@Test public void testInvert() { final Quaternion quat1 = new Quaternion(0, 1, 2, 3); final Quaternion quat2 = quat1.invert(null); assertEquals(Quaternion.IDENTITY, quat1.multiply(quat2, null)); assertEquals(quat1, quat2.invert(new Quaternion())); assertEquals(quat1, quat2.invertLocal()); // normalized version quat1.fromAngleAxis(MathUtils.QUARTER_PI, Vector3.UNIT_Y); quat1.invert(quat2); assertEquals(Quaternion.IDENTITY, quat1.multiply(quat2, null)); assertEquals(quat1, quat2.invert(new Quaternion())); assertEquals(quat1, quat2.invertLocal()); // conjugate check assertEquals(new Quaternion(-1, -2, -3, 4), new Quaternion(1, 2, 3, 4).conjugate(null)); }
final Vector3 lightSpace = q.invert(null).apply(tmpVec, Vector3.fetchTempInstance());
final Vector3 lightSpace = q.invert(null).apply(tmpVec, Vector3.fetchTempInstance());