fix quat test try 3

2021-02-27 11:28:23 -08:00 · 2021-02-27 11:28:23 -08:00 · 807c802e97
parent 1a90fe6043
commit 807c802e97
1 changed files with 18 additions and 910 deletions
--- a/tests/test-output.txt
+++ b/tests/test-output.txt
@ -128,915 +128,23 @@ q(-0.63899082, 0.21725684, 0.71758670, -0.17192909)
 -0.52440, -0.84648, 0.09208, 0.00000,
 -0.84236, 0.53152, 0.08898, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 # super random
 [1.00000, -0.00000, -0.00001, 0.00000,
 0.00000, 1.00000, -0.00003, 0.00000,
 0.00001, 0.00003, 1.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.00001343, -0.00000529, 0.00000046, 1.00000000)
 [1.00000, -0.00000, -0.00001, 0.00000,
 0.00000, 1.00000, -0.00003, 0.00000,
 0.00001, 0.00003, 1.00000, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.97395, -0.21888, 0.05932, 0.00000,
 0.22420, 0.96867, -0.10682, 0.00000,
 -0.03408, 0.11733, 0.99251, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.05649684, 0.02354353, 0.11167806, 0.99185777)
 [0.97395, -0.21888, 0.05932, 0.00000,
 0.22420, 0.96867, -0.10682, 0.00000,
 -0.03408, 0.11733, 0.99251, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.94667, -0.07871, -0.31244, 0.00000,
 0.12656, 0.98260, 0.13592, 0.00000,
 0.29630, -0.16821, 0.94016, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.07730617, -0.15473069, 0.05217682, 0.98354453)
 [0.94667, -0.07871, -0.31244, 0.00000,
 0.12656, 0.98260, 0.13592, 0.00000,
 0.29630, -0.16821, 0.94016, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [1.00000, -0.00248, -0.00009, 0.00000,
 0.00248, 0.99999, -0.00365, 0.00000,
 0.00010, 0.00365, 0.99999, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.00182304, -0.00004744, 0.00123900, 0.99999762)
 [1.00000, -0.00248, -0.00009, 0.00000,
 0.00248, 0.99999, -0.00365, 0.00000,
 0.00010, 0.00365, 0.99999, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.32176, 0.36285, -0.87453, 0.00000,
 0.77105, 0.43564, 0.46444, 0.00000,
 0.54951, -0.82374, -0.13960, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.50638878, 0.55979633, -0.16046251, -0.63596427)
 [0.32176, 0.36285, -0.87453, 0.00000,
 0.77105, 0.43564, 0.46444, 0.00000,
 0.54951, -0.82374, -0.13960, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.10492, -0.34468, 0.93284, 0.00000,
 0.99084, 0.11647, -0.06840, 0.00000,
 -0.08507, 0.93147, 0.35374, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.39834076, 0.40552813, 0.53206140, 0.62752080)
 [0.10492, -0.34468, 0.93284, 0.00000,
 0.99084, 0.11647, -0.06840, 0.00000,
 -0.08507, 0.93147, 0.35374, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.60676, 0.44074, 0.66150, 0.00000,
 -0.77476, -0.14184, -0.61614, 0.00000,
 -0.17773, -0.88636, 0.42753, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.16397245, -0.50926191, 0.73758608, -0.41198561)
 [-0.60676, 0.44074, 0.66150, 0.00000,
 -0.77476, -0.14184, -0.61614, 0.00000,
 -0.17773, -0.88636, 0.42753, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.99145, 0.10713, 0.07456, 0.00000,
 -0.11510, 0.98697, 0.11242, 0.00000,
 -0.06155, -0.12004, 0.99086, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.05833903, 0.03416020, -0.05577203, 0.99615216)
 [0.99145, 0.10713, 0.07456, 0.00000,
 -0.11510, 0.98697, 0.11242, 0.00000,
 -0.06155, -0.12004, 0.99086, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.87604, -0.42938, 0.21949, 0.00000,
 0.39134, -0.36704, 0.84388, 0.00000,
 -0.28179, 0.82517, 0.48958, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.01884186, 0.50483084, 0.82653940, 0.24824029)
 [-0.87604, -0.42938, 0.21949, 0.00000,
 0.39134, -0.36704, 0.84388, 0.00000,
 -0.28179, 0.82517, 0.48958, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.76733, 0.57804, 0.27762, 0.00000,
 -0.61101, 0.52767, 0.59011, 0.00000,
 0.19462, -0.62243, 0.75809, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.34697443, 0.02375118, -0.34025231, 0.87365496)
 [0.76733, 0.57804, 0.27762, 0.00000,
 -0.61101, 0.52767, 0.59011, 0.00000,
 0.19462, -0.62243, 0.75809, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.98208, 0.12767, 0.13864, 0.00000,
 -0.17635, 0.88202, 0.43697, 0.00000,
 -0.06650, -0.45359, 0.88873, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.22985375, 0.05294601, -0.07846884, 0.96861064)
 [0.98208, 0.12767, 0.13864, 0.00000,
 -0.17635, 0.88202, 0.43697, 0.00000,
 -0.06650, -0.45359, 0.88873, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.38846, -0.89622, 0.21423, 0.00000,
 -0.51618, -0.40423, -0.75509, 0.00000,
 0.76332, 0.18274, -0.61964, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.77658421, -0.45468298, 0.31469420, 0.30190730)
 [0.38846, -0.89622, 0.21423, 0.00000,
 -0.51618, -0.40423, -0.75509, 0.00000,
 0.76332, 0.18274, -0.61964, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.52243, -0.85199, -0.03449, 0.00000,
 0.83840, 0.52063, -0.16136, 0.00000,
 0.15543, 0.05539, 0.98629, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.06226622, -0.05455938, 0.48560250, 0.87025076)
 [0.52243, -0.85199, -0.03449, 0.00000,
 0.83840, 0.52063, -0.16136, 0.00000,
 0.15543, 0.05539, 0.98629, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.99146, -0.08653, 0.09758, 0.00000,
 0.09844, 0.98729, -0.12479, 0.00000,
 -0.08554, 0.13333, 0.98737, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.06480295, 0.04597623, 0.04643992, 0.99575609)
 [0.99146, -0.08653, 0.09758, 0.00000,
 0.09844, 0.98729, -0.12479, 0.00000,
 -0.08554, 0.13333, 0.98737, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.90456, 0.15004, 0.39908, 0.00000,
 0.41523, 0.09760, 0.90447, 0.00000,
 0.09676, 0.98385, -0.15058, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.19263151, 0.73360991, 0.64350235, 0.10302607)
 [-0.90456, 0.15004, 0.39908, 0.00000,
 0.41523, 0.09760, 0.90447, 0.00000,
 0.09676, 0.98385, -0.15058, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.85560, 0.13455, -0.49984, 0.00000,
 0.36561, 0.52649, 0.76756, 0.00000,
 0.36644, -0.83947, 0.40127, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.48162299, -0.25962329, 0.06924627, 0.83417022)
 [0.85560, 0.13455, -0.49984, 0.00000,
 0.36561, 0.52649, 0.76756, 0.00000,
 0.36644, -0.83947, 0.40127, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.14804, -0.67929, 0.71878, 0.00000,
 -0.98590, -0.04401, 0.16145, 0.00000,
 -0.07804, -0.73255, -0.67623, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.68342477, -0.60913497, 0.23438646, -0.32702926)
 [0.14804, -0.67929, 0.71878, 0.00000,
 -0.98590, -0.04401, 0.16145, 0.00000,
 -0.07804, -0.73255, -0.67623, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.59718, 0.63990, -0.48364, 0.00000,
 0.71679, -0.15514, 0.67981, 0.00000,
 0.35998, -0.75264, -0.55131, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.75888610, 0.44693285, -0.04073568, -0.47189364)
 [0.59718, 0.63990, -0.48364, 0.00000,
 0.71679, -0.15514, 0.67981, 0.00000,
 0.35998, -0.75264, -0.55131, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.96095, 0.01398, 0.27638, 0.00000,
 0.05456, -0.96955, 0.23874, 0.00000,
 0.27130, 0.24450, 0.93092, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.13935429, 0.12295861, 0.98252487, 0.01032401)
 [-0.96095, 0.01398, 0.27638, 0.00000,
 0.05456, -0.96955, 0.23874, 0.00000,
 0.27130, 0.24450, 0.93092, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.99770, -0.05837, -0.03445, 0.00000,
 0.05930, 0.99789, 0.02653, 0.00000,
 0.03283, -0.02852, 0.99905, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.01377173, -0.01683329, 0.02943581, 0.99933004)
 [0.99770, -0.05837, -0.03445, 0.00000,
 0.05930, 0.99789, 0.02653, 0.00000,
 0.03283, -0.02852, 0.99905, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.39924, -0.46001, 0.79309, 0.00000,
 0.60555, -0.51720, -0.60482, 0.00000,
 0.68841, 0.72173, 0.07207, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.67903930, 0.05358480, 0.54544222, 0.48839259)
 [0.39924, -0.46001, 0.79309, 0.00000,
 0.60555, -0.51720, -0.60482, 0.00000,
 0.68841, 0.72173, 0.07207, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.13648, 0.34236, 0.92960, 0.00000,
 0.82956, -0.55242, 0.08166, 0.00000,
 0.54149, 0.76001, -0.35940, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.71559489, 0.40942052, 0.51393986, 0.23699097)
 [0.13648, 0.34236, 0.92960, 0.00000,
 0.82956, -0.55242, 0.08166, 0.00000,
 0.54149, 0.76001, -0.35940, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.86612, -0.11537, -0.48634, 0.00000,
 -0.47522, 0.49169, 0.72966, 0.00000,
 0.15494, 0.86309, -0.48069, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.17527284, 0.84239161, 0.47268909, -0.19031772)
 [-0.86612, -0.11537, -0.48634, 0.00000,
 -0.47522, 0.49169, 0.72966, 0.00000,
 0.15495, 0.86309, -0.48069, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.63101, 0.10641, 0.76845, 0.00000,
 -0.41191, 0.88534, 0.21564, 0.00000,
 -0.65739, -0.45260, 0.60249, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.18919335, 0.40368640, -0.14674722, 0.88301104)
 [0.63101, 0.10641, 0.76845, 0.00000,
 -0.41191, 0.88534, 0.21564, 0.00000,
 -0.65739, -0.45260, 0.60249, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.01008, 0.98619, -0.16533, 0.00000,
 -0.78163, 0.11089, 0.61381, 0.00000,
 0.62367, 0.12304, 0.77195, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.17835338, -0.28673568, -0.64245224, 0.68791562)
 [0.01008, 0.98619, -0.16533, 0.00000,
 -0.78163, 0.11089, 0.61381, 0.00000,
 0.62367, 0.12304, 0.77195, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.66044, 0.52940, -0.53250, 0.00000,
 0.70369, -0.68380, 0.19295, 0.00000,
 -0.26197, -0.50215, -0.82415, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.88999915, 0.34637350, -0.22316624, -0.19525307)
 [0.66044, 0.52940, -0.53250, 0.00000,
 0.70369, -0.68380, 0.19295, 0.00000,
 -0.26197, -0.50215, -0.82415, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.45724, 0.55278, 0.69668, 0.00000,
 -0.71868, -0.23176, 0.65558, 0.00000,
 0.52385, -0.80045, 0.29130, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.59112227, 0.07016319, -0.51619256, 0.61578977)
 [0.45724, 0.55278, 0.69668, 0.00000,
 -0.71868, -0.23176, 0.65558, 0.00000,
 0.52385, -0.80045, 0.29130, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.68997, 0.65828, -0.30100, 0.00000,
 -0.56255, 0.74935, 0.34930, 0.00000,
 0.45549, -0.07168, 0.88735, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.11540466, -0.20737976, -0.33467454, 0.91195846)
 [0.68997, 0.65828, -0.30100, 0.00000,
 -0.56255, 0.74935, 0.34930, 0.00000,
 0.45549, -0.07168, 0.88735, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.68972, -0.71076, 0.13823, 0.00000,
 0.60095, 0.45541, -0.65686, 0.00000,
 0.40392, 0.53612, 0.74123, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.35109845, -0.07819372, 0.38603899, 0.84946424)
 [0.68972, -0.71076, 0.13823, 0.00000,
 0.60095, 0.45541, -0.65686, 0.00000,
 0.40392, 0.53612, 0.74123, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.96580, 0.25817, 0.02426, 0.00000,
 -0.16826, 0.55275, 0.81619, 0.00000,
 0.19730, -0.79235, 0.57728, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.45710310, -0.04917407, -0.12117746, 0.87974685)
 [0.96580, 0.25817, 0.02426, 0.00000,
 -0.16826, 0.55275, 0.81619, 0.00000,
 0.19730, -0.79235, 0.57728, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.47114, 0.38412, -0.79403, 0.00000,
 0.17296, -0.92295, -0.34386, 0.00000,
 -0.86494, 0.02467, -0.50128, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.85078859, 0.16369632, -0.48747876, 0.10828992)
 [0.47114, 0.38412, -0.79403, 0.00000,
 0.17296, -0.92295, -0.34386, 0.00000,
 -0.86494, 0.02467, -0.50128, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.68017, 0.33197, -0.65358, 0.00000,
 0.46974, 0.48710, 0.73626, 0.00000,
 0.56278, -0.80779, 0.17537, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.50440311, -0.39735585, 0.04500394, 0.76528460)
 [0.68017, 0.33197, -0.65358, 0.00000,
 0.46974, 0.48710, 0.73626, 0.00000,
 0.56278, -0.80779, 0.17537, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.82173, 0.34048, 0.45698, 0.00000,
 -0.30644, -0.41209, 0.85806, 0.00000,
 0.48048, -0.84513, -0.23429, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.78551066, 0.01083405, 0.29835981, -0.54206729)
 [0.82173, 0.34048, 0.45698, 0.00000,
 -0.30644, -0.41209, 0.85806, 0.00000,
 0.48048, -0.84513, -0.23429, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.99269, 0.10323, 0.06248, 0.00000,
 -0.10451, 0.99437, 0.01750, 0.00000,
 -0.06032, -0.02390, 0.99789, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.01036874, 0.03075673, -0.05203391, 0.99811769)
 [0.99269, 0.10323, 0.06248, 0.00000,
 -0.10451, 0.99437, 0.01750, 0.00000,
 -0.06032, -0.02390, 0.99789, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.04076, 0.13949, 0.98938, 0.00000,
 -0.38443, 0.91617, -0.11333, 0.00000,
 -0.92225, -0.37573, 0.09097, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.09168385, 0.66791552, -0.18305425, 0.71552366)
 [0.04076, 0.13949, 0.98938, 0.00000,
 -0.38443, 0.91617, -0.11333, 0.00000,
 -0.92225, -0.37573, 0.09097, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.70039, -0.51763, 0.49144, 0.00000,
 0.64160, -0.75826, 0.11571, 0.00000,
 0.31275, 0.39635, 0.86319, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.22061765, 0.14047730, 0.91129565, 0.31801611)
 [-0.70039, -0.51763, 0.49144, 0.00000,
 0.64160, -0.75826, 0.11571, 0.00000,
 0.31275, 0.39635, 0.86319, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.43342, 0.35672, 0.82758, 0.00000,
 0.70293, -0.44085, 0.55816, 0.00000,
 0.56395, 0.82365, -0.05968, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.51650250, 0.51289678, 0.67353475, 0.12850328)
 [-0.43342, 0.35672, 0.82758, 0.00000,
 0.70293, -0.44085, 0.55816, 0.00000,
 0.56395, 0.82365, -0.05968, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.95694, 0.11340, -0.26721, 0.00000,
 -0.03357, 0.95759, 0.28617, 0.00000,
 0.28833, -0.26488, 0.92017, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.14069842, -0.14184536, -0.03752568, 0.97911990)
 [0.95694, 0.11340, -0.26721, 0.00000,
 -0.03357, 0.95759, 0.28617, 0.00000,
 0.28833, -0.26488, 0.92017, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.91883, 0.00996, -0.39452, 0.00000,
 -0.20739, 0.86271, -0.46123, 0.00000,
 0.33576, 0.50561, 0.79475, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.25562668, -0.19308443, -0.05746438, 0.94555342)
 [0.91883, 0.00996, -0.39452, 0.00000,
 -0.20739, 0.86271, -0.46123, 0.00000,
 0.33576, 0.50561, 0.79475, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.07180, 0.65977, 0.74803, 0.00000,
 0.83979, 0.36465, -0.40223, 0.00000,
 -0.53815, 0.65707, -0.52788, 0.00000,
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 -0.34059, -0.27820, 0.89811, 0.00000,
 0.87829, -0.43507, 0.19831, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.22452, 0.31579, 0.92188, 0.00000,
 -0.25681, 0.93177, -0.25663, 0.00000,
 -0.94002, -0.17913, 0.29030, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.02477232, 0.59517753, -0.18303882, 0.78207844)
 [0.22452, 0.31579, 0.92188, 0.00000,
 -0.25681, 0.93177, -0.25663, 0.00000,
 -0.94002, -0.17913, 0.29030, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.59473, 0.79824, -0.09549, 0.00000,
 0.59517, 0.51703, 0.61518, 0.00000,
 0.54044, 0.30903, -0.78258, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.40951881, 0.85063720, 0.27162424, -0.18689792)
 [-0.59473, 0.79824, -0.09549, 0.00000,
 0.59517, 0.51703, 0.61518, 0.00000,
 0.54044, 0.30903, -0.78258, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.95513, -0.10834, 0.27565, 0.00000,
 0.10907, 0.99395, 0.01270, 0.00000,
 -0.27536, 0.01793, 0.96117, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.00132331, 0.13932329, 0.05497207, 0.98871905)
 [0.95513, -0.10834, 0.27565, 0.00000,
 0.10907, 0.99395, 0.01270, 0.00000,
 -0.27536, 0.01793, 0.96117, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.59268, 0.61558, -0.51942, 0.00000,
 -0.05237, 0.67298, 0.73780, 0.00000,
 0.80374, -0.41008, 0.43110, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.34949958, -0.40286580, -0.20337182, 0.82109016)
 [0.59268, 0.61558, -0.51942, 0.00000,
 -0.05237, 0.67298, 0.73780, 0.00000,
 0.80374, -0.41008, 0.43110, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.28953, 0.92730, -0.23727, 0.00000,
 -0.91611, 0.34028, 0.21201, 0.00000,
 0.27734, 0.15598, 0.94803, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.01744772, -0.16025776, -0.57406783, 0.80278224)
 [0.28953, 0.92730, -0.23727, 0.00000,
 -0.91611, 0.34028, 0.21201, 0.00000,
 0.27734, 0.15598, 0.94803, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.84054, -0.12278, 0.52766, 0.00000,
 0.08221, 0.99161, 0.09978, 0.00000,
 -0.53548, -0.04049, 0.84357, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.03658033, 0.27726230, 0.05346029, 0.95860803)
 [0.84054, -0.12278, 0.52766, 0.00000,
 0.08221, 0.99161, 0.09978, 0.00000,
 -0.53548, -0.04049, 0.84358, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.66013, 0.73211, -0.16806, 0.00000,
 -0.27955, 0.44711, 0.84968, 0.00000,
 0.69720, -0.51392, 0.49981, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.42226014, -0.26794082, -0.31327802, 0.80731708)
 [0.66013, 0.73211, -0.16806, 0.00000,
 -0.27955, 0.44711, 0.84968, 0.00000,
 0.69720, -0.51392, 0.49981, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.10317, 0.82130, -0.56109, 0.00000,
 -0.97286, -0.20079, -0.11503, 0.00000,
 -0.20714, 0.53399, 0.81972, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.26358324, 0.14374615, 0.72864306, -0.61558121)
 [-0.10317, 0.82130, -0.56109, 0.00000,
 -0.97286, -0.20079, -0.11503, 0.00000,
 -0.20714, 0.53399, 0.81972, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.99503, 0.09744, 0.02075, 0.00000,
 -0.09777, 0.99509, 0.01556, 0.00000,
 -0.01914, -0.01751, 0.99966, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.00827966, 0.00998507, -0.04886289, 0.99872130)
 [0.99503, 0.09744, 0.02075, 0.00000,
 -0.09777, 0.99509, 0.01556, 0.00000,
 -0.01914, -0.01751, 0.99966, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.65424, 0.43498, -0.61868, 0.00000,
 -0.50693, 0.85929, 0.06808, 0.00000,
 0.56124, 0.26909, 0.78269, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.05535709, -0.32495019, -0.25940236, 0.90777391)
 [0.65424, 0.43498, -0.61868, 0.00000,
 -0.50693, 0.85929, 0.06808, 0.00000,
 0.56124, 0.26909, 0.78269, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.75809, 0.45666, 0.46557, 0.00000,
 0.62861, 0.70175, 0.33525, 0.00000,
 -0.17361, 0.54682, -0.81905, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.29967248, 0.90538603, 0.24356183, 0.17649405)
 [-0.75809, 0.45666, 0.46557, 0.00000,
 0.62861, 0.70175, 0.33525, 0.00000,
 -0.17361, 0.54682, -0.81905, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.14412, 0.43544, -0.88861, 0.00000,
 -0.54050, 0.71756, 0.43928, 0.00000,
 0.82891, 0.54360, 0.13194, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.03994098, -0.65759784, -0.37366563, 0.65295011)
 [-0.14412, 0.43544, -0.88861, 0.00000,
 -0.54050, 0.71756, 0.43928, 0.00000,
 0.82891, 0.54360, 0.13194, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.72325, 0.67347, -0.15279, 0.00000,
 -0.65908, 0.73921, 0.13848, 0.00000,
 0.20621, 0.00055, 0.97851, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.03717959, -0.09676723, -0.35918251, 0.92749214)
 [0.72325, 0.67347, -0.15279, 0.00000,
 -0.65908, 0.73921, 0.13848, 0.00000,
 0.20621, 0.00055, 0.97851, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.21039, 0.87009, -0.44574, 0.00000,
 0.58405, 0.47750, 0.65641, 0.00000,
 0.78398, -0.12223, -0.60863, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.47977704, 0.75771421, 0.17624755, -0.40573388)
 [-0.21039, 0.87009, -0.44574, 0.00000,
 0.58405, 0.47750, 0.65641, 0.00000,
 0.78398, -0.12223, -0.60863, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.04831, 0.97599, 0.21239, 0.00000,
 0.58354, -0.14500, 0.79903, 0.00000,
 0.81064, 0.16254, -0.56253, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.64405173, 0.60535949, 0.39710954, -0.24706522)
 [-0.04831, 0.97599, 0.21239, 0.00000,
 0.58354, -0.14500, 0.79903, 0.00000,
 0.81064, 0.16254, -0.56253, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.52721, 0.84591, -0.08054, 0.00000,
 -0.68087, -0.47725, -0.55556, 0.00000,
 -0.50839, -0.23807, 0.82757, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.17497791, -0.23579675, 0.84143168, -0.45362473)
 [-0.52721, 0.84591, -0.08054, 0.00000,
 -0.68087, -0.47725, -0.55556, 0.00000,
 -0.50839, -0.23807, 0.82757, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.40645, 0.91333, -0.02484, 0.00000,
 -0.29263, 0.15589, 0.94343, 0.00000,
 0.86554, -0.37619, 0.33063, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.47956556, -0.32357344, -0.43826151, 0.68792742)
 [0.40645, 0.91333, -0.02484, 0.00000,
 -0.29263, 0.15589, 0.94343, 0.00000,
 0.86554, -0.37619, 0.33063, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.79792, 0.27235, -0.53772, 0.00000,
 -0.03575, 0.91191, 0.40884, 0.00000,
 0.60170, -0.30700, 0.73737, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.19277409, -0.30684772, -0.08297171, 0.92833090)
 [0.79792, 0.27235, -0.53772, 0.00000,
 -0.03575, 0.91191, 0.40884, 0.00000,
 0.60170, -0.30700, 0.73737, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [-0.35790, 0.16569, -0.91894, 0.00000,
 -0.72331, 0.57319, 0.38506, 0.00000,
 0.59053, 0.80249, -0.08530, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(-0.19634607, 0.70999873, 0.41815314, -0.53150541)
 [-0.35790, 0.16569, -0.91894, 0.00000,
 -0.72331, 0.57319, 0.38506, 0.00000,
 0.59053, 0.80249, -0.08530, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.82578, -0.41854, 0.37804, 0.00000,
 0.51437, 0.83382, -0.20042, 0.00000,
 -0.23134, 0.35996, 0.90383, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.14842853, 0.16140796, 0.24710263, 0.94385207)
 [0.82578, -0.41854, 0.37804, 0.00000,
 0.51437, 0.83382, -0.20042, 0.00000,
 -0.23134, 0.35996, 0.90383, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 [0.57132, 0.82056, 0.01650, 0.00000,
 0.81800, -0.57095, 0.06999, 0.00000,
 0.06685, -0.02649, -0.99741, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 q(0.88595670, 0.46237046, 0.02352080, -0.02722242)
 [0.57132, 0.82056, 0.01650, 0.00000,
 0.81800, -0.57095, 0.06999, 0.00000,
 0.06685, -0.02649, -0.99741, 0.00000,
 0.00000, 0.00000, 0.00000, 1.00000]
 # matrix to quat test
 # matrix to quat test
 # matrix to quat test
 Test Mat3 * Mat3:
 [1.0000, 0.0000, 0.0000,
 0.0000, 1.0000, 0.0000,
 50.0000, 50.0000, 0.0000]
 [1.0000, 0.0000, 0.0000,
 0.0000, 1.0000, 0.0000,
 50.0000, 50.0000, 1.0000]
 [300.0000, 360.0000, 420.0000,
 660.0000, 810.0000, 960.0000,
 1020.0000, 1260.0000, 1500.0000]
 [300.0000, 360.0000, 420.0000,
 660.0000, 810.0000, 960.0000,
 1020.0000, 1260.0000, 1500.0000]
 Test Mat3 * Vec2 and Vec3:
 (50.00000000, 50.00000000, 1.00000000)
 (50.0000, 50.0000)
 (50.00000000, 50.00000000, 1.00000000)