def test__mat_invert_(self):
foo1 = Transform.create_translate(10.0,2.0,3.0)
foo2 = Transform.create_rot_x(math.radians(37))
foo3 = Transform.create_translate(1.0,-2.0,-6.0)
foo4 = Transform.create_rot_y(math.radians(7))
foo5 = Transform.create_translate(1.0,7.0,2.0)
foo6 = Transform.create_rot_z(math.radians(137))
foo7 = foo1 * foo2 * foo3 * foo4 * foo5 * foo6
self.assertEqual(foo7.mat.get_invert(), foo7.mat_inv)
self.assertEqual(foo7.mat_inv, foo7.mat_inv)
def test___mul__(self):
# ///////////////////////////////////////////__mul__ float
foo1 = Vector4d(1.0, 2.0, 3.0, 4.0)
foo2 = foo1 * 2.0
self.assertEqual(foo2, Vector4d(2.0, 4.0, 6.0, 8.0))
#///////////////////////////////////////////__imul__ float
foo1 = Vector4d(1.0, 2.0, 3.0, 4.0)
foo1 *= 2.0
self.assertEqual(foo1, Vector4d(2.0, 4.0, 6.0, 8.0))
#///////////////////////////////////////////__mul__ vector4d
foo1 = Vector4d(1.0, 2.0, 3.0, 4.0)
foo2 = Vector4d(2.0, 3.0, 4.0, 5.0)
foo3 = foo1 * foo2
self.assertEqual(foo3, Vector4d(2.0, 6.0, 12.0, 20.0))
#///////////////////////////////////////////__imul__ vector4d
foo1 = Vector4d(1.0, 2.0, 3.0, 4.0)
foo1 *= Vector4d(2.0, 3.0, 4.0, 5.0)
self.assertEqual(foo1, Vector4d(2.0, 6.0, 12.0, 20.0))
#///////////////////////////////////////////__mul__ matrix44 Rotz
foo1 = Vector4d(0.0, 2.0, 0.0, 1.0)
foo2 = Transform.create_rot_z(math.radians(90))
foo3 = foo1 * foo2.mat
self.assertEqual(foo3, Vector4d(-2.0, 0.0, 0.0, 1.0))
foo3 = foo3 * foo2.mat
self.assertEqual(foo3, Vector4d(0.0, -2.0, 0.0, 1.0))
#///////////////////////////////////////////__mul__ matrix44 Roty
foo1 = Vector4d(2.0, 0.0, 0.0, 1.0)
foo2 = Transform.create_rot_y(math.radians(90))
foo3 = foo1 * foo2.mat
self.assertEqual(foo3, Vector4d(0.0, 0.0, -2.0, 1.0))
foo3 = foo3 * foo2.mat
self.assertEqual(foo3, Vector4d(-2.0, 0.0, 0.0, 1.0))
#///////////////////////////////////////////__mul__ matrix44 Rotx
foo1 = Vector4d(0.0, 2.0, 0.0, 1.0)
foo2 = Transform.create_rot_x(math.radians(90))
foo3 = foo1 * foo2.mat
self.assertEqual(foo3, Vector4d(0.0, 0.0, 2.0, 1.0))
foo3 = foo3 * foo2.mat
self.assertEqual(foo3, Vector4d(0.0, -2.0, 0.0, 1.0))
#///////////////////////////////////////////__mul__ matrix44 Rotx * Roty * Rotz
foo1 = Vector4d(2.0, 0.0, 0.0, 1.0)
foo2 = Transform.create_rot_x(math.radians(90))
foo3 = Transform.create_rot_y(math.radians(90))
foo4 = Transform.create_rot_z(math.radians(90))
foo5 = foo2 * foo3 * foo4
foo6 = foo1 * foo5.mat
foo7 = Vector4d(0.0, 0.0, -2.0, 1.0)
self.assertEqual(foo6, foo7)
#///////////////////////////////////////////__mul__ matrix44 Tr * Rotz
foo1 = Vector4d(0.0, 0.0, 0.0, 1.0)
foo2 = Transform.create_translate(1.0, 0.0, 0.0)
foo4 = Transform.create_rot_z(math.radians(90))
foo5 = foo1 * foo2 * foo4
foo7 = Vector4d(0.0, 1.0, 0.0, 1.0)
self.assertEqual(foo5, foo7)
def test___mul__(self):
from core.transform import Transform
from maths.matrix44 import Matrix44
from maths.vector4d import Vector4d
# //////////////////////////////////////////////////////I *I = I
foo1 = Transform.create_identity()
foo2 = Transform.create_identity()
foo3 = foo1 * foo2
for i in range(0, 4):
for j in range(0, 4):
if i == j:
self.assertEqual(foo3.mat[i][j], 1.0)
self.assertEqual(foo3.mat_inv[i][j], 1.0)
else:
self.assertEqual(foo3.mat[i][j], 0.0)
self.assertEqual(foo3.mat_inv[i][j], 0.0)
#//////////////////////////////////////////////////////Ta * Tb = Tab
foo1 = Transform.create_translate(1.0, 0.0, 0.0)
foo2 = Transform.create_translate(0.0, 2.0, 0.0)
foo0 = foo1 * foo2
for i in range(0, 3):
for j in range(0, 4):
if i == j:
self.assertEqual(foo3.mat[i][j], 1.0)
else:
self.assertEqual(foo3.mat[i][j], 0.0)
self.assertEqual(foo0.mat[3][0], 1.0)
self.assertEqual(foo0.mat[3][1], 2.0)
self.assertEqual(foo0.mat[3][2], 0.0)
self.assertEqual(foo0.mat[3][3], 1.0)
self.assertEqual(foo0.mat[3], Vector4d(1.0, 2.0, 0.0, 1.0))
#//////////////////////////////////////////////////////RotXa * RotXb = RotXab
foo0 = Transform.create_rot_x(math.radians(90))
foo1 = Transform.create_rot_x(math.radians(45))
foo2 = Transform.create_rot_x(math.radians(45))
foo3 = foo1 * foo2
self.assertEqual(foo0, foo3)
#//////////////////////////////////////////////////////RotZ(a) * RotZ(-a) = I
foo0 = Transform.create_rot_z(math.radians(90))
foo1 = Transform.create_rot_z(math.radians(-90))
foo2 = foo0 * foo1
foo3 = Transform.create_identity()
self.assertEqual(foo2, foo3)
#//////////////////////////////////////////////////////Tr(a) * Tr(-a) = I
foo0 = Transform.create_translate(1.0, 0.0, 0.0)
foo1 = Transform.create_translate(-1.0, 0.0, 0.0)
foo2 = foo0 * foo1
foo3 = Transform.create_identity()
self.assertEqual(foo2, foo3)
#//////////////////////////////////////////////////////RotXa * T = RotXab
foo0 = Transform.create_translate(1.0, 2.0, 3.0)
foo1 = Transform.create_rot_x(math.radians(90))
foo2 = Transform.create_rot_z(math.radians(22))
foo3 = Transform.create_translate(1.0, 2.0, 3.0)
foo4 = foo0 * foo1 * foo2 * foo3
self.assertEqual(foo4.mat_inv, foo4.mat.get_invert())
