Method TestWorldToLocal

Source/Engine/Tests/TestTransform.cs:79–106

Tests the world space to local space conversion.

()

        /// Tests the world space to local space conversion.
        /// </summary>
        [Test]
        public void TestWorldToLocal()
        {
            Transform t1 = new Transform(new Vector3(10, 1, 10), Quaternion.Euler(45, 0, -15), new Float3(1.5f, 0.5f, 0.1f));
            Transform t2 = new Transform(new Vector3(0, 20, 0), Quaternion.Euler(0, 0, 15), new Float3(1.0f, 2.0f, 1.0f));

            Transform a1 = t1.WorldToLocal(t2);
            Float3 a2 = t1.WorldToLocal(t2.Translation);

            Float3 a3;
            {
                Matrix scale, rotation, scaleRotation;
                Matrix.Scaling(ref t1.Scale, out scale);
                Matrix.RotationQuaternion(ref t1.Orientation, out rotation);
                Matrix.Multiply(ref scale, ref rotation, out scaleRotation);
                Matrix.Invert(ref scaleRotation, out scale);
                a3 = t2.Translation - t1.Translation;
                Float3.Transform(ref a3, ref scale, out a3);
            }

            var a4T = new Vector3[1];
            t1.WorldToLocal(new Vector3[1] { t2.Translation }, a4T);
            Float3 a4 = a4T[0];

            Assert.IsTrue(Float3.NearEqual((Float3)a1.Translation, a2));
            Assert.IsTrue(Float3.NearEqual(a2, a3, 0.0001f));
            Assert.IsTrue(Float3.NearEqual(a2, a4));
        }

        /// <summary>
        /// Test conversions between transform local/world space