WebCAD/__test__/Geometry/Euler.test.ts

import { Euler, Matrix4, Vector3 } from "three";
import { equaln } from "../../src/Geometry/GeUtils";

//证明 EU和旋转矩阵复合的转换
test('Euler', () =>
{
    let x = 0.5,
        y = 2,
        z = 1;

    let eu = new Euler(x, y, z, "ZYX");
    let mtxEu = new Matrix4().makeRotationFromEuler(eu);//Eu旋转矩阵

    let mtxx = new Matrix4().makeRotationX(x);
    let mtxy = new Matrix4().makeRotationY(y);
    let mtxz = new Matrix4().makeRotationZ(z);


    let mtxCom = mtxx.clone().premultiply(mtxy).premultiply(mtxz);//复合矩阵 z * y * x

    for (let i = 0; i < mtxEu.elements.length; i++)
        expect(equaln(mtxEu.elements[i], mtxCom.elements[i])).toBeTruthy();//证明 z*y*x  =Euler("ZYX")

    let p = new Vector3(1, 2, 3);
    p.clone().applyMatrix4(mtxCom);//?
    p.clone().applyMatrix4(mtxx).applyMatrix4(mtxy).applyMatrix4(mtxz);//?

    //证明了EU角度不可逆转
    new Euler(0, 0, 0, "ZYX").setFromRotationMatrix(mtxCom);//?

    //证明了这个不能逆转..
    let euT = new Euler(Math.PI / 2, Math.PI / 2, 0, "ZYX");
    euT.setFromRotationMatrix(new Matrix4().makeRotationFromEuler(euT));//?
});

//证明 mtxa * mtxb   = p.apply(mtxb).apply(mtxa)
test('mtx a*b', () =>
{
    let mtx1 = new Matrix4().setPosition(100, 0, 0);
    let mtx2 = new Matrix4().makeRotationZ(Math.PI / 2);//旋转90度
    let p = new Vector3(100, 0, 0);
    mtx1.multiply(mtx2);
    p.applyMatrix4(mtx1);
    p; //?
});


test('mtx a*b2', () =>
{
    let mtx1 = new Matrix4().setPosition(100, 0, 0);
    let mtx2 = new Matrix4().makeRotationZ(Math.PI / 2);
    mtx1.premultiply(mtx2);
    let p = new Vector3(100, 0, 0);
    p.applyMatrix4(mtx1);
    p; //?
});