Add tests for `::angle_between` and `::rotation_between`.
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ea86890647
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46
tests/mat.rs
46
tests/mat.rs
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@ -2,8 +2,8 @@ extern crate nalgebra as na;
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extern crate rand;
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use rand::random;
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use na::{Vec1, Vec3, Mat1, Mat2, Mat3, Mat4, Mat5, Mat6, Rot3, Persp3, PerspMat3, Ortho3, OrthoMat3,
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DMat, DVec, Row, Col, BaseFloat};
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use na::{Vec1, Vec3, Mat1, Mat2, Mat3, Mat4, Mat5, Mat6, Rot2, Rot3, Persp3, PerspMat3, Ortho3,
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OrthoMat3, DMat, DVec, Row, Col, BaseFloat};
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macro_rules! test_inv_mat_impl(
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($t: ty) => (
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@ -153,6 +153,48 @@ fn test_inv_rotation3() {
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}
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}
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#[test]
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fn test_rot3_rotation_between() {
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let r1: Rot3<f64> = random();
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let r2: Rot3<f64> = random();
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let delta = na::rotation_between(&r1, &r2);
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assert!(na::approx_eq(&(delta * r1), &r2))
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}
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#[test]
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fn test_rot3_angle_between() {
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let r1: Rot3<f64> = random();
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let r2: Rot3<f64> = random();
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let delta = na::rotation_between(&r1, &r2);
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let delta_angle = na::angle_between(&r1, &r2);
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assert!(na::approx_eq(&na::norm(&na::rotation(&delta)), &delta_angle))
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}
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#[test]
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fn test_rot2_rotation_between() {
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let r1: Rot2<f64> = random();
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let r2: Rot2<f64> = random();
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let delta = na::rotation_between(&r1, &r2);
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assert!(na::approx_eq(&(delta * r1), &r2))
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}
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#[test]
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fn test_rot2_angle_between() {
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let r1: Rot2<f64> = random();
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let r2: Rot2<f64> = random();
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let delta = na::rotation_between(&r1, &r2);
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let delta_angle = na::angle_between(&r1, &r2);
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assert!(na::approx_eq(&na::norm(&na::rotation(&delta)), &delta_angle))
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}
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#[test]
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fn test_mean_dmat() {
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let mat = DMat::from_row_vec(
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@ -69,3 +69,24 @@ fn test_quat_euler_angles() {
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assert!(na::approx_eq(&q.to_rot(), &m))
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}
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}
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#[test]
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fn test_quat_rotation_between() {
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let q1: UnitQuat<f64> = random();
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let q2: UnitQuat<f64> = random();
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let delta = na::rotation_between(&q1, &q2);
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assert!(na::approx_eq(&(delta * q1), &q2))
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}
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#[test]
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fn test_quat_angle_between() {
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let q1: UnitQuat<f64> = random();
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let q2: UnitQuat<f64> = random();
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let delta = na::rotation_between(&q1, &q2);
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let delta_angle = na::angle_between(&q1, &q2);
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assert!(na::approx_eq(&na::norm(&na::rotation(&delta)), &delta_angle))
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}
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64
tests/vec.rs
64
tests/vec.rs
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@ -2,7 +2,7 @@ extern crate nalgebra as na;
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extern crate rand;
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use rand::random;
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use na::{Vec0, Vec1, Vec2, Vec3, Vec4, Vec5, Vec6, Mat3, Iterable, IterableMut};
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use na::{Vec0, Vec1, Vec2, Vec3, Vec4, Vec5, Vec6, Mat3, Rot2, Rot3, Iterable, IterableMut};
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macro_rules! test_iterator_impl(
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($t: ty, $n: ty) => (
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@ -317,3 +317,65 @@ fn test_outer_vec3() {
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8.0, 10.0, 12.0,
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12.0, 15.0, 18.0));
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}
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#[test]
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fn test_vec3_rotation_between() {
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for _ in (0usize .. 10000) {
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let v1: Vec3<f64> = random();
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let mut v2: Vec3<f64> = random();
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v2 = na::normalize(&v2) * na::norm(&v1);
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let rot = na::rotation_between(&v1, &v2);
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assert!(na::approx_eq(&(rot * v1), &v2))
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}
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}
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#[test]
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fn test_vec3_angle_between() {
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for _ in (0usize .. 10000) {
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let vec: Vec3<f64> = random();
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let other: Vec3<f64> = random();
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// Ensure the axis we are using is orthogonal to `vec`.
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let axis_ang = na::cross(&vec, &other);
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let ang = na::norm(&axis_ang);
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let rot = Rot3::new(axis_ang);
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let delta = na::angle_between(&vec, &(rot * vec));
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assert!(na::approx_eq(&ang, &delta))
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}
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}
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#[test]
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fn test_vec2_rotation_between() {
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for _ in (0usize .. 10000) {
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let v1: Vec2<f64> = random();
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let mut v2: Vec2<f64> = random();
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v2 = na::normalize(&v2) * na::norm(&v1);
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let rot = na::rotation_between(&v1, &v2);
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assert!(na::approx_eq(&(rot * v1), &v2))
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}
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}
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#[test]
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fn test_vec2_angle_between() {
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for _ in (0usize .. 10000) {
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let axis_ang: Vec1<f64> = random();
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let ang = na::norm(&axis_ang);
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let rot: Rot2<f64> = Rot2::new(axis_ang);
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let vec: Vec2<f64> = random();
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let delta = na::angle_between(&vec, &(rot * vec));
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assert!(na::approx_eq(&ang, &delta))
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}
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}
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