public void IsValid()
{
Matrix44F inValidPose = new Matrix44F(new float[, ] {
{ 1, 2, 3, 0 },
{ 4, 5, 6, 0 },
{ 7, 8, 9, 0 },
{ 0, 0, 0, 1 },
});
Assert.IsFalse(Pose.IsValid(inValidPose));
Assert.IsTrue(Pose.IsValid(Matrix44F.CreateRotationZ(0.3f)));
inValidPose = new Matrix44F(new float[, ] {
{ 1, 0, 0, 0 },
{ 0, 1, 0, 0 },
{ 0, 0, 1, 0 },
{ 0, 1, 0, 1 },
});
Assert.IsFalse(Pose.IsValid(inValidPose));
inValidPose = new Matrix44F(new float[, ] {
{ 1, 0, 0, 0 },
{ 0, 1, 0, 0 },
{ 0, 0, -1, 0 },
{ 0, 1, 0, 1 },
});
Assert.IsFalse(Pose.IsValid(inValidPose));
}
public void IsValidTest()
{
var m = Matrix44F.CreateTranslation(1, 2, 3) * Matrix44F.CreateRotationY(0.1f) * Matrix44F.CreateScale(-2, 3, 4);
Assert.IsTrue(SrtTransform.IsValid(m));
// Concatenating to SRTs creates a skew.
m = Matrix44F.CreateRotationZ(0.1f) * Matrix44F.CreateScale(-2, 3, 4) * m;
Assert.IsFalse(SrtTransform.IsValid(m));
}