git.gag.com Git - debian/openrocket/blob - core/test/net/sf/openrocket/util/QuaternionTest.java

   1 package net.sf.openrocket.util;
   2
   3 import org.junit.Test;
   4 import static org.junit.Assert.assertEquals;
   5
   6
   7 public class QuaternionTest {
   8
   9         @Test
  10         public void oldMainTest() {
  11
  12                 // This is normalized already
  13                 Quaternion q = new Quaternion(0.237188, 0.570190, -0.514542, 0.594872);
  14                 assertEquals( 1.0, q.norm(), 0.01);
  15
  16                 q.normalize();
  17                 assertEquals( 0.237188, q.getW(), 0.00001);
  18                 assertEquals( 0.570190, q.getX(), 0.00001);
  19                 assertEquals( -0.514542, q.getY(), 0.00001);
  20                 assertEquals( 0.594872, q.getZ(), 0.00001);
  21                 assertEquals( 1.0, q.norm(), 0.01);
  22
  23                 Coordinate c = new Coordinate(148578428.914, 8126778.954, -607.741);
  24
  25                 Coordinate r = q.rotate(c);
  26
  27                 System.out.println("Rotated: " + q.rotate(c));
  28
  29                 assertEquals( -42312599.537, r.x, 0.001);
  30                 assertEquals( -48162747.551, r.y, 0.001);
  31                 assertEquals( 134281904.197, r.z, 0.001);
  32
  33                 c = new Coordinate(0,1,0);
  34                 Coordinate rot = new Coordinate(Math.PI/4,0,0);
  35
  36                 System.out.println("Before: "+c);
  37                 c = Quaternion.rotation(rot).invRotate(c);
  38                 System.out.println("After: "+c);
  39
  40                 assertEquals( 0.0, c.x, 0.001);
  41                 assertEquals( 0.707, c.y, 0.001);
  42                 assertEquals( -0.707, c.z, 0.001);
  43
  44
  45         }
  46
  47
  48 }