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35 lines
1.0 KiB
Java
35 lines
1.0 KiB
Java
package resources;
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import org.junit.Assert;
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import org.junit.Test;
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import org.junit.runner.RunWith;
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import org.junit.runners.JUnit4;
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@RunWith(JUnit4.class)
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public class TestQuaternion {
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@Test
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public void testRotation() {
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test(30, -210, 0, -1, 0, 0);
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test(30, 150, 0, 1, 0, 0);
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test(-90, -90, 0, -1, 0, 0);
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test(90, 90, 0, 1, 0, 0);
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test(90, -45, 0, Math.sin(Math.PI/8), 0, Math.cos(Math.PI/8));
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// test(180, -45, 0, Math.sin(-Math.PI/8), 0, Math.cos(-Math.PI/8));
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}
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private void test(double heading1, double heading2, double x, double y, double z, double w) {
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Quaternion q1 = new Quaternion(0, 0, 0, 1);
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q1.setHeading(heading1);
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Quaternion q2 = new Quaternion(0, 0, 0, 1);
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q2.setHeading(heading2);
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Quaternion ret = new Quaternion(q1);
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ret.rotateByQuaternion(q2);
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Assert.assertEquals(x, ret.getX(), 1E-7);
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Assert.assertEquals(y, ret.getY(), 1E-7);
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Assert.assertEquals(z, ret.getZ(), 1E-7);
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Assert.assertEquals(w, ret.getW(), 1E-7);
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// Assert.assertEquals((heading1+heading2+360)%360, (ret.getYaw()+360)%360, 1E-7);
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}
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}
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