96 lines
3.5 KiB
Python
96 lines
3.5 KiB
Python
import unittest
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from LinearAlgebra.SwingTwist import *
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class SwingTwistTest(unittest.TestCase):
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def test_Constructor(self):
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s = SwingTwist.Degrees(0, 0, 0)
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assert(s == SwingTwist.Degrees(0, 0, 0))
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s = SwingTwist.Degrees(0, 180, 0)
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assert(s == SwingTwist.Degrees(180, 0, 180))
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s = SwingTwist.Degrees(0, 180, 180)
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assert(s == SwingTwist.Degrees(180, 0, 0))
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s = SwingTwist.Degrees(270, 90, 0)
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assert(s == SwingTwist.Degrees(-90, 90, 0))
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s = SwingTwist.Degrees(270, 270, 0)
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assert(s == SwingTwist.Degrees(-90, -90, 0))
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s = SwingTwist.Degrees(270, 225, 0)
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assert(s == SwingTwist.Degrees(90, -45, -180))
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s = SwingTwist.Degrees(270, 0, 225)
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assert(s == SwingTwist.Degrees(-90, 0, -135))
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def test_FromQuaternion(self):
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q = Quaternion.identity
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r = SwingTwist.FromQuaternion(q)
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assert(r == SwingTwist.Degrees(0, 0, 0))
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q = Quaternion.Degrees(90, 0, 0)
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r = SwingTwist.FromQuaternion(q)
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assert(SwingTwist.isclose(r, SwingTwist.Degrees(90, 0, 0)))
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q = Quaternion.Degrees(0, 90, 0)
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r = SwingTwist.FromQuaternion(q)
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assert(r == SwingTwist.Degrees(0, 90, 0))
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q = Quaternion.Degrees(0, 0, 90)
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r = SwingTwist.FromQuaternion(q)
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assert(r == SwingTwist.Degrees(0, 0, 90))
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q = Quaternion.Degrees(0, 180, 0)
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r = SwingTwist.FromQuaternion(q)
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assert(r == SwingTwist.Degrees(0, 180, 0))
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q = Quaternion.Degrees(0, 135, 0)
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r = SwingTwist.FromQuaternion(q)
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assert(r == SwingTwist.Degrees(0, 135, 0))
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def test_FromAngleAxis(self):
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r = SwingTwist.FromAngleAxis(Angle.zero, Direction.up)
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assert(r == SwingTwist.Degrees(0, 0, 0))
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r = SwingTwist.FromAngleAxis(Angle.Degrees(90), Direction.up)
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angle = SwingTwist.Angle(r, SwingTwist.Degrees(90, 0, 0))
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assert(angle.InDegrees() == 0)
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r = SwingTwist.FromAngleAxis(Angle.Degrees(180), Direction.up)
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angle = SwingTwist.Angle(r, SwingTwist.Degrees(180, 0, 0))
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assert(angle.InDegrees() == 0)
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r = SwingTwist.FromAngleAxis(Angle.Degrees(270), Direction.up);
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angle = SwingTwist.Angle(r, SwingTwist.Degrees(-90, 0, 0))
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assert(angle.InDegrees() == 0)
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r = SwingTwist.FromAngleAxis(Angle.Degrees(90), Direction.right)
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angle = SwingTwist.Angle(r, SwingTwist.Degrees(0, 90, 0))
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assert(angle.InDegrees() == 0)
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r = SwingTwist.FromAngleAxis(Angle.Degrees(180), Direction.right)
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angle = SwingTwist.Angle(r, SwingTwist.Degrees(0, 180, 0))
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assert(angle.InDegrees() == 0)
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r = SwingTwist.FromAngleAxis(Angle.Degrees(270), Direction.right)
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angle = SwingTwist.Angle(r, SwingTwist.Degrees(0, -90, 0))
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assert(angle.InDegrees() == 0)
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r = SwingTwist.FromAngleAxis(Angle.Degrees(90), Direction.forward)
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angle = SwingTwist.Angle(r, SwingTwist.Degrees(0, 0, 90))
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assert(angle.InDegrees() == 0)
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r = SwingTwist.FromAngleAxis(Angle.Degrees(180), Direction.forward)
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angle = SwingTwist.Angle(r, SwingTwist.Degrees(0, 0, 180))
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assert(angle.InDegrees() == 0)
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r = SwingTwist.FromAngleAxis(Angle.Degrees(270), Direction.forward)
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angle = SwingTwist.Angle(r, SwingTwist.Degrees(0, 0, -90))
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assert(angle.InDegrees() == 0)
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# auto r16 = SwingTwist16::AngleAxis(13, Direction16::down);
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# auto s16 = SwingTwist16::Degrees(-13, 0, 0);
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# assert(SwingTwist16::Angle(r16, s16), Angle16::Degrees(0))
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