public void setToRotateInertialToObjectTest()
{
LDEulerAngles angle1 = new LDEulerAngles();
LDQuat actual = new LDQuat();
LDQuat expected = new LDQuat();
//ld_float delta = 0.00001f;
// Input : angle1{heading = 0.0, pitch = 0.0, bank = 0.0} (ゼロベクトル)
angle1.heading = 0.0f;
angle1.pitch = 0.0f;
angle1.bank = 0.0f;
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
expected.w = 1.0f;
actual.setToRotateObjectToInertial(angle1);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
// Input : angle1{heading = PI/4, pitch = PI/2, bank = PI} (任意の値)
angle1.heading = LDMathUtil.PI / 4.0f;
angle1.pitch = LDMathUtil.PI / 2.0f;
angle1.bank = LDMathUtil.PI;
expected.x = -(float)Math.Cos(angle1.heading * 0.5f) * (float)Math.Sin(angle1.pitch * 0.5f) * (float)Math.Cos(angle1.bank * 0.5f) -
(float)Math.Sin(angle1.heading * 0.5f) * (float)Math.Cos(angle1.pitch * 0.5f) * (float)Math.Sin(angle1.bank * 0.5f);
expected.y = (float)Math.Cos(angle1.heading * 0.5f) * (float)Math.Sin(angle1.pitch * 0.5f) * (float)Math.Sin(angle1.bank * 0.5f) -
(float)Math.Sin(angle1.heading * 0.5f) * (float)Math.Cos(angle1.pitch * 0.5f) * (float)Math.Cos(angle1.bank * 0.5f);
expected.z = (float)Math.Sin(angle1.heading * 0.5f) * (float)Math.Sin(angle1.pitch * 0.5f) * (float)Math.Cos(angle1.bank * 0.5f) -
(float)Math.Cos(angle1.heading * 0.5f) * (float)Math.Cos(angle1.pitch * 0.5f) * (float)Math.Sin(angle1.bank * 0.5f);
expected.w = (float)Math.Cos(angle1.heading * 0.5f) * (float)Math.Cos(angle1.pitch * 0.5f) * (float)Math.Cos(angle1.bank * 0.5f) +
(float)Math.Sin(angle1.heading * 0.5f) * (float)Math.Sin(angle1.pitch * 0.5f) * (float)Math.Sin(angle1.bank * 0.5f);
actual.setToRotateInertialToObject(angle1);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
}
public void setToRotateInertialToObjectTest()
{
LDEulerAngles angle1 = new LDEulerAngles();
LDQuat actual = new LDQuat();
LDQuat expected = new LDQuat();
//ld_float delta = 0.00001f;
// Input : angle1{heading = 0.0, pitch = 0.0, bank = 0.0} (ゼロベクトル)
angle1.heading = 0.0f;
angle1.pitch = 0.0f;
angle1.bank = 0.0f;
expected.x = 0.0f;
expected.y = 0.0f;
expected.z = 0.0f;
expected.w = 1.0f;
actual.setToRotateObjectToInertial(angle1);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
// Input : angle1{heading = PI/4, pitch = PI/2, bank = PI} (任意の値)
angle1.heading = LDMathUtil.PI / 4.0f;
angle1.pitch = LDMathUtil.PI / 2.0f;
angle1.bank = LDMathUtil.PI;
expected.x = -(float)Math.Cos(angle1.heading * 0.5f) * (float)Math.Sin(angle1.pitch * 0.5f) * (float)Math.Cos(angle1.bank * 0.5f) -
(float)Math.Sin(angle1.heading * 0.5f) * (float)Math.Cos(angle1.pitch * 0.5f) * (float)Math.Sin(angle1.bank * 0.5f);
expected.y = (float)Math.Cos(angle1.heading * 0.5f) * (float)Math.Sin(angle1.pitch * 0.5f) * (float)Math.Sin(angle1.bank * 0.5f) -
(float)Math.Sin(angle1.heading * 0.5f) * (float)Math.Cos(angle1.pitch * 0.5f) * (float)Math.Cos(angle1.bank * 0.5f);
expected.z = (float)Math.Sin(angle1.heading * 0.5f) * (float)Math.Sin(angle1.pitch * 0.5f) * (float)Math.Cos(angle1.bank * 0.5f) -
(float)Math.Cos(angle1.heading * 0.5f) * (float)Math.Cos(angle1.pitch * 0.5f) * (float)Math.Sin(angle1.bank * 0.5f);
expected.w = (float)Math.Cos(angle1.heading * 0.5f) * (float)Math.Cos(angle1.pitch * 0.5f) * (float)Math.Cos(angle1.bank * 0.5f) +
(float)Math.Sin(angle1.heading * 0.5f) * (float)Math.Sin(angle1.pitch * 0.5f) * (float)Math.Sin(angle1.bank * 0.5f);
actual.setToRotateInertialToObject(angle1);
TestUtil.COMPARE(expected.x, actual.x);
TestUtil.COMPARE(expected.y, actual.y);
TestUtil.COMPARE(expected.z, actual.z);
TestUtil.COMPARE(expected.w, actual.w);
}
