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Add test case for issue 1078

This commit is contained in:
Tim Taubner 2022-03-31 18:03:59 +02:00 committed by Sébastien Crozet
parent f9aa2d76aa
commit 257d95b3d3
1 changed files with 4 additions and 0 deletions
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4
tests/geometry/rotation.rs
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@ -28,6 +28,10 @@ fn from_rotation_matrix() {
1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0,
)); ));
assert_relative_eq!(rotated_z, &Rotation3::from_axis_angle(&UnitVector3::new_unchecked(Vector3::new(1.0, 0.0, 0.0)), PI), epsilon = 0.001); assert_relative_eq!(rotated_z, &Rotation3::from_axis_angle(&UnitVector3::new_unchecked(Vector3::new(1.0, 0.0, 0.0)), PI), epsilon = 0.001);
// Test that issue 1078 is fixed
let m = nalgebra::Matrix3::<f64>::new(0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0);
assert_relative_ne!(identity, nalgebra::Rotation3::from_matrix(&m));
assert_relative_eq!(nalgebra::Rotation3::from_matrix_unchecked(m.clone()), nalgebra::Rotation3::from_matrix(&m));
} }
#[test] #[test]