def test_operators_matrix33(self):
m1 = Matrix33.identity()
m2 = Matrix33.from_x_rotation(0.5)
# add
self.assertTrue(np.array_equal(m1 + m2, matrix33.create_identity() + matrix33.create_from_x_rotation(0.5)))
# subtract
self.assertTrue(np.array_equal(m1 - m2, matrix33.create_identity() - matrix33.create_from_x_rotation(0.5)))
# multiply
self.assertTrue(np.array_equal(m1 * m2, matrix33.multiply(matrix33.create_from_x_rotation(0.5), matrix33.create_identity())))
# divide
self.assertRaises(ValueError, lambda: m1 / m2)
# inverse
self.assertTrue(np.array_equal(~m2, matrix33.inverse(matrix33.create_from_x_rotation(0.5))))
# ==
self.assertTrue(Matrix33() == Matrix33())
self.assertFalse(Matrix33() == Matrix33([1. for n in range(9)]))
# !=
self.assertTrue(Matrix33() != Matrix33([1. for n in range(9)]))
self.assertFalse(Matrix33() != Matrix33())
def test_create_from_matrix44(self):
m1 = Matrix44.identity()
m = Matrix33.from_matrix44(m1)
self.assertTrue(np.array_equal(m, np.eye(3)))
m = Matrix33(m1)
self.assertTrue(np.array_equal(m, np.eye(3)))
def test_create_from_quaternion(self):
q = Quaternion()
m = Matrix33.from_quaternion(q)
self.assertTrue(np.array_equal(m, np.eye(3)))
self.assertTrue(np.array_equal(m.quaternion, q))
m = Matrix33(q)
self.assertTrue(np.array_equal(m, np.eye(3)))
def test_multiply(self):
m1 = Matrix33(np.arange(self._size))
m2 = Matrix33(np.arange(self._size)[::-1])
m = m1 * m2
self.assertTrue(np.array_equal(m, matrix33.multiply(m2, m1)))
m1 = Matrix33(np.arange(self._size))
m2 = Matrix44(np.arange(16))
m = m1 * m2
self.assertTrue(np.array_equal(m, matrix33.multiply(matrix33.create_from_matrix44(m2), m1)))
def test_create(self):
m = Matrix33()
self.assertTrue(np.array_equal(m, np.zeros(self._shape)))
self.assertEqual(m.shape, self._shape)
m = Matrix33(np.arange(self._size))
self.assertEqual(m.shape, self._shape)
m = Matrix33([[1,2,3],[4,5,6],[7,8,9]])
self.assertEqual(m.shape, self._shape)
m = Matrix33(Matrix33())
self.assertTrue(np.array_equal(m, np.zeros(self._shape)))
self.assertEqual(m.shape, self._shape)
def test_operators_number(self):
m = Matrix33.identity()
fv = np.empty((1,), dtype=[('i', np.int16, 1),('f', np.float32, 1)])
fv[0] = (2, 2.0)
# add
self.assertTrue(np.array_equal(m + 1.0, matrix33.create_identity()[:] + 1.0))
self.assertTrue(np.array_equal(m + 1, matrix33.create_identity()[:] + 1.0))
self.assertTrue(np.array_equal(m + np.float(1.), matrix33.create_identity()[:] + 1.0))
self.assertTrue(np.array_equal(m + fv[0]['f'], matrix33.create_identity()[:] + 2.0))
self.assertTrue(np.array_equal(m + fv[0]['i'], matrix33.create_identity()[:] + 2.0))
# subtract
self.assertTrue(np.array_equal(m - 1.0, matrix33.create_identity()[:] - 1.0))
self.assertTrue(np.array_equal(m - 1, matrix33.create_identity()[:] - 1.0))
self.assertTrue(np.array_equal(m - np.float(1.), matrix33.create_identity()[:] - 1.0))
self.assertTrue(np.array_equal(m - fv[0]['f'], matrix33.create_identity()[:] - 2.0))
self.assertTrue(np.array_equal(m - fv[0]['i'], matrix33.create_identity()[:] - 2.0))
# multiply
self.assertTrue(np.array_equal(m * 2.0, matrix33.create_identity()[:] * 2.0))
self.assertTrue(np.array_equal(m * 2, matrix33.create_identity()[:] * 2.0))
self.assertTrue(np.array_equal(m * np.float(2.), matrix33.create_identity()[:] * 2.0))
self.assertTrue(np.array_equal(m * fv[0]['f'], matrix33.create_identity()[:] * 2.0))
self.assertTrue(np.array_equal(m * fv[0]['i'], matrix33.create_identity()[:] * 2.0))
# divide
self.assertTrue(np.array_equal(m / 2.0, matrix33.create_identity()[:] / 2.0))
self.assertTrue(np.array_equal(m / 2, matrix33.create_identity()[:] / 2.0))
self.assertTrue(np.array_equal(m / np.float(2.), matrix33.create_identity()[:] / 2.0))
self.assertTrue(np.array_equal(m / fv[0]['f'], matrix33.create_identity()[:] / 2.0))
self.assertTrue(np.array_equal(m / fv[0]['i'], matrix33.create_identity()[:] / 2.0))
def test_accessors(self):
m = Matrix33(np.arange(self._size))
self.assertTrue(np.array_equal(m.m1,[0,1,2]))
self.assertTrue(np.array_equal(m.m2,[3,4,5]))
self.assertTrue(np.array_equal(m.m3,[6,7,8]))
self.assertTrue(np.array_equal(m.r1,[0,1,2]))
self.assertTrue(np.array_equal(m.r2,[3,4,5]))
self.assertTrue(np.array_equal(m.r3,[6,7,8]))
self.assertTrue(np.array_equal(m.c1,[0,3,6]))
self.assertTrue(np.array_equal(m.c2,[1,4,7]))
self.assertTrue(np.array_equal(m.c3,[2,5,8]))
self.assertEqual(m.m11, 0)
self.assertEqual(m.m12, 1)
self.assertEqual(m.m13, 2)
self.assertEqual(m.m21, 3)
self.assertEqual(m.m22, 4)
self.assertEqual(m.m23, 5)
self.assertEqual(m.m31, 6)
self.assertEqual(m.m32, 7)
self.assertEqual(m.m33, 8)
m.m11 = 1
self.assertEqual(m.m11, 1)
self.assertEqual(m[0,0], 1)
m.m11 += 1
self.assertEqual(m.m11, 2)
self.assertEqual(m[0,0], 2)
def test_operators_number(self):
m = Matrix33.identity()
fv = np.empty((1,), dtype=[('i', np.int16, 1),('f', np.float32, 1)])
fv[0] = (2, 2.0)
# add
self.assertTrue(np.array_equal(m + 1.0, matrix33.create_identity()[:] + 1.0))
self.assertTrue(np.array_equal(m + 1, matrix33.create_identity()[:] + 1.0))
self.assertTrue(np.array_equal(m + np.float(1.), matrix33.create_identity()[:] + 1.0))
self.assertTrue(np.array_equal(m + fv[0]['f'], matrix33.create_identity()[:] + 2.0))
self.assertTrue(np.array_equal(m + fv[0]['i'], matrix33.create_identity()[:] + 2.0))
# subtract
self.assertTrue(np.array_equal(m - 1.0, matrix33.create_identity()[:] - 1.0))
self.assertTrue(np.array_equal(m - 1, matrix33.create_identity()[:] - 1.0))
self.assertTrue(np.array_equal(m - np.float(1.), matrix33.create_identity()[:] - 1.0))
self.assertTrue(np.array_equal(m - fv[0]['f'], matrix33.create_identity()[:] - 2.0))
self.assertTrue(np.array_equal(m - fv[0]['i'], matrix33.create_identity()[:] - 2.0))
# multiply
self.assertTrue(np.array_equal(m * 2.0, matrix33.create_identity()[:] * 2.0))
self.assertTrue(np.array_equal(m * 2, matrix33.create_identity()[:] * 2.0))
self.assertTrue(np.array_equal(m * np.float(2.), matrix33.create_identity()[:] * 2.0))
self.assertTrue(np.array_equal(m * fv[0]['f'], matrix33.create_identity()[:] * 2.0))
self.assertTrue(np.array_equal(m * fv[0]['i'], matrix33.create_identity()[:] * 2.0))
# divide
self.assertTrue(np.array_equal(m / 2.0, matrix33.create_identity()[:] / 2.0))
self.assertTrue(np.array_equal(m / 2, matrix33.create_identity()[:] / 2.0))
self.assertTrue(np.array_equal(m / np.float(2.), matrix33.create_identity()[:] / 2.0))
self.assertTrue(np.array_equal(m / fv[0]['f'], matrix33.create_identity()[:] / 2.0))
self.assertTrue(np.array_equal(m / fv[0]['i'], matrix33.create_identity()[:] / 2.0))
def test_create_from_matrix44(self):
m1 = Matrix44.identity()
m = Matrix33.from_matrix44(m1)
self.assertTrue(np.array_equal(m, np.eye(3)))
m = Matrix33(m1)
self.assertTrue(np.array_equal(m, np.eye(3)))
def test_operators_matrix33(self):
m1 = Matrix44.identity()
m2 = Matrix33.from_x_rotation(0.5)
# add
self.assertTrue(
np.array_equal(
m1 + m2,
matrix44.create_identity() +
matrix44.create_from_x_rotation(0.5)))
# subtract
self.assertTrue(
np.array_equal(
m1 - m2,
matrix44.create_identity() -
matrix44.create_from_x_rotation(0.5)))
# multiply
self.assertTrue(
np.array_equal(
m1 * m2,
matrix44.multiply(matrix44.create_identity(),
matrix44.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: m1 / m2)
def test_create_from_quaternion(self):
q = Quaternion()
m = Matrix33.from_quaternion(q)
self.assertTrue(np.array_equal(m, np.eye(3)))
self.assertTrue(np.array_equal(m.quaternion, q))
m = Matrix33(q)
self.assertTrue(np.array_equal(m, np.eye(3)))
def test_operators_vector4(self):
m = Matrix33.identity()
v = Vector4([1,1,1,1])
# add
self.assertRaises(ValueError, lambda: m + v)
# subtract
self.assertRaises(ValueError, lambda: m - v)
# multiply
self.assertTrue(ValueError, lambda: m * v)
# divide
self.assertRaises(ValueError, lambda: m / v)
def test_operators_vector3(self):
m = Matrix33.identity()
v = Vector3([1,1,1])
# add
self.assertRaises(ValueError, lambda: m + v)
# subtract
self.assertRaises(ValueError, lambda: m - v)
# multiply
self.assertTrue(np.array_equal(m * v, matrix33.apply_to_vector(matrix33.create_identity(), [1,1,1])))
# divide
self.assertRaises(ValueError, lambda: m / v)
def test_operators_quaternion(self):
m = Matrix33.identity()
q = Quaternion.from_x_rotation(0.7)
# add
self.assertRaises(ValueError, lambda: m + q)
# subtract
self.assertRaises(ValueError, lambda: m - q)
# multiply
self.assertTrue(np.array_equal(m * q, matrix33.multiply(matrix33.create_from_quaternion(quaternion.create_from_x_rotation(0.7)), matrix33.create_identity())))
# divide
self.assertRaises(ValueError, lambda: m / q)
def test_operators_matrix33(self):
v = Vector3()
m = Matrix33.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: v + m)
# subtract
self.assertRaises(ValueError, lambda: v - m)
# multiply
self.assertRaises(ValueError, lambda: v - m)
# divide
self.assertRaises(ValueError, lambda: v / m)
def test_operators_vector4(self):
m = Matrix33.identity()
v = Vector4([1,1,1,1])
# add
self.assertRaises(ValueError, lambda: m + v)
# subtract
self.assertRaises(ValueError, lambda: m - v)
# multiply
self.assertTrue(ValueError, lambda: m * v)
# divide
self.assertRaises(ValueError, lambda: m / v)
def test_operators_matrix33(self):
q = Quaternion()
m = Matrix33.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: q + m)
# subtract
self.assertRaises(ValueError, lambda: q - m)
# multiply
self.assertTrue(np.array_equal(q * m, quaternion.cross(quaternion.create(), quaternion.create_from_matrix(matrix33.create_from_x_rotation(0.5)))))
# divide
self.assertRaises(ValueError, lambda: q / m)
def test_operators_matrix33(self):
v = Vector3()
m = Matrix33.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: v + m)
# subtract
self.assertRaises(ValueError, lambda: v - m)
# multiply
self.assertRaises(ValueError, lambda: v - m)
# divide
self.assertRaises(ValueError, lambda: v / m)
def test_operators_vector3(self):
m = Matrix33.identity()
v = Vector3([1,1,1])
# add
self.assertRaises(ValueError, lambda: m + v)
# subtract
self.assertRaises(ValueError, lambda: m - v)
# multiply
self.assertTrue(np.array_equal(m * v, matrix33.apply_to_vector(matrix33.create_identity(), [1,1,1])))
# divide
self.assertRaises(ValueError, lambda: m / v)
def test_operators_matrix44(self):
m1 = Matrix33.identity()
m2 = Matrix44.from_x_rotation(0.5)
# add
self.assertTrue(np.array_equal(m1 + m2, matrix33.create_identity() + matrix33.create_from_x_rotation(0.5)))
# subtract
self.assertTrue(np.array_equal(m1 - m2, matrix33.create_identity() - matrix33.create_from_x_rotation(0.5)))
# multiply
self.assertTrue(np.array_equal(m1 * m2, matrix33.multiply(matrix33.create_identity(), matrix33.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: m1 / m2)
def test_operators_quaternion(self):
m = Matrix33.identity()
q = Quaternion.from_x_rotation(0.7)
# add
self.assertRaises(ValueError, lambda: m + q)
# subtract
self.assertRaises(ValueError, lambda: m - q)
# multiply
self.assertTrue(np.array_equal(m * q, matrix33.multiply(matrix33.create_identity(), matrix33.create_from_quaternion(quaternion.create_from_x_rotation(0.7)))))
# divide
self.assertRaises(ValueError, lambda: m / q)
def test_create_from_inverse_quaternion(self):
q = Quaternion.from_x_rotation(0.5)
m = Matrix33.from_inverse_of_quaternion(q)
expected = matrix33.create_from_quaternion(quaternion.inverse(quaternion.create_from_x_rotation(0.5)))
np.testing.assert_almost_equal(np.array(m), expected, decimal=5)
def test_matrix33(self):
m1 = Matrix33.identity() * Matrix33.from_x_rotation(0.5)
m = m1.matrix33
self.assertTrue(m1 is m)
def test_create_from_eulers(self):
e = Vector3([1,2,3])
m = Matrix33.from_eulers(e)
self.assertTrue(np.array_equal(m, matrix33.create_from_eulers([1,2,3])))
def test_create_from_scale(self):
v = Vector3([1,2,3])
m = Matrix33.from_scale(v)
self.assertTrue(np.array_equal(m, np.diag([1,2,3])))
def test_matrix44(self):
m1 = Matrix33.identity() * Matrix33.from_x_rotation(0.5)
m = m1.matrix44
self.assertTrue(np.array_equal(m, matrix44.create_from_matrix33(m1)))
def test_identity(self):
m = Matrix33.identity()
self.assertTrue(np.array_equal(m, np.eye(3)))
def test_create_from_inverse_quaternion(self):
q = Quaternion.from_x_rotation(0.5)
m = Matrix33.from_inverse_of_quaternion(q)
expected = matrix33.create_from_quaternion(quaternion.inverse(quaternion.create_from_x_rotation(0.5)))
np.testing.assert_almost_equal(np.array(m), expected, decimal=5)
def test_matrix44(self):
m1 = Matrix33.identity() * Matrix33.from_x_rotation(0.5)
m = m1.matrix44
self.assertTrue(np.array_equal(m, matrix44.create_from_matrix33(m1)))
def test_matrix33(self):
m1 = Matrix33.identity() * Matrix33.from_x_rotation(0.5)
m = m1.matrix33
self.assertTrue(m1 is m)
def test_inverse(self):
m1 = Matrix33.identity() * Matrix33.from_x_rotation(0.5)
m = m1.inverse
self.assertTrue(np.array_equal(m, matrix33.inverse(m1)))
def test_inverse(self):
m1 = Matrix33.identity() * Matrix33.from_x_rotation(0.5)
m = m1.inverse
self.assertTrue(np.array_equal(m, matrix33.inverse(m1)))
def test_identity(self):
m = Matrix33.identity()
self.assertTrue(np.array_equal(m, np.eye(3)))
def test_create_from_eulers(self):
e = Vector3([1,2,3])
m = Matrix33.from_eulers(e)
self.assertTrue(np.array_equal(m, matrix33.create_from_eulers([1,2,3])))
def test_create_from_scale(self):
v = Vector3([1,2,3])
m = Matrix33.from_scale(v)
self.assertTrue(np.array_equal(m, np.diag([1,2,3])))
