public void Test(Random random, int innerIterations)
{
Quaternion q;
q.X = (float)random.NextDouble() * 2 - 1;
q.Y = (float)random.NextDouble() * 2 - 1;
q.Z = (float)random.NextDouble() * 2 - 1;
q.W = (float)random.NextDouble() * 2 - 1;
Quaternion.Normalize(ref q);
for (int i = 0; i < innerIterations; ++i)
{
Matrix3x3.CreateFromQuaternion(ref q, out var r);
Quaternion.CreateFromRotationMatrix(ref r, out var qTest);
#if DEBUG
const float epsilon = 1e-6f;
var lengthX = r.X.Length();
var lengthY = r.Y.Length();
var lengthZ = r.Z.Length();
Debug.Assert(
Math.Abs(1 - lengthX) < epsilon &&
Math.Abs(1 - lengthY) < epsilon &&
Math.Abs(1 - lengthZ) < epsilon);
if (qTest.X * q.X < 0)
{
Quaternion.Negate(ref qTest, out qTest);
}
Debug.Assert(
Math.Abs(qTest.X - q.X) < epsilon &&
Math.Abs(qTest.Y - q.Y) < epsilon &&
Math.Abs(qTest.Z - q.Z) < epsilon &&
Math.Abs(qTest.W - q.W) < epsilon);
#endif
}
}
