public void TestChain()
{
Quaternion q1 = Quaternion.RotationYawPitchRoll(0.1f, 0.2f, 0.3f);
Quaternion q2 = Quaternion.RotationYawPitchRoll(0.2f, -0.3f, 0.4f);
Quaternion q12 = q1.Chain(q2);
Assert.AreEqual(1, q12.Length(), 1e-4, "chained result is normalized");
Vector3 v = new Vector3(3, 4, 5);
var expected = Vector3.Transform(Vector3.Transform(v, q1), q2);
var actual = Vector3.Transform(v, q1.Chain(q2));
Assert.AreEqual(0, Vector3.Distance(expected, actual), 1e-4);
}
public void TestQuaternionChaining()
{
Quaternion q1 = Quaternion.RotationYawPitchRoll(1, 2, 3);
Quaternion q2 = Quaternion.RotationYawPitchRoll(2, 3, 4);
Vector3 v = new Vector3(3, 4, 5);
Vector3 expectedResult = Vector3.Transform(Vector3.Transform(v, q1), q2);
Vector3 actualResult = Vector3.Transform(v, q1.Chain(q2));
Assert.IsTrue(Vector3.NearEqual(expectedResult, actualResult, 1e-5f * Vector3.One));
}
public Quaternion TransformToOrientedSpace(Quaternion objectSpaceRotation)
{
Quaternion orientatedSpaceRotation = orientation.Chain(objectSpaceRotation).Chain(inverseOrientation);
return(orientatedSpaceRotation);
}
