def test_equality(self):
q1 = Quaternion([0, 0, 0, 1])
q2 = Quaternion([0, 0, 0, 1])
q3 = Quaternion([0, 0, 1, -1])
self.assertEqual(q1, q2)
self.assertNotEqual(q1, q3)
self.assertNotEqual(q2, q3)
def test_create(self):
q = Quaternion()
self.assertTrue(np.array_equal(q, [0., 0., 0., 1.]))
self.assertEqual(q.shape, self._shape)
q = Quaternion([1., 2., 3., 4.])
self.assertTrue(np.array_equal(q, [1., 2., 3., 4.]))
self.assertEqual(q.shape, self._shape)
q = Quaternion(Quaternion([1., 2., 3., 4.]))
self.assertTrue(np.array_equal(q, [1., 2., 3., 4.]))
self.assertEqual(q.shape, self._shape)
def test_normalized(self):
q1 = Quaternion([1., 2., 3., 4.])
self.assertFalse(np.allclose(q1.length, 1.))
q2 = q1.normalized
self.assertFalse(np.allclose(q1.length, 1.))
self.assertTrue(np.allclose(q2.length, 1.))
def test_operators_quaternion(self):
q1 = Quaternion()
q2 = Quaternion.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: q1 + q2)
# subtract
# we had to add this to enable np.array_equal to work
# as it uses subtraction
#self.assertRaises(ValueError, lambda: q1 - q2)
# multiply
self.assertTrue(
np.array_equal(
q1 * q2,
quaternion.cross(quaternion.create(),
quaternion.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: q1 / q2)
# or
self.assertTrue(
np.array_equal(
q1 | q2,
quaternion.dot(quaternion.create(),
quaternion.create_from_x_rotation(0.5))))
# inverse
self.assertTrue(
np.array_equal(
~q2,
quaternion.conjugate(quaternion.create_from_x_rotation(0.5))))
def test_create_from_quaternion(self):
q = Quaternion()
m = Matrix44.from_quaternion(q)
self.assertTrue(np.array_equal(m, np.eye(4)))
self.assertTrue(np.array_equal(m.quaternion, q))
m = Matrix44(q)
self.assertTrue(np.array_equal(m, np.eye(4)))
def test_operators_matrix44(self):
q = Quaternion()
m = Matrix44.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(matrix44.create_from_x_rotation(0.5)))))
# divide
self.assertRaises(ValueError, lambda: q / m)
def test_accessors(self):
q = Quaternion(np.arange(self._size))
self.assertTrue(np.array_equal(q.xy, [0, 1]))
self.assertTrue(np.array_equal(q.xyz, [0, 1, 2]))
self.assertTrue(np.array_equal(q.xyzw, [0, 1, 2, 3]))
self.assertTrue(np.array_equal(q.xz, [0, 2]))
self.assertTrue(np.array_equal(q.xyz, [0, 1, 2]))
self.assertTrue(np.array_equal(q.xyw, [0, 1, 3]))
self.assertTrue(np.array_equal(q.xw, [0, 3]))
self.assertEqual(q.x, 0)
self.assertEqual(q.y, 1)
self.assertEqual(q.z, 2)
self.assertEqual(q.w, 3)
q.x = 1
self.assertEqual(q.x, 1)
self.assertEqual(q[0], 1)
q.x += 1
self.assertEqual(q.x, 2)
self.assertEqual(q[0], 2)
def test_is_identity(self):
self.assertTrue(quaternion.is_identity(Quaternion()))
self.assertTrue(quaternion.is_identity(Quaternion([0., 0., 0., 1.])))
self.assertFalse(quaternion.is_identity(Quaternion([1., 0., 0., 0.])))
def test_normalize(self):
q = Quaternion([1., 2., 3., 4.])
self.assertFalse(np.allclose(q.length, 1.))
q.normalize()
self.assertTrue(np.allclose(q.length, 1.))
