def test_quat_truediv():
w = math.Quaternion(0, 0, 0, 1)
x = math.Quaternion(1, 0, 0, 0)
y = math.Quaternion(0, 1, 0, 0)
z = math.Quaternion(0, 0, 1, 0)
assert w / w == w
assert w / x == x
assert w / y == y
assert w / z == z
assert x / w == -x
assert x / x == w
assert x / y == -z
assert x / z == y
assert y / w == -y
assert y / x == z
assert y / y == w
assert y / z == -x
assert z / w == -z
assert z / x == -y
assert z / y == x
assert z / z == w
def test_quat_mul():
w = math.Quaternion(0, 0, 0, 1)
x = math.Quaternion(1, 0, 0, 0)
y = math.Quaternion(0, 1, 0, 0)
z = math.Quaternion(0, 0, 1, 0)
assert w * w == w
assert w * x == x
assert w * y == y
assert w * z == z
assert x * w == x
assert x * x == -w
assert x * y == z
assert x * z == -y
assert y * w == y
assert y * x == -z
assert y * y == -w
assert y * z == x
assert z * w == z
assert z * x == y
assert z * y == -x
assert z * z == -w
def test_quat_sub():
q = math.Quaternion(1, 2, 3, 4)
q2 = math.Quaternion(2, 3, 4, 5)
assert q - q2 == math.Quaternion(-1, -1, -1, -1)
assert q2 - q == math.Quaternion(1, 1, 1, 1)
assert q - 1 == math.Quaternion(0, 1, 2, 3)
def test_quat():
q = math.Quaternion(1, 2, 3, 4)
assert q.x == 1
assert q.y == 2
assert q.z == 3
assert q.w == 4
def test_rotate_vector():
quat = math.Quaternion(x=0, y=0.707106, z=0, w=0.707106)
quat2 = quat * quat
assert math.Vector(1, 0, 0) * quat == math.Vector(0, 0, -1)
assert math.Vector(1, 0, 0) * quat2 == math.Vector(-1, 0, 0)
assert math.Vector(0, 1, 0) * quat == math.Vector(0, 1, 0)
assert math.Vector(0, 1, 0) * quat2 == math.Vector(0, 1, 0)
def test_quat_abs():
q = math.Quaternion(1, 1, 1, 1)
q2 = math.Quaternion(-2, -2, -2, -2)
assert abs(q) == 2
assert abs(q2) == 4
def test_quat_neg():
q = math.Quaternion(1, 2, 3, 4)
q2 = math.Quaternion(3, 0, 2, 0)
assert -q == math.Quaternion(-1, -2, -3, -4)
assert -q2 == math.Quaternion(-3, 0, -2, 0)
def test_quat_add():
q = math.Quaternion(1, 2, 3, 4)
q2 = math.Quaternion(2, 3, 4, 5)
assert q + q2 == q2 + q == math.Quaternion(3, 5, 7, 9)
assert q + 5 == math.Quaternion(6, 7, 8, 9)
def test_quat_inverse():
q = math.Quaternion(1, 2, 3, 4)
q2 = math.Quaternion(4, 3, 2, 1)
assert q * q.inverse() == math.Quaternion(0, 0, 0, 1)
assert q2 * q2.inverse() == math.Quaternion(0, 0, 0, 1)
def test_quat_normal():
q = math.Quaternion(1, 2, 3, 4)
assert abs(q) != 1
assert abs(q.normal()) == 1