def test_rotate(self):
a = math.sqrt(2.0)/2.0
#Trivial
p = Quat(1,0,0,0) #Identity quaternion
v = V3D(1,0,0)
orig_v = v;
p.rotate(v);
self.assertEquals(orig_v,v)
# Now do more angles
v = V3D(1,0,0);
p = Quat(90., V3D(0,1,0)); #90 degrees, right-handed, around y
p.rotate(v);
self.assertEquals(v, V3D(0,0,-1))
v = V3D(1,0,0);
p = Quat(45., V3D(0,0,1))
p.rotate(v);
self.assertEquals(v, V3D(a, a, 0))
def test_rotate(self):
a = math.sqrt(2.0)/2.0
#Trivial
p = Quat(1,0,0,0) #Identity quaternion
v = V3D(1,0,0)
orig_v = v;
p.rotate(v);
self.assertEquals(orig_v,v)
# Now do more angles
v = V3D(1,0,0);
p = Quat(90., V3D(0,1,0)); #90 degrees, right-handed, around y
p.rotate(v);
self.assertEquals(v, V3D(0,0,-1))
v = V3D(1,0,0);
p = Quat(45., V3D(0,0,1))
p.rotate(v);
self.assertEquals(v, V3D(a, a, 0))
def MyRotateFunction(vector, axis, angle):
from copy import copy
q = Quat(angle, axis)
new_vector = copy(vector)
q.rotate(new_vector)
return new_vector
