alexpete
33 lines
1.3 KiB
C++
33 lines
1.3 KiB
C++
/*
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* All or portions of this file Copyright (c) Amazon.com, Inc. or its affiliates or
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* its licensors.
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*
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* For complete copyright and license terms please see the LICENSE at the root of this
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* distribution (the "License"). All use of this software is governed by the License,
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* or, if provided, by the license below or the license accompanying this file. Do not
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* remove or modify any license notices. This file is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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*
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*/
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#include <AzTest/AzTest.h>
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#include <MCore/Source/DualQuaternion.h>
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namespace MCore
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{
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TEST(DualQuaternionTests, ToTransform)
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{
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const AZ::Vector3 translation(0.15f, -1.8f, 0.23f);
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const AZ::Quaternion rotation(0.72f, -0.48f, -0.24f, 0.44f);
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const DualQuaternion dualQuaternion = DualQuaternion::ConvertFromRotationTranslation(rotation, translation);
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const AZ::Transform transform = dualQuaternion.ToTransform();
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EXPECT_TRUE(transform.GetBasisX().IsClose(AZ::Vector3(0.424f, -0.9024f, 0.0768f)));
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EXPECT_TRUE(transform.GetBasisY().IsClose(AZ::Vector3(-0.48f, -0.152f, 0.864f)));
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EXPECT_TRUE(transform.GetBasisZ().IsClose(AZ::Vector3(-0.768f, -0.4032f, -0.4976f)));
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EXPECT_TRUE(transform.GetTranslation().IsClose(translation));
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}
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} // namespace MCore
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