public void testNlerpRecursive() {
Quaternionf q1 = new Quaternionf().rotateY(0.0f);
Quaternionf q2 = new Quaternionf().rotateY((float) Math.PI);
Quaternionf q = new Quaternionf();
Vector3f v = new Vector3f(1.0f, 0.0f, 0.0f);
q1.nlerpIterative(q2, 0.5f, 1E-5f, q);
q.transform(v);
TestUtil.assertVector3fEquals(new Vector3f(0.0f, 0.0f, 1.0f), v, 1E-5f);
}
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));
}
public void testRotateZYX() {
Quaternionf v = new Quaternionf().rotateZYX(0.12f, 0.521f, 0.951f);
Matrix4f m = new Matrix4f().rotateZYX(0.12f, 0.521f, 0.951f);
Matrix4f n = new Matrix4f().set(v);
TestUtil.assertMatrix4fEquals(m, n, 1E-6f);
}