxis, new Angle(new Degree(), 23.6)));
expectedRotations.Add(new Rotation(Line.ZAxis, new Angle(new Degree(), 243)));
Shift expected = new Shift(expectedRotations, Point.MakePointWithInches(1, -2, -3));
resultFrom.Should().Be(expected);
//it ends up being what we inputted because it shift reflects the movement of the objects so it is by definition the negative of the
//coordinate system. Therfore, whenever we want to revert it we are taking a "double negative" in implementation, giving us the origina
resultTo.Should().Be(expected.Inverse());
}
public void Polyhedron_Shift_RotateNotThroughOriginAndTranslate_ThenReturnToOriginal()
{
Polyhedron polyhedron = new TestRectangularBox2();
//rotate 90 degrees toward z
Angle xAngle = Angle.RightAngle;
Line testAxis = new Line(Point.MakePointWithInches(1, 0, 0), Point.MakePointWithInches(1, 0, 1));
Rotation xRotation = new Rotation(testAxis, xAngle);
Point displacementPoint = Point.MakePointWithInches(1, 3, -4);
Shift ninetyShift = new Shift(xRotation, displacementPoint);
Polyhedron s = new Polyhedron(polyhedron.Shift(ninetyShift));
Polyhedron s2 = s.Shift(ninetyShift.Inverse());
s2.Should().Be(polyhedron);
}
public void Polyhedron_Shift_RotateAndTranslate_ThenReturnToOriginal()
{
Polyhedron polyhedron = new TestRectangularBox2();
//rotate 90 degrees toward z
Angle xAngle = new Angle(new Degree(), 63);
Rotation xRotation = new Rotation(Line.XAxis, xAngle);
Point displacementPoint = Point.MakePointWithInches(0, 0, 1);
Shift ninetyShift = new Shift(xRotation, displacementPoint);
Polyhedron s = new Polyhedron(polyhedron.Shift(ninetyShift));
Polyhedron s2 = s.Shift(ninetyShift.Inverse());
s2.Should().Be(polyhedron);
}
