105 lines
3.1 KiB
Python
105 lines
3.1 KiB
Python
import unittest
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from LinearAlgebra.Quaternion import *
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class QuaternionTest(unittest.TestCase):
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def test_Equality(self):
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q1 = Quaternion.identity
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q2 = Quaternion(1, 0, 0, 0)
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assert(q1 != q2)
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q2 = Quaternion(0, 0, 0, 1)
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assert(q1 == q2)
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def test_FromAngles(self):
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q = Quaternion.FromAngles(Angle.zero, Angle.zero, Angle.zero)
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assert(q == Quaternion.identity)
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q = Quaternion.FromAngles(Angle.Degrees(90), Angle.Degrees(90), Angle.Degrees(-90))
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sqrt2_2 = math.sqrt(2) / 2
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assert(Quaternion.isclose(q, Quaternion(0, sqrt2_2, -sqrt2_2, 0)))
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def test_ToAngles(self):
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q1 = Quaternion.identity
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angles = Quaternion.ToAngles(q1)
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assert(angles == (Angle.zero, Angle.zero, Angle.zero))
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q1 = Quaternion(1, 0, 0, 0)
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angles = Quaternion.ToAngles(q1)
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assert(angles == (Angle.zero, Angle.Degrees(180), Angle.zero))
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def test_Degrees(self):
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q = Quaternion.Degrees(0, 0, 0)
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assert(q == Quaternion.identity)
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q = Quaternion.Degrees(90, 90, -90)
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sqrt2_2 = math.sqrt(2) / 2
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assert(Quaternion.isclose(q, Quaternion(0, sqrt2_2, -sqrt2_2, 0)))
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# assert(q == Quaternion(0, sqrt2_2, -sqrt2_2, 0))
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def test_Radians(self):
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q = Quaternion.Radians(0, 0, 0)
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assert(q == Quaternion.identity)
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q = Quaternion.Radians(math.pi / 2, math.pi / 2, -math.pi / 2)
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sqrt2_2 = math.sqrt(2) / 2
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assert(Quaternion.isclose(q, Quaternion(0, sqrt2_2, -sqrt2_2, 0)))
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# assert(q == Quaternion(0, sqrt2_2, -sqrt2_2, 0))
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def test_Multiply(self):
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q1 = Quaternion.identity
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q2 = Quaternion(1, 0, 0, 0)
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r = q1 * q2;
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assert(r == Quaternion(1, 0, 0, 0))
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def test_MultiplyVector(self):
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v1 = Vector3.up
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q1 = Quaternion.identity
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v = q1 * v1
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assert(v == Vector3(0, 1, 0))
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q1 = Quaternion(1, 0, 0, 0)
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v = q1 * v1
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assert(v == Vector3(0, -1, 0))
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def test_Angle(self):
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q1 = Quaternion.identity
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q2 = Quaternion.identity
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r = Quaternion.Angle(q1, q2)
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assert(r == Angle.zero)
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def test_AngleAround(self):
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axis = Direction.up
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q1 = Quaternion.identity
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angle = q1.AngleAround(axis)
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assert(angle == Angle.Degrees(0))
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sqrt2_2 = math.sqrt(2) / 2
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q1 = Quaternion(0, sqrt2_2, -sqrt2_2, 0)
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angle = q1.AngleAround(axis)
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assert(angle == Angle.Degrees(180))
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axis = Direction.zero
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angle = q1.AngleAround(axis)
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assert(math.isnan(angle.InDegrees()))
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def test_RotationAround(self):
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axis = Direction.up
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q1 = Quaternion.identity
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q = q1.RotationAround(axis)
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assert(q == Quaternion.identity)
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sqrt2_2 = math.sqrt(2) / 2
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q1 = Quaternion(0, sqrt2_2, -sqrt2_2, 0)
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q = q1.RotationAround(axis)
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assert(q == Quaternion(0, 1, 0, 0))
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axis = Direction.zero
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q = q1.RotationAround(axis);
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assert(math.isnan(q.x) and math.isnan(q.y) and math.isnan(q.z) and math.isnan(q.w))
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