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69 lines
2.3 KiB
69 lines
2.3 KiB
namespace MathNet.Numerics.Tests
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open System
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open NUnit.Framework
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open FsUnit
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open MathNet.Numerics
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module QuaternionTests =
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//simple quaternions
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let n = {w=1.0;x=0.0;y=1.0;z=0.0}
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let n' = {w= 0.5;x= -0.5;y= 0.5;z= 0.0}
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//less simple quaternions
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let r = {w=1.0;x=2.0;y=3.0;z=4.0}
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let q = {w= -4.0;x= 3.0; y= -2.0; z= 1.0}
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[<Test>]
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let ``Quaternion.create`` () =
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let fourtyFiveDegreesInRadians = 45.0 * Math.PI / 180.0
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Quaternion.create fourtyFiveDegreesInRadians 1.0 0.0 0.0 |>
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should equal {w = 0.92387953251128674; x = 0.38268343236508978; y = 0.0; z = 0.0;}
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[<Test>]
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let ``Quaternion.create normalizes input vector`` () =
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let fourtyFiveDegreesInRadians = 45.0 * Math.PI / 180.0
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Quaternion.create fourtyFiveDegreesInRadians 100.0 0.0 0.0 |>
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should equal <|
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Quaternion.create fourtyFiveDegreesInRadians 1.0 0.0 0.0
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[<Test>]
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let ``Quaternion.+`` () =
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n + n' |> should equal {w= 1.5;x= -0.5;y= 1.5;z= 0.0}
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[<Test>]
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let ``Quaternion.-`` () =
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n - n' |> should equal {w= 0.5;x= 0.5;y= 0.5;z= 0.0}
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[<Test>]
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let ``Quaternion.* r*q'`` () =
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r * q |> should equal {w = -8.0; x = -16.0; y = -24.0; z = -2.0;}
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[<Test>]
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let ``Quaternion.* q*r`` () =
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q * r |> should equal {w = -8.0; x = 6.0; y = -4.0; z = -28.0;}
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//http://www.mathworks.com/help/aerotbx/ug/quatnorm.html
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[<Test>]
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let ``Quaternion.Norm`` () =
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Quaternion.norm n' |> should equal 0.75
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//http://www.mathworks.com/help/aerotbx/ug/quatnormalize.html
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[<Test>]
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let ``Quaternion.Normalize`` () =
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Quaternion.normalize n |> should equal {w= 0.70710678118654746; x= 0.0; y= 0.70710678118654746; z= 0.0}
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//http://www.mathworks.com/help/aerotbx/ug/quatinv.html
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[<Test>]
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let ``Quaternion.Inverse`` () =
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Quaternion.inverse n |> should equal {w= 0.5;x= 0.0;y= -0.5;z= 0.0}
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//http://www.mathworks.com/help/aerotbx/ug/quatconj.html
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[<Test>]
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let ``Quaternion.Conjugate`` () =
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Quaternion.conjugate n |> should equal {w= 1.0;x= 0.0;y= -1.0;z= 0.0}
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//http://www.mathworks.com/help/aerotbx/ug/quatrotate.html
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[<Test>]
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let ``Quaternion.Rotate`` () =
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Quaternion.rotate n 1.0 1.0 1.0 |> should equal {w= 0.0;x= -1.0;y= 1.0;z= 1.0}
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