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_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_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_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_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_inverse(self): m1 = Matrix33.identity() * Matrix33.from_x_rotation(0.5) m = m1.inverse self.assertTrue(np.array_equal(m, matrix33.inverse(m1)))