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#![cfg(feature = "proptest-support")]
#![allow(non_snake_case)]
use na::{Unit, UnitComplex};
use crate::proptest::*;
use proptest::{prop_assert, proptest};
proptest!(
/*
*
* From/to rotation matrix.
*
*/
#[test]
fn unit_complex_rotation_conversion(c in unit_complex()) {
let r = c.to_rotation_matrix();
let cc = UnitComplex::from_rotation_matrix(&r);
let rr = cc.to_rotation_matrix();
prop_assert!(relative_eq!(c, cc, epsilon = 1.0e-7));
prop_assert!(relative_eq!(r, rr, epsilon = 1.0e-7));
}
/*
*
* Point/Vector transformation.
*
*/
#[test]
fn unit_complex_transformation(c in unit_complex(), v in vector2(), p in point2()) {
let r = c.to_rotation_matrix();
let rv = r * v;
let rp = r * p;
prop_assert!(relative_eq!(c * v, rv, epsilon = 1.0e-7)
&& relative_eq!(c * &v, rv, epsilon = 1.0e-7)
&& relative_eq!(&c * v, rv, epsilon = 1.0e-7)
&& relative_eq!(&c * &v, rv, epsilon = 1.0e-7)
&& relative_eq!(c * p, rp, epsilon = 1.0e-7)
&& relative_eq!(c * &p, rp, epsilon = 1.0e-7)
&& relative_eq!(&c * p, rp, epsilon = 1.0e-7)
&& relative_eq!(&c * &p, rp, epsilon = 1.0e-7))
}
/*
*
* Inversion.
*
*/
#[test]
fn unit_complex_inv(c in unit_complex()) {
let iq = c.inverse();
prop_assert!(relative_eq!(&iq * &c, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(iq * &c, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(&iq * c, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(iq * c, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(&c * &iq, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(c * &iq, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(&c * iq, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(c * iq, UnitComplex::identity(), epsilon = 1.0e-7))
}
/*
*
* Quaternion * Vector == Rotation * Vector
*
*/
#[test]
fn unit_complex_mul_vector(c in unit_complex(), v in vector2(), p in point2()) {
let r = c.to_rotation_matrix();
prop_assert!(relative_eq!(c * v, r * v, epsilon = 1.0e-7));
prop_assert!(relative_eq!(c * p, r * p, epsilon = 1.0e-7));
}
// Test that all operators (incl. all combinations of references) work.
// See the top comment on `geometry/quaternion_ops.rs` for details on which operations are
// supported.
#[test]
#[cfg_attr(rustfmt, rustfmt_skip)]
fn all_op_exist(
uc in unit_complex(),
v in vector2(),
p in point2(),
r in rotation2()
) {
let uv = Unit::new_normalize(v);
let ucMuc = uc * uc;
let ucMr = uc * r;
let rMuc = r * uc;
let ucDuc = uc / uc;
let ucDr = uc / r;
let rDuc = r / uc;
let ucMp = uc * p;
let ucMv = uc * v;
let ucMuv = uc * uv;
let mut ucMuc1 = uc;
let mut ucMuc2 = uc;
let mut ucMr1 = uc;
let mut ucMr2 = uc;
let mut ucDuc1 = uc;
let mut ucDuc2 = uc;
let mut ucDr1 = uc;
let mut ucDr2 = uc;
ucMuc1 *= uc;
ucMuc2 *= &uc;
ucMr1 *= r;
ucMr2 *= &r;
ucDuc1 /= uc;
ucDuc2 /= &uc;
ucDr1 /= r;
ucDr2 /= &r;
prop_assert!(ucMuc1 == ucMuc
&& ucMuc1 == ucMuc2
&& ucMr1 == ucMr
&& ucMr1 == ucMr2
&& ucDuc1 == ucDuc
&& ucDuc1 == ucDuc2
&& ucDr1 == ucDr
&& ucDr1 == ucDr2
&& ucMuc == &uc * &uc
&& ucMuc == uc * &uc
&& ucMuc == &uc * uc
&& ucMr == &uc * &r
&& ucMr == uc * &r
&& ucMr == &uc * r
&& rMuc == &r * &uc
&& rMuc == r * &uc
&& rMuc == &r * uc
&& ucDuc == &uc / &uc
&& ucDuc == uc / &uc
&& ucDuc == &uc / uc
&& ucDr == &uc / &r
&& ucDr == uc / &r
&& ucDr == &uc / r
&& rDuc == &r / &uc
&& rDuc == r / &uc
&& rDuc == &r / uc
&& ucMp == &uc * &p
&& ucMp == uc * &p
&& ucMp == &uc * p
&& ucMv == &uc * &v
&& ucMv == uc * &v
&& ucMv == &uc * v
&& ucMuv == &uc * &uv
&& ucMuv == uc * &uv
&& ucMuv == &uc * uv)
}
);
|
