def test_concat():
targ = [[SQRT2, 0, SQRT2, 0], [.5, SQRT2, -.5, 0], [-.5, SQRT2, .5, 0],
[0, 0, 0, 1]]
I = Transform(np.eye(4))
rx = Transform(np.eye(4))
rx.rotx(45)
ry = Transform(np.eye(4))
ry.roty(45)
I.concatenate_matrix(rx.tform)
I.concatenate_matrix(ry.tform)
assert approx(I.tform) == targ
# overload
I2 = Transform(np.eye(4))
X = I2 * rx * ry
assert approx(X.tform) == targ
def test_roty():
I = Transform(np.eye(4))
I.roty(45)
assert approx(I.tform) == [[SQRT2, 0, SQRT2, 0], [0, 1, 0, 0],
[-SQRT2, 0, SQRT2, 0], [0, 0, 0, 1]]