def testInit(self):
a = pyjet.QuaternionD()
self.assertEqual(a.w, 1.0)
self.assertEqual(a.x, 0.0)
self.assertEqual(a.y, 0.0)
self.assertEqual(a.z, 0.0)
b = pyjet.QuaternionD(-1, 2, 3, 4)
self.assertEqual(b.w, -1.0)
self.assertEqual(b.x, 2.0)
self.assertEqual(b.y, 3.0)
self.assertEqual(b.z, 4.0)
c = pyjet.QuaternionD(x=2, z=4, w=1, y=3)
self.assertEqual(c.w, 1.0)
self.assertEqual(c.x, 2.0)
self.assertEqual(c.y, 3.0)
self.assertEqual(c.z, 4.0)
def test_init():
a = pyjet.QuaternionD()
assert a.w == 1.0
assert a.x == 0.0
assert a.y == 0.0
assert a.z == 0.0
b = pyjet.QuaternionD(-1, 2, 3, 4)
assert b.w == -1.0
assert b.x == 2.0
assert b.y == 3.0
assert b.z == 4.0
c = pyjet.QuaternionD(x=2, z=4, w=1, y=3)
assert c.w == 1.0
assert c.x == 2.0
assert c.y == 3.0
assert c.z == 4.0
def testGetters(self):
a = pyjet.QuaternionD(1, 2, 3, 4)
self.assertEqual(a[0], a.w)
self.assertEqual(a[1], a.x)
self.assertEqual(a[2], a.y)
self.assertEqual(a[3], a.z)
a.normalize()
axis = a.axis()
angle = a.angle()
denom = math.sqrt(1 - a.w * a.w)
self.assertAlmostEqual(axis.x, math.sqrt(2.0 / 15.0) / denom)
self.assertAlmostEqual(axis.y, math.sqrt(3.0 / 10.0) / denom)
self.assertAlmostEqual(axis.z, 2.0 * math.sqrt(2.0 / 15.0) / denom)
self.assertAlmostEqual(angle, 2.0 * math.acos(1.0 / math.sqrt(30.0)))
def test_getters():
a = pyjet.QuaternionD(1, 2, 3, 4)
assert a[0] == a.w
assert a[1] == a.x
assert a[2] == a.y
assert a[3] == a.z
a.normalize()
axis = a.axis()
angle = a.angle()
denom = math.sqrt(1 - a.w * a.w)
assert axis.x == approx(math.sqrt(2.0 / 15.0) / denom)
assert axis.y == approx(math.sqrt(3.0 / 10.0) / denom)
assert axis.z == approx(2.0 * math.sqrt(2.0 / 15.0) / denom)
assert angle == approx(2.0 * math.acos(1.0 / math.sqrt(30.0)))
def testSetters(self):
a = pyjet.QuaternionD()
a.setAxisAngle((0, -1, 0), math.pi / 2)
axis = a.axis()
angle = a.angle()
self.assertEqual(axis.x, 0)
self.assertEqual(axis.y, -1)
self.assertEqual(axis.z, 0)
self.assertEqual(angle, math.pi / 2)
a[0] = 1.0
a[1] = 2.0
a[2] = 3.0
a[3] = 4.0
self.assertEqual(1, a.w)
self.assertEqual(2, a.x)
self.assertEqual(3, a.y)
self.assertEqual(4, a.z)
def test_setters():
a = pyjet.QuaternionD()
a.setAxisAngle((0, -1, 0), math.pi / 2)
axis = a.axis()
angle = a.angle()
assert axis.x == 0
assert axis.y == -1
assert axis.z == 0
assert angle == math.pi / 2
a[0] = 1.0
a[1] = 2.0
a[2] = 3.0
a[3] = 4.0
assert 1 == a.w
assert 2 == a.x
assert 3 == a.y
assert 4 == a.z