nalgebra/tests/quat.rs

71 lines
1.9 KiB
Rust

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