public void RotationMatrix_OrthogonalOnCreation_RandomVectors()
{
RotationMatrix m;
Vector vecX, vecY;
Vector mVecX, mVecY, mVecZ;
int dir;
for (var i = 0; i < 50; i++)
{
vecX = Vector.RandomFromDoubles(-100, 100);
vecY = Vector.RandomFromDoubles(-100, 100);
m = new RotationMatrix(vecX, vecY);
Trace.WriteLine("");
Trace.WriteLine(vecX + " " + vecY);
Trace.WriteLine(m);
Assert.IsTrue(m.IsOrthogonal(), "RotationMatrix isn't orthogonal");
mVecX = new Vector(m.m00, m.m10, m.m20);
Assert.IsTrue(Vector.CompareDirections(vecX, mVecX) == 1, "Original VectorX and orthogonalized one are not parallel");
}
for (var i = 0; i < 100; i++)
{
vecX = Vector.RandomFromInts(-1, 1);
vecY = Vector.RandomFromInts(-1, 1);
dir = Vector.CompareDirections(vecX, vecY);
m = new RotationMatrix(vecX, vecY);
Trace.WriteLine("");
Trace.WriteLine(vecX + " " + vecY + " dir:" + dir);
Trace.WriteLine(m);
if (dir == 1 || dir == 3)
{
Assert.IsTrue(m.IsIdentity(), "Parallel vectors should yield an identity matrix");
}
else
{
Assert.IsTrue(m.IsOrthogonal(), "RotationMatrix isn't orthogonal");
mVecX = new Vector(m.m00, m.m10, m.m20);
Assert.IsTrue(Vector.CompareDirections(vecX, mVecX) == 1, "Original VectorX and orthogonalized X should be parallel");
mVecY = new Vector(m.m01, m.m11, m.m21);
Assert.IsTrue(Vector.CompareDirections(vecX, mVecY) == 2, "Original VectorX and orthogonalized Y should be perpendicular");
mVecZ = new Vector(m.m02, m.m12, m.m22);
Assert.IsTrue(Vector.CompareDirections(vecX, mVecZ) == 2, "Original VectorX and orthogonalized Z should be perpendicular");
Assert.IsTrue(Vector.CompareDirections(mVecX, mVecY) == 2);
Assert.IsTrue(Vector.CompareDirections(mVecX, mVecZ) == 2);
Assert.IsTrue(Vector.CompareDirections(mVecY, mVecZ) == 2);
}
}
}
public void RotationMatrix_OrthogonalOnCreation_ZeroVector()
{
RotationMatrix m = new RotationMatrix(0, 0, 0, 0, 0, 0, 0, 0, 0);
Assert.IsTrue(m.IsIdentity());
}