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Extract Quaternion.main to junit test.

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This commit is contained in:
Kevin Ruland 2012-07-10 18:52:13 +00:00
parent f08ad83e5f
commit 310e35293a
2 changed files with 48 additions and 35 deletions
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35
core/src/net/sf/openrocket/util/Quaternion.java
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@ -318,39 +318,4 @@ public class Quaternion {
return String.format("Quaternion[%f,%f,%f,%f,norm=%f]", w, x, y, z, this.norm());
}
public static void main(String[] arg) {
Quaternion q = new Quaternion(Math.random() - 0.5, Math.random() - 0.5,
Math.random() - 0.5, Math.random() - 0.5);
q.normalize();
q = new Quaternion(-0.998717, 0.000000, 0.050649, -0.000000);
Coordinate coord = new Coordinate(10 * (Math.random() - 0.5),
10 * (Math.random() - 0.5), 10 * (Math.random() - 0.5));
System.out.println("Quaternion: " + q);
System.out.println("Coordinate: " + coord);
coord = q.invRotate(coord);
System.out.println("Rotated: " + coord);
coord = q.rotate(coord);
System.out.println("Back: " + coord);
q = new Quaternion(0.237188, 0.570190, -0.514542, 0.594872);
q.normalize();
Coordinate c = new Coordinate(148578428.914, 8126778.954, -607.741);
System.out.println("Rotated: " + q.rotate(c));
// Coordinate c = new Coordinate(0,1,0);
// Coordinate rot = new Coordinate(Math.PI/4,0,0);
//
// System.out.println("Before: "+c);
// c = rotation(rot).invRotate(c);
// System.out.println("After: "+c);
}
}

48
core/test/net/sf/openrocket/util/QuaternionTest.java Normal file
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@ -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);
}
}