def test_Methods(self):
q = Gf.Quaternion()
self.assertEqual(Gf.Quaternion.GetIdentity(),
Gf.Quaternion(1, Gf.Vec3d()))
self.assertTrue(Gf.Quaternion.GetIdentity().GetLength() == 1
and Gf.IsClose(
Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)).GetLength(),
5.4772255750516612, 0.00001))
q = Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)).GetNormalized()
self.assertTrue(
Gf.IsClose(q.real, 0.182574, 0.00001) and Gf.IsClose(
q.imaginary, Gf.Vec3d(0.365148, 0.547723, 0.730297), 0.00001))
q = Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)).GetNormalized(10)
self.assertEqual(q, Gf.Quaternion.GetIdentity())
q = Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)).Normalize()
self.assertTrue(
Gf.IsClose(q.real, 0.182574, 0.00001) and Gf.IsClose(
q.imaginary, Gf.Vec3d(0.365148, 0.547723, 0.730297), 0.00001))
q = Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)).Normalize(10)
self.assertEqual(q, Gf.Quaternion.GetIdentity())
q = Gf.Quaternion.GetIdentity()
self.assertEqual(q, q.GetInverse())
q = Gf.Quaternion(1, Gf.Vec3d(1, 2, 3)).Normalize()
(re, im) = (q.real, q.imaginary)
self.assertTrue(
Gf.IsClose(q.GetInverse().real, re, 0.00001)
and Gf.IsClose(q.GetInverse().imaginary, -im, 0.00001))
def test_Constructors(self):
self.assertIsInstance(Gf.Rotation(), Gf.Rotation)
self.assertIsInstance(Gf.Rotation(Gf.Vec3d(), 0), Gf.Rotation)
self.assertIsInstance(Gf.Rotation(Gf.Quaternion()), Gf.Rotation)
self.assertIsInstance(Gf.Rotation(Gf.Vec3d(), Gf.Vec3d()), Gf.Rotation)
r = Gf.Rotation()
r.SetAxisAngle(Gf.Vec3d(0, 1, 0), 30)
self.assertEqual(eval(repr(r)), r)
self.assertTrue(r.axis == Gf.Vec3d(0, 1, 0) and r.angle == 30)
q = Gf.Quaternion(1, Gf.Vec3d(1, 0, 0)).GetNormalized()
r = Gf.Rotation().SetQuaternion(q)
self.assertEqual(eval(repr(r)), r)
self.assertTrue(
Gf.IsClose(r.axis, Gf.Vec3d(1, 0, 0), 0.00001)
and Gf.IsClose(r.angle, 90, 0.00001))
r = Gf.Rotation().SetRotateInto(Gf.Vec3d(1, 0, 0), Gf.Vec3d(0, 1, 0))
self.assertEqual(eval(repr(r)), r)
self.assertTrue(r.axis == Gf.Vec3d(0, 0, 1) and r.angle == 90)
r = Gf.Rotation().SetRotateInto(Gf.Vec3d(1, 0, 0), Gf.Vec3d(1, 0, 0))
self.assertEqual(eval(repr(r)), r)
self.assertEqual(r, Gf.Rotation().SetIdentity())
r = Gf.Rotation().SetRotateInto(Gf.Vec3d(1, 0, 0), Gf.Vec3d(-1, 0, 0))
self.assertEqual(eval(repr(r)), r)
r.SetIdentity()
self.assertEqual(eval(repr(r)), r)
self.assertTrue(r.axis == Gf.Vec3d(1, 0, 0) and r.angle == 0)
r.axis = Gf.Vec3d(1, 2, 3)
r.angle = 720
self.assertEqual(eval(repr(r)), r)
self.assertTrue(r.axis == Gf.Vec3d(1, 2, 3).GetNormalized()
and r.angle == 720)
q = Gf.Quaternion(1, Gf.Vec3d(1, 0, 0)).GetNormalized()
r = Gf.Rotation().SetQuaternion(q)
self.assertEqual(eval(repr(r)), r)
qq = r.GetQuaternion()
self.assertTrue(
Gf.IsClose(q.real, qq.real, 0.00001)
and Gf.IsClose(q.imaginary, qq.imaginary, 0.00001))
r = Gf.Rotation(Gf.Vec3d(0, 1, 0), 720)
self.assertEqual(eval(repr(r)), r)
self.assertEqual(r.GetInverse(), Gf.Rotation(Gf.Vec3d(0, 1, 0), -720))
def test_Constructors(self):
self.assertIsInstance(Gf.Quaternion(), Gf.Quaternion)
self.assertIsInstance(Gf.Quaternion(0), Gf.Quaternion)
self.assertIsInstance(Gf.Quaternion(1, Gf.Vec3d(1, 1, 1)),
Gf.Quaternion)
self.assertIsInstance(Gf.Quath(Gf.Quath()), Gf.Quath)
self.assertIsInstance(Gf.Quatf(Gf.Quatf()), Gf.Quatf)
self.assertIsInstance(Gf.Quatd(Gf.Quatd()), Gf.Quatd)
# Testing conversions between Quat[h,f,d]
self.assertIsInstance(Gf.Quath(Gf.Quatf()), Gf.Quath)
self.assertIsInstance(Gf.Quath(Gf.Quatd()), Gf.Quath)
self.assertIsInstance(Gf.Quatf(Gf.Quath()), Gf.Quatf)
self.assertIsInstance(Gf.Quatf(Gf.Quatd()), Gf.Quatf)
self.assertIsInstance(Gf.Quatd(Gf.Quath()), Gf.Quatd)
self.assertIsInstance(Gf.Quatd(Gf.Quatf()), Gf.Quatd)
def test_Operators(self):
q1 = Gf.Quaternion(1, Gf.Vec3d(2, 3, 4))
q2 = Gf.Quaternion(1, Gf.Vec3d(2, 3, 4))
self.assertEqual(q1, q2)
self.assertFalse(q1 != q2)
q2.real = 2
self.assertTrue(q1 != q2)
q = Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)) * Gf.Quaternion.GetIdentity()
self.assertEqual(q, Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)))
q = Gf.Quaternion(1, Gf.Vec3d(2, 3, 4))
q *= Gf.Quaternion.GetIdentity()
self.assertEqual(q, Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)))
q *= 10
self.assertEqual(q, Gf.Quaternion(10, Gf.Vec3d(20, 30, 40)))
q = q * 10
self.assertEqual(q, Gf.Quaternion(100, Gf.Vec3d(200, 300, 400)))
q = 10 * q
self.assertEqual(q, Gf.Quaternion(1000, Gf.Vec3d(2000, 3000, 4000)))
q /= 100
self.assertEqual(q, Gf.Quaternion(10, Gf.Vec3d(20, 30, 40)))
q = q / 10
self.assertEqual(q, Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)))
q += q
self.assertEqual(q, Gf.Quaternion(2, Gf.Vec3d(4, 6, 8)))
q -= Gf.Quaternion(1, Gf.Vec3d(2, 3, 4))
self.assertEqual(q, Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)))
q = q + q
self.assertEqual(q, Gf.Quaternion(2, Gf.Vec3d(4, 6, 8)))
q = q - Gf.Quaternion(1, Gf.Vec3d(2, 3, 4))
self.assertEqual(q, Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)))
q = q * q
self.assertEqual(q, Gf.Quaternion(-28, Gf.Vec3d(4, 6, 8)))
q1 = Gf.Quaternion(1, Gf.Vec3d(2, 3, 4)).GetNormalized()
q2 = Gf.Quaternion(4, Gf.Vec3d(3, 2, 1)).GetNormalized()
self.assertEqual(Gf.Slerp(0, q1, q2), q1)
self.assertEqual(Gf.Slerp(1, q1, q2), q2)
self.assertEqual(Gf.Slerp(0.5, q1, q2),
Gf.Quaternion(0.5, Gf.Vec3d(0.5, 0.5, 0.5)))
# code coverage goodness
q1 = Gf.Quaternion(0, Gf.Vec3d(1, 1, 1))
q2 = Gf.Quaternion(0, Gf.Vec3d(-1, -1, -1))
q = Gf.Slerp(0.5, q1, q2)
self.assertTrue(
Gf.IsClose(q.real, 0, 0.0001)
and Gf.IsClose(q.imaginary, Gf.Vec3d(1, 1, 1), 0.0001))
q1 = Gf.Quaternion(0, Gf.Vec3d(1, 1, 1))
q2 = Gf.Quaternion(0, Gf.Vec3d(1, 1, 1))
q = Gf.Slerp(0.5, q1, q2)
self.assertTrue(
Gf.IsClose(q.real, 0, 0.0001)
and Gf.IsClose(q.imaginary, Gf.Vec3d(1, 1, 1), 0.0001))
self.assertEqual(q, eval(repr(q)))
self.assertTrue(len(str(Gf.Quaternion())))
for quatType in (Gf.Quatd, Gf.Quatf, Gf.Quath):
q1 = quatType(1, [2, 3, 4])
q2 = quatType(2, [3, 4, 5])
self.assertTrue(Gf.IsClose(Gf.Dot(q1, q2), 40, 0.0001))
def test_Properties(self):
q = Gf.Quaternion()
q.real = 10
self.assertEqual(q.real, 10)
q.imaginary = Gf.Vec3d(1, 2, 3)
self.assertEqual(q.imaginary, Gf.Vec3d(1, 2, 3))
def test_Constructors(self):
self.assertIsInstance(Gf.Quaternion(), Gf.Quaternion)
self.assertIsInstance(Gf.Quaternion(0), Gf.Quaternion)
self.assertIsInstance(Gf.Quaternion(1, Gf.Vec3d(1,1,1)), Gf.Quaternion)
