151 lines
4.3 KiB
Rust
151 lines
4.3 KiB
Rust
#![cfg(feature = "arbitrary")]
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#![allow(non_snake_case)]
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use na::{Point2, Rotation2, Unit, UnitComplex, Vector2};
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quickcheck!(
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/*
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*
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* From/to rotation matrix.
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*
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*/
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fn unit_complex_rotation_conversion(c: UnitComplex<f64>) -> bool {
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let r = c.to_rotation_matrix();
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let cc = UnitComplex::from_rotation_matrix(&r);
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let rr = cc.to_rotation_matrix();
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relative_eq!(c, cc, epsilon = 1.0e-7) && relative_eq!(r, rr, epsilon = 1.0e-7)
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}
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/*
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*
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* Point/Vector transformation.
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*
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*/
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fn unit_complex_transformation(c: UnitComplex<f64>, v: Vector2<f64>, p: Point2<f64>) -> bool {
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let r = c.to_rotation_matrix();
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let rv = r * v;
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let rp = r * p;
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relative_eq!(c * v, rv, epsilon = 1.0e-7)
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&& relative_eq!(c * &v, rv, epsilon = 1.0e-7)
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&& relative_eq!(&c * v, rv, epsilon = 1.0e-7)
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&& relative_eq!(&c * &v, rv, epsilon = 1.0e-7)
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&& relative_eq!(c * p, rp, epsilon = 1.0e-7)
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&& relative_eq!(c * &p, rp, epsilon = 1.0e-7)
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&& relative_eq!(&c * p, rp, epsilon = 1.0e-7)
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&& relative_eq!(&c * &p, rp, epsilon = 1.0e-7)
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}
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/*
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*
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* Inversion.
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*
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*/
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fn unit_complex_inv(c: UnitComplex<f64>) -> bool {
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let iq = c.inverse();
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relative_eq!(&iq * &c, UnitComplex::identity(), epsilon = 1.0e-7)
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&& relative_eq!(iq * &c, UnitComplex::identity(), epsilon = 1.0e-7)
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&& relative_eq!(&iq * c, UnitComplex::identity(), epsilon = 1.0e-7)
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&& relative_eq!(iq * c, UnitComplex::identity(), epsilon = 1.0e-7)
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&& relative_eq!(&c * &iq, UnitComplex::identity(), epsilon = 1.0e-7)
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&& relative_eq!(c * &iq, UnitComplex::identity(), epsilon = 1.0e-7)
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&& relative_eq!(&c * iq, UnitComplex::identity(), epsilon = 1.0e-7)
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&& relative_eq!(c * iq, UnitComplex::identity(), epsilon = 1.0e-7)
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}
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/*
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*
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* Quaterion * Vector == Rotation * Vector
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*
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*/
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fn unit_complex_mul_vector(c: UnitComplex<f64>, v: Vector2<f64>, p: Point2<f64>) -> bool {
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let r = c.to_rotation_matrix();
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relative_eq!(c * v, r * v, epsilon = 1.0e-7) && relative_eq!(c * p, r * p, epsilon = 1.0e-7)
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}
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// Test that all operators (incl. all combinations of references) work.
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// See the top comment on `geometry/quaternion_ops.rs` for details on which operations are
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// supported.
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fn all_op_exist(
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uc: UnitComplex<f64>,
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v: Vector2<f64>,
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p: Point2<f64>,
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r: Rotation2<f64>,
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) -> bool {
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let uv = Unit::new_normalize(v);
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let ucMuc = uc * uc;
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let ucMr = uc * r;
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let rMuc = r * uc;
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let ucDuc = uc / uc;
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let ucDr = uc / r;
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let rDuc = r / uc;
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let ucMp = uc * p;
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let ucMv = uc * v;
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let ucMuv = uc * uv;
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let mut ucMuc1 = uc;
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let mut ucMuc2 = uc;
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let mut ucMr1 = uc;
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let mut ucMr2 = uc;
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let mut ucDuc1 = uc;
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let mut ucDuc2 = uc;
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let mut ucDr1 = uc;
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let mut ucDr2 = uc;
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ucMuc1 *= uc;
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ucMuc2 *= &uc;
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ucMr1 *= r;
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ucMr2 *= &r;
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ucDuc1 /= uc;
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ucDuc2 /= &uc;
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ucDr1 /= r;
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ucDr2 /= &r;
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ucMuc1 == ucMuc
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&& ucMuc1 == ucMuc2
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&& ucMr1 == ucMr
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&& ucMr1 == ucMr2
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&& ucDuc1 == ucDuc
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&& ucDuc1 == ucDuc2
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&& ucDr1 == ucDr
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&& ucDr1 == ucDr2
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&& ucMuc == &uc * &uc
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&& ucMuc == uc * &uc
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&& ucMuc == &uc * uc
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&& ucMr == &uc * &r
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&& ucMr == uc * &r
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&& ucMr == &uc * r
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&& rMuc == &r * &uc
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&& rMuc == r * &uc
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&& rMuc == &r * uc
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&& ucDuc == &uc / &uc
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&& ucDuc == uc / &uc
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&& ucDuc == &uc / uc
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&& ucDr == &uc / &r
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&& ucDr == uc / &r
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&& ucDr == &uc / r
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&& rDuc == &r / &uc
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&& rDuc == r / &uc
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&& rDuc == &r / uc
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&& ucMp == &uc * &p
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&& ucMp == uc * &p
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&& ucMp == &uc * p
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&& ucMv == &uc * &v
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&& ucMv == uc * &v
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&& ucMv == &uc * v
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&& ucMuv == &uc * &uv
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&& ucMuv == uc * &uv
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&& ucMuv == &uc * uv
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}
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);
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