def test_translate_vector():
v = Vec3(1, 1, 0)
t = Transform(Quat.identity(), Vec3(4, 5, 6))
res = t.translate(v)
assert res == Vec3(5, 6, 6)
def test_init_and_eq_and_ne():
t1 = Transform()
assert t1.rotation == Quat.identity()
assert t1.translation == Vec3.zero()
rot = Quat.from_rotation_on_axis(2, np.pi)
trans = Vec3(1, 2, 3)
t2 = Transform(rot, trans)
assert t2.rotation == rot
assert t2.translation == trans
t3 = Transform.identity()
assert t1 == t3
assert t1 != t2
assert t3 != t2
def test_slerp():
q1 = Quat.from_rotation_on_axis(2, -np.pi / 4)
q2 = Quat.from_rotation_on_axis(2, np.pi / 4)
q3 = q1.slerp(q2, 0.5)
q4 = q2.slerp(q1, 0.5)
q_true = Quat.identity()
assert q3 == q_true
assert q4 == q_true
q5 = q1.slerp(q2, 0.9)
q_true = Quat.from_rotation_on_axis(2, (45 - 9) * np.pi / 180)
assert q5 == q_true
def identity():
return Transform(Quat.identity(), Vec3.zero())
def __init__(
self, orientation: Quat = Quat.identity(), position: Vec3 = Vec3.zero()
):
self.rotation = orientation
self.translation = position
def test_identity_constructors():
q1 = Quat.identity()
assert q1 == Quat(0, 0, 0, 1)
