public void RotationMatrix44()
{
float angle = -1.6f;
Vector3F axis = new Vector3F(1.0f, 2.0f, -3.0f);
QuaternionF q = QuaternionF.CreateRotation(axis, angle);
Matrix44F m44 = Matrix44F.CreateRotation(axis, angle);
Assert.IsTrue(Matrix44F.AreNumericallyEqual(q.ToRotationMatrix44(), m44));
}
public void FromToMatrixTest()
{
var t = new Vector3F(1, 2, 3);
var r = new QuaternionF(1, 2, 3, 4).Normalized;
var s = new Vector3F(2, 7, 9);
var m = Matrix44F.CreateTranslation(t) * Matrix44F.CreateRotation(r) * Matrix44F.CreateScale(s);
var srt = SrtTransform.FromMatrix(m);
Assert.IsTrue(Vector3F.AreNumericallyEqual(t, srt.Translation));
Assert.IsTrue(QuaternionF.AreNumericallyEqual(r, srt.Rotation));
Assert.IsTrue(Vector3F.AreNumericallyEqual(s, srt.Scale));
// XNA:
srt = SrtTransform.FromMatrix((Matrix)m);
Assert.IsTrue(Vector3F.AreNumericallyEqual(t, srt.Translation));
Assert.IsTrue(QuaternionF.AreNumericallyEqual(r, srt.Rotation));
Assert.IsTrue(Vector3F.AreNumericallyEqual(s, srt.Scale));
// With negative scale, the decomposition is not unique (many possible combinations of
// axis mirroring + rotation).
t = new Vector3F(1, 2, 3);
r = new QuaternionF(1, 2, 3, 4).Normalized;
s = new Vector3F(2, -7, 9);
m = Matrix44F.CreateTranslation(t) * Matrix44F.CreateRotation(r) * Matrix44F.CreateScale(s);
srt = SrtTransform.FromMatrix(m);
var m2 = (Matrix44F)srt;
Assert.IsTrue(Matrix44F.AreNumericallyEqual(m, m2));
m2 = srt.ToMatrix44F();
Assert.IsTrue(Matrix44F.AreNumericallyEqual(m, m2));
m2 = srt;
Assert.IsTrue(Matrix44F.AreNumericallyEqual(m, m2));
Matrix mXna = srt.ToXna();
Assert.IsTrue(Matrix44F.AreNumericallyEqual(m, (Matrix44F)mXna));
mXna = srt;
Assert.IsTrue(Matrix44F.AreNumericallyEqual(m, (Matrix44F)mXna));
}
