public void InverseRotationTest()
{
Mat4 rotX = Mat4.RotX(E.Num("alpha"));
Mat4 rotXNeg = Mat4.RotX(E.Negate(E.Num("alpha")));
Mat4 r = rotX * rotXNeg;
r = r.Evaluate(new EvalSettings(false));
Assert.IsTrue(r == Mat4.Identity);
E x = E.Num("x");
E y = E.Num("y");
E z = E.Num("z");
Vec4 v = new Vec4(x, y, z, E.Zero);
Mat4 rotToXY = Mat4.RotToXY(v);
Mat4 rotToXYInv = rotToXY.Transposed;
r = rotToXY * rotToXYInv;
r = r.Evaluate();
Assert.IsTrue(r == Mat4.Identity);
Mat4 rotToX = Mat4.RotToX(v);
Mat4 rotToXInv = rotToX.Transposed;
r = rotToX * rotToXInv;
r = r.Evaluate();
r = r.Evaluate(new EvalSettings("x", 10, "y", 15, "z", 20));
Assert.IsTrue(r == Mat4.Identity);
}
private static void EvalStepByStep()
{
string htmlLog;
E e = E.Sum(E.Div(E.NumConst(1),
E.Num("d")),
E.Mul(E.Num("a"), E.Div(E.Sum(E.Num("b"), E.NumConst(14), E.Num("c")),
E.Num("d"))));
e = e.EvaluateStepByStep(out htmlLog, "a", 2, "b", 33, "c", 24);
E x = E.Num("x");
E y = E.Num("y");
E z = E.Num("z");
Vec4 v = new Vec4(x, y, z, E.Zero);
Mat4 rotToX = Mat4.RotToX(v);
Mat4 rotXAlpha = Mat4.RotX(E.Num("alpha"));
Mat4 r = rotToX * rotXAlpha;
r.EvaluateStepByStep(out htmlLog /*, "x", 1, "y", 1, "z", 1*/);
Mat4 rotX = Mat4.RotX(E.Num("phi"));
Mat4 rotY = Mat4.RotY(E.Num("theta"));
Mat4 rotZ = Mat4.RotZ(E.Num("psi"));
r = rotX * rotY * rotZ;
r.EvaluateStepByStep(out htmlLog);
Mat4 rotToZ = Mat4.RotToZ(v);
r = rotToZ.Evaluate();
}
public void RotToPlaneTest()
{
E x = E.Num("x");
E y = E.Num("y");
E z = E.Num("z");
Vec4 v = new Vec4(x, y, z, E.Zero);
Mat4 rotToXY = Mat4.RotToXY(v);
Mat4 r = rotToXY.Evaluate(new EvalSettings(false));
}
private static void RotateAroundVector()
{
// Rotate around vector
Mat4 rotToX = Mat4.RotToX(new Vec4(E.Num("x"), E.Num("y"), E.Num("z"), E.Num("w")));
Mat4 rotXAlpha = Mat4.RotX(E.Num("alpha"));
Mat4 rotV = rotToX * rotXAlpha * rotToX.Transposed;
rotV = rotV.Evaluate();
}
public void RotToAxisTest()
{
E x = E.Num("x");
E y = E.Num("y");
E z = E.Num("z");
Vec4 v = new Vec4(x, y, z, E.Zero);
Mat4 rotToX = Mat4.RotToX(v);
Mat4 rotXAlpha = Mat4.RotX(E.Num("alpha"));
Mat4 r = rotToX * rotXAlpha;
r = r.Evaluate(new EvalSettings(false));
}
public void MatrixEvaluationTest()
{
EvalSettings evalSettings = new EvalSettings();
evalSettings.EvalFuncs = false;
Mat4 rotX30 = Mat4.RotX(30);
Mat4 trans = Mat4.Trans(new double3(2, 3, 4));
Mat4 r = rotX30 * trans;
r = r.Evaluate(evalSettings);
//evalSettings = new EvalSettings ( "phi", 30, "theta", 60, "psi", 90.0 );
Mat4 rotX = Mat4.RotX(E.Num("phi"));
Mat4 rotY = Mat4.RotY(E.Num("theta"));
Mat4 rotZ = Mat4.RotZ(E.Num("psi"));
r = rotX * rotY * rotZ;
r = r.Evaluate(evalSettings);
r = r.Transposed;
}
private static void TbTaEqualTab()
{
// Tb * Ta == T( a * b )
Mat4 rotX = Mat4.RotX(E.Num("alpha"));
Mat4 rotY = Mat4.RotY(E.Num("beta"));
Mat4 rotXY = rotX * rotY;
rotXY = rotXY.Evaluate();
Mat4 rotTYTX = rotY.Transposed * rotX.Transposed;
rotTYTX = rotTYTX.Evaluate();
Mat4 rotTXY = (rotX * rotY).Transposed;
rotTXY = rotTXY.Evaluate();
}
