68 lines
1.8 KiB
Rust
68 lines
1.8 KiB
Rust
use nalgebra::{Matrix3, RealField, Vector3};
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pub fn try_change_of_basis_matrix<T: RealField>(
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x: &Vector3<T>,
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y: &Vector3<T>,
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z: &Vector3<T>,
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) -> Option<Matrix3<T>> {
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Some(Matrix3::from_rows(&[x.transpose(), y.transpose(), z.transpose()]))
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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#[cfg(test)]
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mod change_of_basis_matrix {
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use super::*;
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use quickcheck_macros::quickcheck;
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#[test]
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fn produces_isentity_when_passed_axes() {
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let target: Matrix3<f32> = try_change_of_basis_matrix(
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&Vector3::x_axis(),
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&Vector3::y_axis(),
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&Vector3::z_axis(),
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)
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.unwrap();
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assert!(target == Matrix3::identity())
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}
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#[quickcheck]
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fn swap_xy_does_not_change_z(v: Vector3<f32>) {
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let target: Matrix3<f32> = try_change_of_basis_matrix(
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&Vector3::y_axis(),
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&Vector3::x_axis(),
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&Vector3::z_axis(),
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)
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.unwrap();
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let v2 = target * v;
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assert!(v2.z == v.z)
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}
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#[quickcheck]
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fn swap_xy_copies_y_to_x(v: Vector3<f32>) {
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let target: Matrix3<f32> = try_change_of_basis_matrix(
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&Vector3::y_axis(),
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&Vector3::x_axis(),
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&Vector3::z_axis(),
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)
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.unwrap();
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let v2 = target * v;
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assert!(v2.x == v.y)
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}
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#[quickcheck]
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fn swap_xy_copies_x_to_y(v: Vector3<f32>) {
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let target: Matrix3<f32> = try_change_of_basis_matrix(
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&Vector3::y_axis(),
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&Vector3::x_axis(),
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&Vector3::z_axis(),
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)
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.unwrap();
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let v2 = target * v;
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assert!(v2.y == v.x)
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}
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}
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}
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