doml.tests.axis_angle_test source code

1 module doml.tests.axis_angle_test;
2 
3 
4 import std.stdio;
5 import doml.tests.dunit_tests;
6 
7 import doml.axis_angle_4d;
8 import doml.quaternion_d;
9 
10 import Math = doml.math;
11 
12 
13 /*
14  * The MIT License
15  *
16  * Copyright (c) 2015-2022 JOML.
17  @#$@# Translated by jordan4ibanez
18  *
19  * Permission is hereby granted, free of charge, to any person obtaining a copy
20  * of this software and associated documentation files (the "Software"), to deal
21  * in the Software without restriction, including without limitation the rights
22  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
23  * copies of the Software, and to permit persons to whom the Software is
24  * furnished to do so, subject to the following conditions:
25  *
26  * The above copyright notice and this permission notice shall be included in
27  * all copies or substantial portions of the Software.
28  *
29  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
30  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
31  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
32  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
33  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
34  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
35  * THE SOFTWARE.
36  */
37 
38 unittest {
39 
40     writeln("\nBEGIN AXIS ANGLE\n");
41 
42     
43     writeln("TESTING ANGLE IDENTITY QUATERNION");
44 
45     AxisAngle4d a = AxisAngle4d().set(Quaterniond());
46     assertEquals(AxisAngle4d(0, 0, 0, 1), a);
47     a = AxisAngle4d().set(Quaterniond(2.035E-9,4.715E-10,-9.166E-11,1.000E+0));
48     assertEquals(AxisAngle4d(0, 0, 0, 1), a);
49 
50     writeln("PASSED!");
51     writeln("TESTING ANGLE NORMALIZATION");
52 
53     AxisAngle4d a1 = AxisAngle4d(Math.toRadians(20), 1.0, 0.0, 0.0);
54     AxisAngle4d a2 = AxisAngle4d(Math.toRadians(380), 1.0, 0.0, 0.0);
55     assertEquals(a1.angle, a2.angle, 100_000); // 0.00001 (1E-5f)
56 
57     a1 = AxisAngle4d( Math.toRadians(-20), 1.0, 0.0, 0.0);
58     a2 = AxisAngle4d( Math.toRadians(-380.0), 1.0, 0.0, 0.0);
59     assertEquals(a1.angle, a2.angle, 100_000); // 0.00001 (1E-5f)
60 
61     a1 = AxisAngle4d( Math.toRadians(-20.0) * 10.0, 1.0, 0.0, 0.0);
62     a2 = AxisAngle4d( Math.toRadians(-380.0) * 10.0, 1.0, 0.0, 0.0);
63 
64     assertEquals(a1.angle, a2.angle, 100_000); // 0.00001 (1E-5f)
65     writeln("PASSED!");
66 }