def test_vec_identities(py_c_vec) -> None:
"""Check that vectors in the same axis as the rotation don't get spun."""
Vec, Angle, Matrix, parse_vec_str = py_c_vec
for ang in range(0, 360, 13):
# Check the two constructors match.
assert_rot(Matrix.from_pitch(ang), Matrix.from_angle(Angle(pitch=ang)))
assert_rot(Matrix.from_yaw(ang), Matrix.from_angle(Angle(yaw=ang)))
assert_rot(Matrix.from_roll(ang), Matrix.from_angle(Angle(roll=ang)))
# Various magnitudes to test
for mag in (-250, -1, 0, 1, 250):
assert_vec(Vec(y=mag) @ Matrix.from_pitch(ang), 0, mag, 0)
assert_vec(Vec(z=mag) @ Matrix.from_yaw(ang), 0, 0, mag)
assert_vec(Vec(x=mag) @ Matrix.from_roll(ang), mag, 0, 0)
def test_vec_basic_pitch(py_c_vec) -> None:
"""Check each direction rotates appropriately in pitch."""
Vec, Angle, Matrix, parse_vec_str = py_c_vec
assert_vec(Vec(200, 0, 0) @ Matrix.from_pitch(0), 200, 0, 0)
assert_vec(Vec(0, 0, 150) @ Matrix.from_pitch(0), 0, 0, 150)
assert_vec(Vec(200, 0, 0) @ Matrix.from_pitch(90), 0, 0, -200)
assert_vec(Vec(0, 0, 150) @ Matrix.from_pitch(90), 150, 0, 0)
assert_vec(Vec(200, 0, 0) @ Matrix.from_pitch(180), -200, 0, 0)
assert_vec(Vec(0, 0, 150) @ Matrix.from_pitch(180), 0, 0, -150)
assert_vec(Vec(200, 0, 0) @ Matrix.from_pitch(270), 0, 0, 200)
assert_vec(Vec(0, 0, 150) @ Matrix.from_pitch(270), -150, 0, 0)
def test_matrix_roundtrip_pitch(py_c_vec):
"""Check converting to and from a Matrix does not change values."""
Vec, Angle, Matrix, parse_vec_str = py_c_vec
# We can't directly check the resulted value, some of these produce
# gimbal lock and can't be recovered.
# So instead check the rotation matrix is the same.
for pitch in range(0, 360, 45):
old_ang = Angle(pitch, 0, 0)
new_ang = Matrix.from_pitch(pitch).to_angle()
assert_rot(
Matrix.from_angle(old_ang),
Matrix.from_angle(new_ang),
(old_ang, new_ang),
)
