public void RotationVector_ToQuaternion_ToRotationVector()
{
RotationVector rv1, rv2;
Quaternion q;
double x, y, z, angle;
double len;
// Test random axes
for (var i = 0; i < 50; i++)
{
x = Random(-100, 100);
y = Random(-100, 100);
z = Random(-100, 100);
angle = Random(-1440, 1440);
Trace.WriteLine("");
Trace.WriteLine(x + " " + y + " " + z + " " + angle);
rv1 = new RotationVector(x, y, z, angle);
q = rv1.ToQuaternion();
rv2 = q.ToRotationVector(false);
Trace.WriteLine(rv1 + " (" + rv1.ToAxisAngle() + ")");
Trace.WriteLine(q + " (" + q.ToAxisAngle() + ")");
Trace.WriteLine(rv2 + " (" + rv2.ToAxisAngle() + ")");
//rv1 = new RotationVector(x, y, z, angle);
//aa1 = rv1.ToAxisAngle();
//q = aa1.ToQuaternion();
//rv2 = q.ToRotationVector();
//Trace.WriteLine("Itemized:");
//Trace.WriteLine(rv1 + " (" + rv1.ToAxisAngle() + ")");
//Trace.WriteLine(aa1);
//Trace.WriteLine(q + " (" + q.ToAxisAngle() + ")");
//Trace.WriteLine(rv2 + " (" + rv2.ToAxisAngle() + ")");
////Assert.IsTrue(rv1 == rv2);
////Assert.AreEqual(angle > 0 ? angle : -angle, rv2.GetAngle(), 0.00001);
// This is not very clean, but I guess does the job...?
//Assert.IsTrue(rv1.ToAxisAngle().IsEquivalent(rv2.ToAxisAngle()));
Assert.IsTrue(rv1.IsEquivalent(rv2));
}
// Test all permutations of unitary components (including zero)
for (x = -1; x <= 1; x++)
{
for (y = -1; y <= 1; y++)
{
for (z = -1; z <= 1; z++)
{
for (angle = -720; angle <= 0; angle += 45)
{
Trace.WriteLine("");
Trace.WriteLine(x + " " + y + " " + z + " " + angle);
rv1 = new RotationVector(x, y, z, angle);
q = rv1.ToQuaternion();
rv2 = q.ToRotationVector(false);
Trace.WriteLine(rv1 + " (" + rv1.ToAxisAngle() + ")");
Trace.WriteLine(q + " (" + q.ToAxisAngle() + ")");
Trace.WriteLine(rv2 + " (" + rv2.ToAxisAngle() + ")");
len = rv1.Length();
if (angle == 0 || len == 0)
{
Assert.IsTrue(q.IsIdentity());
Assert.IsTrue(rv2.IsZero());
}
else
{
//Assert.IsTrue(rv1.ToAxisAngle().IsEquivalent(rv2.ToAxisAngle()), "RV assert failed");
if (x == -1 && y == -1 && z == -1 && angle == -360)
{
Assert.IsTrue(rv1.IsEquivalent(rv2));
}
Assert.IsTrue(rv1.IsEquivalent(rv2));
}
}
}
}
}
}
public void RotationVector_ToAxisAngle_ToRotationVector()
{
RotationVector rv1, rv2;
AxisAngle aa;
double x, y, z, angle;
double len;
// Test random axes
for (var i = 0; i < 50; i++)
{
x = Random(-100, 100);
y = Random(-100, 100);
z = Random(-100, 100);
angle = Random(-720, 720);
Trace.WriteLine("");
Trace.WriteLine(x + " " + y + " " + z + " " + angle);
rv1 = new RotationVector(x, y, z, angle);
aa = rv1.ToAxisAngle();
rv2 = aa.ToRotationVector();
Trace.WriteLine(rv1);
Trace.WriteLine(aa);
Trace.WriteLine(rv2);
Assert.IsTrue(rv1.IsSimilar(rv2));
Assert.AreEqual(angle > 0 ? angle : -angle, aa.Angle, 0.00001);
}
// Test all permutations of unitary components (including zero)
for (x = -1; x <= 1; x++)
{
for (y = -1; y <= 1; y++)
{
for (z = -1; z <= 1; z++)
{
for (angle = -720; angle <= 0; angle += 45)
{
Trace.WriteLine("");
Trace.WriteLine(x + " " + y + " " + z + " " + angle);
rv1 = new RotationVector(x, y, z, angle);
aa = rv1.ToAxisAngle();
rv2 = aa.ToRotationVector();
Trace.WriteLine(rv1);
Trace.WriteLine(aa);
Trace.WriteLine(rv2);
len = rv1.Length();
if (angle == 0 || len == 0)
{
Assert.IsTrue(aa.IsZero());
Assert.IsTrue(rv2.IsZero());
}
else
{
Assert.IsTrue(rv1.IsSimilar(rv2));
Assert.AreEqual(angle > 0 ? angle : -angle, aa.Angle, 0.00001);
}
}
}
}
}
}
