def test_distance(self):
self.assertAlmostEqual(
quat.distance(quat.from_pyr(90, 0, 0), quat.from_pyr(-90, 0, 0)),
1)
self.assertAlmostEqual(
quat.distance(quat.from_pyr(0, -180, 0), quat.from_pyr(0, 180, 0)),
0)
self.assertAlmostEqual(quat.distance(quat(), quat()), 0)
self.assertAlmostEqual(quat.distance(quat(), quat(0, 0, 0, -1)), 0)
def test_multiply(self):
a = vec3(1, 2, 3)
self.assertAlmostEqual(quat() * a, a)
self.assertAlmostEqual(a * quat(), a)
self.assertAlmostEqual(quat.from_pyr(90, 0, 0) * vec3.forward, vec3.up)
self.assertAlmostEqual(vec3.up * quat.from_pyr(90, 0, 0), vec3.forward)
b = quat.from_pyr(10, 20, 30)
c = quat.from_pyr(-40, 50, -60)
self.assertAlmostEqual(b * (c * a), (b * c) * a)
self.assertAlmostEqual((a * b) * c, a * (b * c))
def test_angles(self):
q = quat.from_pyr(20, 40, 70)
q2 = quat.from_pyr(0, 0, 70) * quat.from_pyr(0, 40, 0) * quat.from_pyr(
20, 0, 0)
self.assertAlmostEqual(q, q2)
for a in [-90, -40, 0, 40, 90]:
self.assertAlmostEqual(quat.from_pyr(a, 0, 0).pitch, a)
for a in [-180, -90, -40, 0, 40, 90, 180]:
self.assertAlmostEqual(quat.from_pyr(0, a, 0).yaw, a)
for a in [-90, -40, 0, 40, 90]:
self.assertAlmostEqual(quat.from_pyr(0, 0, a).roll, a)
for p in [-90, -40, 0, 40, 90]:
for y in [-180, -90, -40, 0, 40, 90, 180]:
q = quat.from_pyr(p, y, 0)
self.assertAlmostEqual(q.pitch, p)
self.assertAlmostEqual(q.yaw, y)
q2 = quat.from_pyr(q.pitch, q.yaw, q.roll)
self.assertAlmostEqual(q, q2)
def test_invert(self):
a = quat.from_pyr(10, 20, 30)
b = quat(a)
#static
quat.invert(a)
self.assertEqual(a, b) #unchanged
#instance
self.assertAlmostEqual(a.invert(), quat.invert(b))
self.assertAlmostEqual(a, quat.invert(b))
self.assertAlmostEqual(quat.invert(quat()), quat())
self.assertAlmostEqual(a * quat.invert(a), quat())
self.assertAlmostEqual(a * (quat.invert(a) * b), b)
c = vec3(1, 2, 3)
self.assertAlmostEqual(quat.invert(a) * c, c * a)
def test_initialization_and_value_set(self):
a = quat()
self.assertEqual(a.x, 0)
self.assertEqual(a.y, 0)
self.assertEqual(a.z, 0)
self.assertEqual(a.w, 1)
b = quat.from_pyr(0, 0, 0)
self.assertAlmostEqual(a, b)
b.set(1, 2, 3, 4)
self.assertAlmostEqual(b, quat(1, 2, 3, 4))
c = quat(b)
self.assertFalse(c is b)
self.assertEqual(b, c)
d = c.copy()
self.assertFalse(c is d)
self.assertEqual(c, d)
def test_rot_direction(self):
# https://github.com/beep39/pymikuvr/wiki/Coordinate-system
self.assertAlmostEqual(
quat.from_pyr(90, 0, 0) * vec3(0, 1, 0), vec3(0, 0, 1))
self.assertAlmostEqual(
quat.from_pyr(0, 0, 90) * vec3(1, 0, 0), vec3(0, 1, 0))
self.assertAlmostEqual(
quat.from_pyr(0, 90, 0) * vec3(0, 0, 1), vec3(1, 0, 0))
self.assertAlmostEqual(quat.from_pyr(90, 0, 0) * vec3.forward, vec3.up)
self.assertAlmostEqual(quat.from_pyr(0, 0, 90) * vec3.right, vec3.up)
self.assertAlmostEqual(
quat.from_pyr(0, 90, 0) * vec3.right, vec3.forward)
def test_posrot(self):
v = vec3(1, 2, 3)
q = quat.from_pyr(10, 20, 30)
a = transform()
a.pos.set(v.x, v.y, v.z)
self.assertAlmostEqual(a.pos, v)
self.assertAlmostEqual(a.local_pos, v)
a.rot.set(q.x, q.y, q.z, q.w)
self.assertAlmostEqual(a.rot, q)
self.assertAlmostEqual(a.local_rot, q)
b = transform()
b.pos = v
self.assertAlmostEqual(b.pos, v)
self.assertAlmostEqual(b.local_pos, v)
b.rot = q
self.assertAlmostEqual(b.rot, q)
self.assertAlmostEqual(b.local_rot, q)
c = transform()
c.local_pos.set(v.x, v.y, v.z)
self.assertAlmostEqual(c.pos, v)
self.assertAlmostEqual(c.local_pos, v)
c.local_rot.set(q.x, q.y, q.z, q.w)
self.assertAlmostEqual(c.rot, q)
self.assertAlmostEqual(c.local_rot, q)
d = transform()
d.local_pos = v
self.assertAlmostEqual(d.pos, v)
self.assertAlmostEqual(d.local_pos, v)
d.local_rot = q
self.assertAlmostEqual(d.rot, q)
self.assertAlmostEqual(d.local_rot, q)
gc.collect()