Merge commit '42b2e5ca519766e37ce6941ba4faecc9691cc403' into upstream

[debian/openrocket] / core / test / net / sf / openrocket / util / QuaternionTest.java

diff --git a/core/test/net/sf/openrocket/util/QuaternionTest.java b/core/test/net/sf/openrocket/util/QuaternionTest.java
new file mode 100644 (file)
index 0000000..26a2dc2
--- /dev/null
+++ b/core/test/net/sf/openrocket/util/QuaternionTest.java
@@ -0,0 +1,48 @@
+package net.sf.openrocket.util;
+
+import org.junit.Test;
+import static org.junit.Assert.assertEquals;
+
+
+public class QuaternionTest {
+
+       @Test
+       public void oldMainTest() {
+
+               // This is normalized already
+               Quaternion q = new Quaternion(0.237188, 0.570190, -0.514542, 0.594872);
+               assertEquals( 1.0, q.norm(), 0.01);
+
+               q.normalize();
+               assertEquals( 0.237188, q.getW(), 0.00001);
+               assertEquals( 0.570190, q.getX(), 0.00001);
+               assertEquals( -0.514542, q.getY(), 0.00001);
+               assertEquals( 0.594872, q.getZ(), 0.00001);
+               assertEquals( 1.0, q.norm(), 0.01);
+
+               Coordinate c = new Coordinate(148578428.914, 8126778.954, -607.741);
+
+               Coordinate r = q.rotate(c);
+
+               System.out.println("Rotated: " + q.rotate(c));
+
+               assertEquals( -42312599.537, r.x, 0.001);
+               assertEquals( -48162747.551, r.y, 0.001);
+               assertEquals( 134281904.197, r.z, 0.001);
+
+               c = new Coordinate(0,1,0);
+               Coordinate rot = new Coordinate(Math.PI/4,0,0);
+
+               System.out.println("Before: "+c);
+               c = Quaternion.rotation(rot).invRotate(c);
+               System.out.println("After: "+c);
+               
+               assertEquals( 0.0, c.x, 0.001);
+               assertEquals( 0.707, c.y, 0.001);
+               assertEquals( -0.707, c.z, 0.001);
+
+
+       }
+
+
+}