nalgebra/tests/geometry/unit_complex.rs

#![cfg(feature = "proptest-support")]
#![allow(non_snake_case)]

use na::{Unit, UnitComplex};

use crate::proptest::*;
use proptest::{prop_assert, proptest};

proptest!(
    /*
     *
     * From/to rotation matrix.
     *
     */
    #[test]
    fn unit_complex_rotation_conversion(c in unit_complex()) {
        let r = c.to_rotation_matrix();
        let cc = UnitComplex::from_rotation_matrix(&r);
        let rr = cc.to_rotation_matrix();

        prop_assert!(relative_eq!(c, cc, epsilon = 1.0e-7));
        prop_assert!(relative_eq!(r, rr, epsilon = 1.0e-7));
    }

    /*
     *
     * Point/Vector transformation.
     *
     */
    #[test]
    fn unit_complex_transformation(c in unit_complex(), v in vector2(), p in point2()) {
        let r = c.to_rotation_matrix();
        let rv = r * v;
        let rp = r * p;

        prop_assert!(relative_eq!(c * v, rv, epsilon = 1.0e-7)
            && relative_eq!(c * &v, rv, epsilon = 1.0e-7)
            && relative_eq!(&c * v, rv, epsilon = 1.0e-7)
            && relative_eq!(&c * &v, rv, epsilon = 1.0e-7)
            && relative_eq!(c * p, rp, epsilon = 1.0e-7)
            && relative_eq!(c * &p, rp, epsilon = 1.0e-7)
            && relative_eq!(&c * p, rp, epsilon = 1.0e-7)
            && relative_eq!(&c * &p, rp, epsilon = 1.0e-7))
    }

    /*
     *
     * Inversion.
     *
     */
    #[test]
    fn unit_complex_inv(c in unit_complex()) {
        let iq = c.inverse();
        prop_assert!(relative_eq!(&iq * &c, UnitComplex::identity(), epsilon = 1.0e-7)
            && relative_eq!(iq * &c, UnitComplex::identity(), epsilon = 1.0e-7)
            && relative_eq!(&iq * c, UnitComplex::identity(), epsilon = 1.0e-7)
            && relative_eq!(iq * c, UnitComplex::identity(), epsilon = 1.0e-7)
            && relative_eq!(&c * &iq, UnitComplex::identity(), epsilon = 1.0e-7)
            && relative_eq!(c * &iq, UnitComplex::identity(), epsilon = 1.0e-7)
            && relative_eq!(&c * iq, UnitComplex::identity(), epsilon = 1.0e-7)
            && relative_eq!(c * iq, UnitComplex::identity(), epsilon = 1.0e-7))
    }

    /*
     *
     * Quaternion * Vector == Rotation * Vector
     *
     */
    #[test]
    fn unit_complex_mul_vector(c in unit_complex(), v in vector2(), p in point2()) {
        let r = c.to_rotation_matrix();

        prop_assert!(relative_eq!(c * v, r * v, epsilon = 1.0e-7));
        prop_assert!(relative_eq!(c * p, r * p, epsilon = 1.0e-7));
    }

    // Test that all operators (incl. all combinations of references) work.
    // See the top comment on `geometry/quaternion_ops.rs` for details on which operations are
    // supported.
    #[test]
    #[cfg_attr(rustfmt, rustfmt_skip)]
    fn all_op_exist(
        uc in unit_complex(),
        v in vector2(),
        p in point2(),
        r in rotation2()
    ) {
        let uv = Unit::new_normalize(v);

        let ucMuc = uc * uc;
        let ucMr = uc * r;
        let rMuc = r * uc;
        let ucDuc = uc / uc;
        let ucDr = uc / r;
        let rDuc = r / uc;

        let ucMp = uc * p;
        let ucMv = uc * v;
        let ucMuv = uc * uv;

        let mut ucMuc1 = uc;
        let mut ucMuc2 = uc;

        let mut ucMr1 = uc;
        let mut ucMr2 = uc;

        let mut ucDuc1 = uc;
        let mut ucDuc2 = uc;

        let mut ucDr1 = uc;
        let mut ucDr2 = uc;

        ucMuc1 *= uc;
        ucMuc2 *= &uc;

        ucMr1 *= r;
        ucMr2 *= &r;

        ucDuc1 /= uc;
        ucDuc2 /= &uc;

        ucDr1 /= r;
        ucDr2 /= &r;

        prop_assert!(ucMuc1 == ucMuc
            && ucMuc1 == ucMuc2
            && ucMr1 == ucMr
            && ucMr1 == ucMr2
            && ucDuc1 == ucDuc
            && ucDuc1 == ucDuc2
            && ucDr1 == ucDr
            && ucDr1 == ucDr2
            && ucMuc == &uc * &uc
            && ucMuc == uc * &uc
            && ucMuc == &uc * uc
            && ucMr == &uc * &r
            && ucMr == uc * &r
            && ucMr == &uc * r
            && rMuc == &r * &uc
            && rMuc == r * &uc
            && rMuc == &r * uc
            && ucDuc == &uc / &uc
            && ucDuc == uc / &uc
            && ucDuc == &uc / uc
            && ucDr == &uc / &r
            && ucDr == uc / &r
            && ucDr == &uc / r
            && rDuc == &r / &uc
            && rDuc == r / &uc
            && rDuc == &r / uc
            && ucMp == &uc * &p
            && ucMp == uc * &p
            && ucMp == &uc * p
            && ucMv == &uc * &v
            && ucMv == uc * &v
            && ucMv == &uc * v
            && ucMuv == &uc * &uv
            && ucMuv == uc * &uv
            && ucMuv == &uc * uv)
    }
);