void test23D() {
Point3D pt(1.0, 0.0, 0.0);
Point3D tpt = pt;
Transform3D trans;
trans.SetRotation(M_PI / 2., X_Axis);
trans.TransformPoint(pt);
CHECK_INVARIANT(ptEq(tpt, pt), "");
Point3D pt2(0.0, 1.0, 0.0);
Point3D tpt2(0.0, 0.0, 1.0);
trans.TransformPoint(pt2);
CHECK_INVARIANT(ptEq(tpt2, pt2), "");
Point3D pt3(0.0, 0.0, 1.0);
Point3D tpt3(0.0, -1.0, 0.0);
trans.TransformPoint(pt3);
CHECK_INVARIANT(ptEq(tpt3, pt3), "");
// rotate around y-axis
Transform3D transy;
transy.SetRotation(M_PI / 2., Y_Axis);
transy.TransformPoint(pt);
Point3D tpt4(0.0, 0.0, -1.0);
CHECK_INVARIANT(ptEq(tpt4, pt), "");
Point3D pt5(0.0, 1.0, 0.0);
Point3D tpt5(0.0, 1.0, 0.0);
transy.TransformPoint(pt5);
CHECK_INVARIANT(ptEq(tpt5, pt5), "");
Point3D pt6(0.0, 0.0, 1.0);
Point3D tpt6(1.0, 0.0, 0.0);
transy.TransformPoint(pt6);
CHECK_INVARIANT(ptEq(tpt6, pt6), "");
// z-axis
Transform3D transz;
transz.SetRotation(M_PI / 2., Z_Axis);
Point3D pt7(1.0, 0.0, 0.0);
Point3D tpt7(0.0, 1.0, 0.0);
transz.TransformPoint(pt7);
CHECK_INVARIANT(ptEq(tpt7, pt7), "");
Point3D pt8(0.0, 1.0, 0.0);
Point3D tpt8(-1.0, 0.0, 0.0);
transz.TransformPoint(pt8);
CHECK_INVARIANT(ptEq(tpt8, pt8), "");
Point3D pt9(0.0, 0.0, 1.0);
Point3D tpt9(0.0, 0.0, 1.0);
transz.TransformPoint(pt9);
CHECK_INVARIANT(ptEq(tpt9, pt9), "");
}
