def test_rotmat_0(self):
"""Test rotmat when the rotation is 0 deg (singularity)."""
v1 = Vector([1.0, 0.8, 0])
v2 = Vector([1.0, 0.8, 0])
rot = rotmat(v1, v2)
v3 = v1.left_multiply(rot)
self.assertTrue(numpy.allclose(v1.get_array(), v3.get_array()))
def test_m2rotaxis_0(self):
"""Test 0 deg rotation. Axis must be [1, 0, 0] as per Vector documentation."""
v1 = Vector([1.0, 0.8, 0])
v2 = Vector([1.0, 0.8, 0])
rot = rotmat(v1, v2)
angle, axis = m2rotaxis(rot)
self.assertTrue(numpy.allclose(axis.get_array(), [1, 0, 0]))
self.assertTrue(abs(angle) < 1e-5)
def test_m2rotaxis_180(self):
"""Test 180 deg rotation."""
v1 = Vector([1.0, 0.8, 0])
v2 = Vector([-1.0, -0.8, 0])
rot = rotmat(v1, v2)
angle, axis = m2rotaxis(rot)
self.assertTrue(abs(axis * v1) < 1e-5) # axis orthogonal to v1
self.assertTrue(abs(angle - numpy.pi) < 1e-5)
def test_m2rotaxis_90(self):
"""Test 90 deg rotation."""
v1 = Vector(0, 0, 1)
v2 = Vector(0, 1, 0)
rot = rotmat(v1, v2)
angle, axis = m2rotaxis(rot)
self.assertTrue(numpy.allclose(axis.get_array(), [-1.0, 0.0, 0.0]))
self.assertTrue(abs(angle - numpy.pi / 2) < 1e-5)
def test_transform(self):
"""Transform entities (rotation and translation)."""
for o in (self.s, self.m, self.c, self.r, self.a):
rotation = rotmat(Vector(1,3,5), Vector(1,0,0))
translation=numpy.array((2.4,0,1), 'f')
oldpos = self.get_pos(o)
o.transform(rotation, translation)
newpos = self.get_pos(o)
newpos_check = numpy.dot(oldpos, rotation) + translation
for i in range(0, 3):
self.assertAlmostEqual(newpos[i], newpos_check[i])
def test_transform(self):
"""Transform entities (rotation and translation)."""
for o in (self.s, self.m, self.c, self.r, self.a):
rotation = rotmat(Vector(1,3,5), Vector(1,0,0))
translation=numpy.array((2.4,0,1), 'f')
oldpos = self.get_pos(o)
o.transform(rotation, translation)
newpos = self.get_pos(o)
newpos_check = numpy.dot(oldpos, rotation) + translation
for i in range(0, 3):
self.assertAlmostEqual(newpos[i], newpos_check[i])
def test_rotmat_90(self):
"""Test regular 90 deg rotation."""
v1 = Vector(0, 0, 1)
v2 = Vector(0, 1, 0)
rot = rotmat(v1, v2)
self.assertTrue(numpy.allclose(rot[0], numpy.array([1.0, 0.0, 0.0])))
self.assertTrue(numpy.allclose(rot[1], numpy.array([0.0, 0.0, 1.0])))
self.assertTrue(numpy.allclose(rot[2], numpy.array([0.0, -1.0, 0.0])))
self.assertTrue(
numpy.allclose(v1.left_multiply(rot).get_array(), [0.0, 1.0, 0.0]))
self.assertTrue(
numpy.allclose(
v1.right_multiply(numpy.transpose(rot)).get_array(),
[0.0, 1.0, 0.0]))
