public void testMulQuaternionQuaternionQuaternion() {
// Multiplication with the identity quaternion should change nothing
Quaternionf testQuat = new Quaternionf(1f, 23.3f, -7.57f, 2.1f);
Quaternionf identityQuat = new Quaternionf().identity();
Quaternionf resultQuat = new Quaternionf();
testQuat.mul(identityQuat, resultQuat);
assertTrue(
TestUtil.quatEqual(testQuat, resultQuat, TestUtil.STANDARD_AROUND_ZERO_PRECISION_FLOAT));
identityQuat.mul(testQuat, resultQuat);
assertTrue(
TestUtil.quatEqual(testQuat, resultQuat, TestUtil.STANDARD_AROUND_ZERO_PRECISION_FLOAT));
// Multiplication with conjugate should give (0, 0, 0, dot(this, this))
Quaternionf conjugate = new Quaternionf();
testQuat.conjugate(conjugate);
testQuat.mul(conjugate, resultQuat);
Quaternionf wantedResultQuat = new Quaternionf(0, 0, 0, testQuat.dot(testQuat));
assertTrue(
TestUtil.quatEqual(
resultQuat, wantedResultQuat, TestUtil.MANY_OPS_AROUND_ZERO_PRECISION_FLOAT));
}
