def test_numpy_interop():
rot = Quat.from_rotation_on_axis(2, np.pi / 2)
trans = Vec3(1, 1, 1)
# fmt: off
np_T = np.array([
[0, -1, 0, 1],
[1, 0, 0, 1],
[0, 0, 1, 1],
[0, 0, 0, 1],
])
# fmt: on
T_a_b = Transform(rot, trans)
T_a_b_from_mat4 = Transform.from_mat4_numpy(np_T)
T_a_b_from_quatvec3 = Transform.from_quat_vec3_numpy(
np.concatenate((rot.to_xyzw_numpy(), trans.to_numpy()))
)
assert T_a_b == T_a_b_from_mat4
assert T_a_b == T_a_b_from_quatvec3
assert T_a_b_from_quatvec3 == T_a_b_from_mat4
np_mat4_T = T_a_b.to_mat4_numpy()
np_quatvec3_T = T_a_b.to_quat_vec3_numpy()
assert np.allclose(
np_quatvec3_T, np.concatenate((rot.to_xyzw_numpy(), trans.to_numpy()))
)
assert np.allclose(np_mat4_T, np_T)
def test_inverse():
t = Transform(Quat.from_axis_angle(Vec3(1, 1, 1), np.pi / 2), Vec3(4, 5, 6))
t_inv = t.inverse()
t_identity_one = t * t_inv
t_identity_two = t_inv * t
np_identity = np.diag((1, 1, 1, 1))
t_fromnp = Transform.from_mat4_numpy(np_identity)
assert np.allclose(t_identity_one.to_mat4_numpy(), np_identity)
assert np.allclose(t_identity_two.to_mat4_numpy(), np_identity)
assert np.allclose(t_identity_one.to_mat4_numpy(), t_identity_two.to_mat4_numpy())
assert t_identity_one == t_fromnp
assert t_identity_two == t_fromnp
assert t_identity_one == t_identity_two
