public void SetFromAxisAngleDegrees_Test()
{
var q = new Quaternion();
for (int i = 0; i <= 360; i++)
{
q.SetFromAxisAngleDegrees(i, Vector3D.XAxis);
var tQ = System.Numerics.Quaternion.CreateFromAxisAngle(Vector3.UnitX, (float)Utils.ToRadian(i));
Assert.AreEqual(tQ.X, q.X, 0.000001);
Assert.AreEqual(tQ.Y, q.Y, 0.000001);
Assert.AreEqual(tQ.Z, q.Z, 0.000001);
Assert.AreEqual(tQ.W, q.W, 0.000001);
q.SetFromAxisAngleDegrees(i, Vector3D.YAxis);
tQ = System.Numerics.Quaternion.CreateFromAxisAngle(Vector3.UnitY, (float)Utils.ToRadian(i));
Assert.AreEqual(tQ.X, q.X, 0.000001);
Assert.AreEqual(tQ.Y, q.Y, 0.000001);
Assert.AreEqual(tQ.Z, q.Z, 0.000001);
Assert.AreEqual(tQ.W, q.W, 0.000001);
q.SetFromAxisAngleDegrees(i, Vector3D.ZAxis);
tQ = System.Numerics.Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)Utils.ToRadian(i));
Assert.AreEqual(tQ.X, q.X, 0.000001);
Assert.AreEqual(tQ.Y, q.Y, 0.000001);
Assert.AreEqual(tQ.Z, q.Z, 0.000001);
Assert.AreEqual(tQ.W, q.W, 0.000001);
}
}
public void Multiply_double_Test()
{
var tqq = new System.Numerics.Quaternion(2, 3, 4, 1);
for (int i = 0; i <= 360; i++)
{
var q = new Quaternion(1, 2, 3, 4);
q.Multiply(i);
var tQ = System.Numerics.Quaternion.Multiply(tqq, i);
Assert.AreEqual(tQ.X, q.X, 0.000001);
Assert.AreEqual(tQ.Y, q.Y, 0.000001);
Assert.AreEqual(tQ.Z, q.Z, 0.000001);
Assert.AreEqual(tQ.W, q.W, 0.000001);
}
}
public void Multiply_Quaternion_Test()
{
var tqq = new System.Numerics.Quaternion(2, 3, 4, 1);
for (int i = 0; i <= 360; i++)
{
var q = new Quaternion(1, 2, 3, 4);
var qm = new Quaternion();
qm.SetFromAxisAngleDegrees(i, Vector3D.XAxis);
q.Multiply(qm);
var qtt = System.Numerics.Quaternion.CreateFromAxisAngle(Vector3.UnitX, (float)Utils.ToRadian(i));
var tQ = System.Numerics.Quaternion.Multiply(tqq, qtt);
Assert.AreEqual(tQ.X, q.X, 0.000001);
Assert.AreEqual(tQ.Y, q.Y, 0.000001);
Assert.AreEqual(tQ.Z, q.Z, 0.000001);
Assert.AreEqual(tQ.W, q.W, 0.000001);
q = new Quaternion(1, 2, 3, 4);
qm = new Quaternion();
qm.SetFromAxisAngleDegrees(i, Vector3D.YAxis);
q.Multiply(qm);
qtt = System.Numerics.Quaternion.CreateFromAxisAngle(Vector3.UnitY, (float)Utils.ToRadian(i));
tQ = System.Numerics.Quaternion.Multiply(tqq, qtt);
Assert.AreEqual(tQ.X, q.X, 0.000001);
Assert.AreEqual(tQ.Y, q.Y, 0.000001);
Assert.AreEqual(tQ.Z, q.Z, 0.000001);
Assert.AreEqual(tQ.W, q.W, 0.000001);
q = new Quaternion(1, 2, 3, 4);
qm = new Quaternion();
qm.SetFromAxisAngleDegrees(i, Vector3D.ZAxis);
q.Multiply(qm);
qtt = System.Numerics.Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)Utils.ToRadian(i));
tQ = System.Numerics.Quaternion.Multiply(tqq, qtt);
Assert.AreEqual(tQ.X, q.X, 0.000001);
Assert.AreEqual(tQ.Y, q.Y, 0.000001);
Assert.AreEqual(tQ.Z, q.Z, 0.000001);
Assert.AreEqual(tQ.W, q.W, 0.000001);
}
}
public void Constructor_Test()
{
var q = new Quaternion();
Assert.AreEqual(0, q.X);
Assert.AreEqual(0, q.Y);
Assert.AreEqual(0, q.Z);
Assert.AreEqual(0, q.W);
q = new Quaternion(1, 2, 3, 4);
Assert.AreEqual(1, q.W);
Assert.AreEqual(2, q.X);
Assert.AreEqual(3, q.Y);
Assert.AreEqual(4, q.Z);
var t = new Quaternion(q);
Assert.AreEqual(1, t.W);
Assert.AreEqual(2, t.X);
Assert.AreEqual(3, t.Y);
Assert.AreEqual(4, t.Z);
}
public void Multiply_Vector_Test()
{
var tqq = new System.Numerics.Quaternion(2, 3, 4, 1);
for (int i = 0; i <= 100; i++)
{
for (int j = 0; j <= 100; j++)
{
for (int k = 0; k <= 100; k++)
{
var q = new Quaternion(1, 2, 3, 4);
var v = new Vector3D(i, j, k);
q.Multiply(v);
var tV = new System.Numerics.Vector3(i, j, k);
var tttq = new System.Numerics.Quaternion(tV, 0);
var tQ = System.Numerics.Quaternion.Multiply(tqq, tttq);
Assert.AreEqual(tQ.X, q.X, 0.000001);
Assert.AreEqual(tQ.Y, q.Y, 0.000001);
Assert.AreEqual(tQ.Z, q.Z, 0.000001);
Assert.AreEqual(tQ.W, q.W, 0.000001);
}
}
}
}
