def test_slerp(self):
transform1 = rotate_z(30.0)
q1 = Quaternion.from_transform(transform1)
transform2 = rotate_z(90.0)
q2 = Quaternion.from_transform(transform2)
q_interp = slerp(0.5, q1, q2)
transform3 = rotate_z(60)
q3 = Quaternion.from_transform(transform3)
self.assertEqual(q_interp, q3)
self.assertEqual(q_interp.to_transform(), transform3)
def test_rotate(self):
self.assertEqual(rotate(40, Vector(1.0, 0.0, 0.0)),
rotate_x(40))
self.assertEqual(rotate(20, Vector(0.0, 1.0, 0.0)),
rotate_y(20))
self.assertEqual(rotate(70, Vector(0.0, 0.0, 1.0)),
rotate_z(70))
def test_normalize(self):
q = Quaternion.from_transform(rotate_z(30.0))
self.assertEqual(normalize(q), q)