def test_slerp():
a = Quaternion(x, y, z, w)
b = Quaternion(-x, -y, -z, -w)
c = a.clone().slerp(b, 0)
d = a.clone().slerp(b, 1)
assert a.equals(c), "Passed"
assert b.equals(d), "Passed"
sqrt1_2 = sqrt(1 / 2)
e = Quaternion(1, 0, 0, 0)
f = Quaternion(0, 0, 1, 0)
expected = Quaternion(sqrt1_2, 0, sqrt1_2, 0)
result = e.clone().slerp(f, 0.5)
assert abs(result.x - expected.x) <= eps, "Check x"
assert abs(result.y - expected.y) <= eps, "Check y"
assert abs(result.z - expected.z) <= eps, "Check z"
assert abs(result.w - expected.w) <= eps, "Check w"
g = Quaternion(0, sqrt1_2, 0, sqrt1_2)
h = Quaternion(0, -sqrt1_2, 0, sqrt1_2)
expected = Quaternion(0, 0, 0, 1)
result = g.clone().slerp(h, 0.5)
assert abs(result.x - expected.x) <= eps, "Check x"
assert abs(result.y - expected.y) <= eps, "Check y"
assert abs(result.z - expected.z) <= eps, "Check z"
assert abs(result.w - expected.w) <= eps, "Check w"
def test_inverse_conjugate():
a = Quaternion(x, y, z, w)
# TODO: add better validation here.
b = a.clone().conjugate()
assert a.x == -b.x
assert a.y == -b.y
assert a.z == -b.z
assert a.w == b.w