public void M34d_Multiply_M44d()
{
var mat = M44d.RotationZ(1);
var local = arr34;
for (int i = 0; i < local.Length; i++)
{
local[i] = local[i] * mat;
}
}
public void M44d_Multiply()
{
var mat = M44d.RotationZ(1);
var local = arr44;
for (int i = 0; i < local.Length; i++)
{
arr44[i] = mat * local[i];
}
}
public static void YawPitchRoll()
{
TrafoTesting.GenericTest(rnd =>
{
var yaw = rnd.UniformDouble() * Constant.PiTimesFour - Constant.PiTimesTwo;
var pitch = rnd.UniformDouble() * Constant.PiTimesFour - Constant.PiTimesTwo;
var roll = rnd.UniformDouble() * Constant.PiTimesFour - Constant.PiTimesTwo;
// Aardvark euler angles: roll (X), pitch (Y), yaw (Z). Ther are applied in reversed order.
var mat = (M33d)(M44d.RotationZ(yaw) * M44d.RotationY(pitch) * M44d.RotationX(roll));
var mat2 = (M33d)M44d.RotationEuler(roll, pitch, yaw);
var mat3 = (M33d)(Rot3d.RotationZ(yaw) * Rot3d.RotationY(pitch) * Rot3d.RotationX(roll));
var mat4 = (M33d)Rot3d.RotationEuler(roll, pitch, yaw);
Assert.IsTrue(Fun.ApproximateEquals(mat, mat2, 1e-7));
Assert.IsTrue(Fun.ApproximateEquals(mat, mat3, 1e-7));
Assert.IsTrue(Fun.ApproximateEquals(mat, mat4, 1e-7));
});
}