def test_multiplication(self):
"""
Multiplying one L{Quaternion} by another returns a new L{Quaternion}
giving the product of the two.
"""
a = Quaternion.fromAxisAngle(Vector3(1, 0, 0), pi / 4)
b = Quaternion.fromAxisAngle(Vector3(1, 0, 0), pi / 6)
c = a * b
axis = c.getAxis()
angle = c.getAngle()
self.assertEqual(axis.x, 1)
self.assertEqual(axis.y, 0)
self.assertEqual(axis.z, 0)
self.assertAlmostEqual(angle, pi / 4 + pi / 6, 6)
def test_multiplication(self):
"""
Multiplying one L{Quaternion} by another returns a new L{Quaternion}
giving the product of the two.
"""
a = Quaternion.fromAxisAngle(Vector3(1, 0, 0), pi / 4)
b = Quaternion.fromAxisAngle(Vector3(1, 0, 0), pi / 6)
c = a * b
axis = c.getAxis()
angle = c.getAngle()
self.assertEqual(axis.x, 1)
self.assertEqual(axis.y, 0)
self.assertEqual(axis.z, 0)
self.assertAlmostEqual(angle, pi / 4 + pi / 6, 6)
def test_fromAxisAngle(self):
"""
A L{Quaternion} can be constructed from a Vector3 giving an axis and a
scalar giving an angle from that axis.
"""
quat = Quaternion.fromAxisAngle(Vector3(0, 1, 0), 45)
self.assertTrue(isinstance(quat, Quaternion))
def test_fromAxisAngle(self):
"""
A L{Quaternion} can be constructed from a Vector3 giving an axis and a
scalar giving an angle from that axis.
"""
quat = Quaternion.fromAxisAngle(Vector3(0, 1, 0), 45)
self.assertTrue(isinstance(quat, Quaternion))
def test_rotation(self):
transform = Transform()
transform.setRotation(Quaternion.fromScalars(1, 2, 3, 4))
quat = transform.getRotation()
self.assertTrue(isinstance(quat, Quaternion))
self.assertEquals(quat.getX(), 0.18257419764995575)
self.assertEquals(quat.getY(), 0.3651483952999115)
self.assertEquals(quat.getZ(), 0.54772257804870605)
self.assertEquals(quat.getW(), 0.73029673099517822)
def test_rotation(self):
transform = Transform()
transform.setRotation(Quaternion.fromScalars(1, 2, 3, 4))
quat = transform.getRotation()
self.assertTrue(isinstance(quat, Quaternion))
self.assertEquals(quat.getX(), 0.18257419764995575)
self.assertEquals(quat.getY(), 0.3651483952999115)
self.assertEquals(quat.getZ(), 0.54772257804870605)
self.assertEquals(quat.getW(), 0.73029673099517822)
def test_getAxisAndAngle(self):
"""
A L{Quaternion} represents a rotation around an axis.
L{Quaternion.getAngle} returns the rotation in radians,
L{Quaternion.getAxis} returns the axis as a L{Vector3}.
"""
quat = Quaternion.fromScalars(0, 0, 0, 1)
axis = quat.getAxis()
self.assertEqual(axis.x, 1)
self.assertEqual(axis.y, 0)
self.assertEqual(axis.z, 0)
self.assertEqual(quat.getAngle(), 0)
quat = Quaternion.fromScalars(0, 0, 1, 0)
axis = quat.getAxis()
self.assertEqual(axis.x, 0)
self.assertEqual(axis.y, 0)
self.assertEqual(axis.z, 1)
self.assertAlmostEqual(quat.getAngle(), pi, 6)
def test_getAxisAndAngle(self):
"""
A L{Quaternion} represents a rotation around an axis.
L{Quaternion.getAngle} returns the rotation in radians,
L{Quaternion.getAxis} returns the axis as a L{Vector3}.
"""
quat = Quaternion.fromScalars(0, 0, 0, 1)
axis = quat.getAxis()
self.assertEqual(axis.x, 1)
self.assertEqual(axis.y, 0)
self.assertEqual(axis.z, 0)
self.assertEqual(quat.getAngle(), 0)
quat = Quaternion.fromScalars(0, 0, 1, 0)
axis = quat.getAxis()
self.assertEqual(axis.x, 0)
self.assertEqual(axis.y, 0)
self.assertEqual(axis.z, 1)
self.assertAlmostEqual(quat.getAngle(), pi, 6)
def test_fromScalars(self):
"""
A L{Quaternion} can be constructed from four scalar values giving x, y,
z, and w.
"""
quat = Quaternion.fromScalars(1, 2, 3, 4)
self.assertTrue(isinstance(quat, Quaternion))
self.assertEquals(quat.getX(), 1)
self.assertEquals(quat.getY(), 2)
self.assertEquals(quat.getZ(), 3)
self.assertEquals(quat.getW(), 4)
def test_fromScalars(self):
"""
A L{Quaternion} can be constructed from four scalar values giving x, y,
z, and w.
"""
quat = Quaternion.fromScalars(1, 2, 3, 4)
self.assertTrue(isinstance(quat, Quaternion))
self.assertEquals(quat.getX(), 1)
self.assertEquals(quat.getY(), 2)
self.assertEquals(quat.getZ(), 3)
self.assertEquals(quat.getW(), 4)
def test_unrelatedMultiplication(self):
"""
Multiplying a L{Quaternion} but another type results in a L{TypeError}.
"""
self.assertRaises(TypeError, mul, Quaternion.fromScalars(0, 0, 0, 1),
"foo")
def test_unrelatedMultiplication(self):
"""
Multiplying a L{Quaternion} but another type results in a L{TypeError}.
"""
self.assertRaises(
TypeError, mul, Quaternion.fromScalars(0, 0, 0, 1), "foo")
