// Transform by quaternion
public void PlaneTransformTest2()
{
Plane target = new Plane(1, 2, 3, 4);
target = Plane.Normalize(target);
Matrix4x4 m =
Matrix4x4.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationZ(MathHelper.ToRadians(30.0f));
Quaternion q = Quaternion.CreateFromRotationMatrix(m);
Plane expected = new Plane();
Single x = target.Normal.X, y = target.Normal.Y, z = target.Normal.Z, w = target.D;
expected.Normal = new Vector3(
x * m.M11 + y * m.M21 + z * m.M31 + w * m.M41,
x * m.M12 + y * m.M22 + z * m.M32 + w * m.M42,
x * m.M13 + y * m.M23 + z * m.M33 + w * m.M43);
expected.D = x * m.M14 + y * m.M24 + z * m.M34 + w * m.M44;
Plane actual;
actual = Plane.Transform(target, q);
Assert.True(MathHelper.Equal(expected, actual), "Plane.Transform did not return the expected value.");
}
public void Vector3TransformByQuaternionTest()
{
Vector3 v = new Vector3(1.0f, 2.0f, 3.0f);
Matrix4x4 m =
Matrix4x4.CreateRotationX(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationY(MathHelper.ToRadians(30.0f)) *
Matrix4x4.CreateRotationZ(MathHelper.ToRadians(30.0f));
Quaternion q = Quaternion.CreateFromRotationMatrix(m);
Vector3 expected = Vector3.Transform(v, m);
Vector3 actual = Vector3.Transform(v, q);
Assert.True(MathHelper.Equal(expected, actual), "Vector3f.Transform did not return the expected value.");
}
public void QuaternionFromRotationMatrixTest1()
{
Matrix4x4 matrix = Matrix4x4.Identity;
Quaternion expected = new Quaternion(0.0f, 0.0f, 0.0f, 1.0f);
Quaternion actual = Quaternion.CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.Equal(expected, actual),
$"Quaternion.CreateFromRotationMatrix did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4x4 m2 = Matrix4x4.CreateFromQuaternion(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion.CreateFromQuaternion did not return the expected value: matrix {matrix} m2 {m2}");
}
public void QuaternionFromRotationMatrixWithScaledMatrixTest3()
{
Single angle = MathHelper.ToRadians(180.0f);
Matrix4x4 matrix = Matrix4x4.CreateRotationX(angle) * Matrix4x4.CreateRotationY(angle);
Quaternion expected = Quaternion.CreateFromAxisAngle(Vector3.UnitY, angle) * Quaternion.CreateFromAxisAngle(Vector3.UnitX, angle);
Quaternion actual = Quaternion.CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.EqualRotation(expected, actual),
$"Quaternion.CreateFromRotationMatrix did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4x4 m2 = Matrix4x4.CreateFromQuaternion(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion.CreateFromQuaternion did not return the expected value: matrix {matrix} m2 {m2}");
}
public void QuaternionFromRotationMatrixTest4()
{
for (Single angle = 0.0f; angle < 720.0f; angle += 10.0f)
{
Matrix4x4 matrix = Matrix4x4.CreateRotationZ(angle);
Quaternion expected = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, angle);
Quaternion actual = Quaternion.CreateFromRotationMatrix(matrix);
Assert.True(MathHelper.EqualRotation(expected, actual),
$"Quaternion.CreateFromRotationMatrix angle:{angle} did not return the expected value: expected {expected} actual {actual}");
// make sure convert back to matrix is same as we passed matrix.
Matrix4x4 m2 = Matrix4x4.CreateFromQuaternion(actual);
Assert.True(MathHelper.Equal(matrix, m2),
$"Quaternion.CreateFromQuaternion angle:{angle} did not return the expected value: matrix {matrix} m2 {m2}");
}
}
