void testAngleAxis(void) {
float origAngle = 1.234;
Vector3f origAxis = Vector3f(.5,.5,1).normal();
Quaternion test2(origAxis,origAngle);
float angle;
Vector3f axis;
test2.toAngleAxis(angle,axis);
TS_ASSERT_DELTA(origAngle, angle, 1e-6);
assert_near(origAxis,axis);
}
/** @throw gcm::Exception */
void checkDecomposition(const real eps = EQUALITY_TOLERANCE) const {
// traces
assert_near(linal::trace(A), linal::trace(L), eps);
// eigenvectors
assert_true(linal::approximatelyEqual(A * U1, U1 * L, eps*1000));
// eigenraws
assert_true(linal::approximatelyEqual(U * A, L * U, eps*1000));
// inverse matrices
assert_true(linal::approximatelyEqual(U * U1, Matrix::Identity(), eps*100));
}
void testIdentityOps( void) {
Quaternion id = Quaternion::identity();
Quaternion test(Vector3f(1,0,0),0.5);
TS_ASSERT_EQUALS(test*id, test);
TS_ASSERT_EQUALS(id*test, test);
assert_near(id.normal(), id);
Quaternion inverseid = id.inverse();
TS_ASSERT_EQUALS(inverseid, id);
}
void testInverseCompose( void) {
Quaternion id = Quaternion::identity();
Quaternion test(Vector3f(1,0,0),0.5);
assert_near(test * test.inverse(), id);
assert_near(test.inverse() * test, id);
}
void assert_near(const Quaternion &a,const Quaternion &b) {
TS_ASSERT_DELTA(a.w, b.w, 1e-6);
assert_near(Vector3f(a.x,a.y,a.z),Vector3f(b.x,b.y,b.z));
}
