72 lines
1.9 KiB
Rust
72 lines
1.9 KiB
Rust
extern crate "nalgebra" as na;
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extern crate rand;
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use na::{Pnt3, Vec3, Rot3, UnitQuat, Rotation};
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use rand::random;
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#[test]
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fn test_quat_as_mat() {
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for _ in (0usize .. 10000) {
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let axis_angle: Vec3<f64> = random();
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assert!(na::approx_eq(&UnitQuat::new(axis_angle).to_rot(), &Rot3::new(axis_angle)))
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}
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}
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#[test]
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fn test_quat_mul_vec_or_pnt_as_mat() {
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for _ in (0usize .. 10000) {
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let axis_angle: Vec3<f64> = random();
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let vec: Vec3<f64> = random();
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let pnt: Pnt3<f64> = random();
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let mat = Rot3::new(axis_angle);
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let quat = UnitQuat::new(axis_angle);
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assert!(na::approx_eq(&(mat * vec), &(quat * vec)));
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assert!(na::approx_eq(&(mat * pnt), &(quat * pnt)));
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assert!(na::approx_eq(&(vec * mat), &(vec * quat)));
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assert!(na::approx_eq(&(pnt * mat), &(pnt * quat)));
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}
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}
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#[test]
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fn test_quat_div_quat() {
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for _ in (0usize .. 10000) {
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let axis_angle1: Vec3<f64> = random();
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let axis_angle2: Vec3<f64> = random();
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let r1 = Rot3::new(axis_angle1);
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let r2 = na::inv(&Rot3::new(axis_angle2)).unwrap();
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let q1 = UnitQuat::new(axis_angle1);
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let q2 = UnitQuat::new(axis_angle2);
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assert!(na::approx_eq(&(q1 / q2).to_rot(), &(r1 * r2)))
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}
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}
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#[test]
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fn test_quat_to_axis_angle() {
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for _ in (0usize .. 10000) {
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let axis_angle: Vec3<f64> = random();
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let q = UnitQuat::new(axis_angle);
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println!("{:?} {:?}", q.rotation(), axis_angle);
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assert!(na::approx_eq(&q.rotation(), &axis_angle))
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}
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}
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#[test]
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fn test_quat_euler_angles() {
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for _ in (0usize .. 10000) {
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let angles: Vec3<f64> = random();
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let q = UnitQuat::new_with_euler_angles(angles.x, angles.y, angles.z);
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let m = Rot3::new_with_euler_angles(angles.x, angles.y, angles.z);
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assert!(na::approx_eq(&q.to_rot(), &m))
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}
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}
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