public static void FromM33dAndV3d()
=> TrafoTesting.GenericTest(rnd =>
{
var a = TrafoTesting.GetRandomEuclidean(rnd);
var m = (M33d)a.Rot;
var t = a.Trans;
var restored = Euclidean3d.FromM33dAndV3d(m, t);
TrafoTesting.AreEqual(a, restored);
});
public static void ConsistentWithMatrixRotationAndShiftTest()
=> TrafoTesting.GenericTest(rnd =>
{
var trans = rnd.UniformV3d() * 10;
var axis = rnd.UniformV3dDirection();
var angle = rnd.UniformDouble() * Constant.PiTimesTwo;
var m = M44d.Translation(trans) * M44d.Rotation(axis, angle);
var e = new Euclidean3d(Rot3d.Rotation(axis, angle), trans);
var p = rnd.UniformV3d() * rnd.UniformInt(1000);
var res = m.TransformPos(p);
var res2 = e.TransformPos(p);
TrafoTesting.AreEqual(res, res2);
});
public static void FromTrafo3d() => TrafoTesting.GenericConversionTest(TrafoTesting.GetRandomEuclidean, a => (Trafo3d)a, b => Euclidean3d.FromTrafo3d(b));
public void Write(Euclidean3d t)
{
Write(t.Rot); Write(t.Trans);
}
