public static void transform()
{
// test math to rotate normal to normal
var from = new Vector3d(0, -1, 0);
var to = new Vector3d(0, 0, 1);
var q = new Quaterniond(from, to); // direct transform
var test = new Vector3d(1, 0, 1); // test vector
var transformed = q * test;
var q1 = q.Inverse();
var reTransformed = q1 * transformed;
}
public void Inverse()
{
for (int i = 0; i < count; i++)
{
Quaternion a = new Quaternion();
Quaterniond ad = new Quaterniond();
RandomQuaternion(ref a, ref ad);
Quaternion value = Quaternion.Inverse(a);
Quaterniond valued = Quaterniond.Inverse(ad);
Assert.True(Approximate(value, valued));
}
}