Merge pull request #66380 from aaronfranke/basis-euler-test
Simplify Euler order test code in test_basis.h
This commit is contained in:
Rémi Verschelde
commit
f0dcefe5f8
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@ -38,15 +38,6 @@
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namespace TestBasis {
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enum RotOrder {
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EulerXYZ,
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EulerXZY,
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EulerYZX,
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EulerYXZ,
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EulerZXY,
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EulerZYX
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};
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Vector3 deg_to_rad(const Vector3 &p_rotation) {
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return p_rotation / 180.0 * Math_PI;
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}
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@ -55,88 +46,26 @@ Vector3 rad2deg(const Vector3 &p_rotation) {
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return p_rotation / Math_PI * 180.0;
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}
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Basis EulerToBasis(RotOrder mode, const Vector3 &p_rotation) {
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Basis ret;
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switch (mode) {
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case EulerXYZ:
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ret.set_euler(p_rotation, Basis::EULER_ORDER_XYZ);
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break;
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case EulerXZY:
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ret.set_euler(p_rotation, Basis::EULER_ORDER_XZY);
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break;
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case EulerYZX:
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ret.set_euler(p_rotation, Basis::EULER_ORDER_YZX);
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break;
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case EulerYXZ:
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ret.set_euler(p_rotation, Basis::EULER_ORDER_YXZ);
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break;
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case EulerZXY:
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ret.set_euler(p_rotation, Basis::EULER_ORDER_ZXY);
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break;
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case EulerZYX:
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ret.set_euler(p_rotation, Basis::EULER_ORDER_ZYX);
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break;
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default:
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// If you land here, Please integrate all rotation orders.
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FAIL("This is not unreachable.");
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}
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return ret;
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}
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Vector3 BasisToEuler(RotOrder mode, const Basis &p_rotation) {
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switch (mode) {
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case EulerXYZ:
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return p_rotation.get_euler(Basis::EULER_ORDER_XYZ);
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case EulerXZY:
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return p_rotation.get_euler(Basis::EULER_ORDER_XZY);
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case EulerYZX:
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return p_rotation.get_euler(Basis::EULER_ORDER_YZX);
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case EulerYXZ:
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return p_rotation.get_euler(Basis::EULER_ORDER_YXZ);
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case EulerZXY:
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return p_rotation.get_euler(Basis::EULER_ORDER_ZXY);
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case EulerZYX:
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return p_rotation.get_euler(Basis::EULER_ORDER_ZYX);
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default:
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// If you land here, Please integrate all rotation orders.
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FAIL("This is not unreachable.");
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return Vector3();
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}
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}
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String get_rot_order_name(RotOrder ro) {
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String get_rot_order_name(Basis::EulerOrder ro) {
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switch (ro) {
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case EulerXYZ:
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case Basis::EULER_ORDER_XYZ:
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return "XYZ";
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case EulerXZY:
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case Basis::EULER_ORDER_XZY:
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return "XZY";
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case EulerYZX:
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case Basis::EULER_ORDER_YZX:
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return "YZX";
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case EulerYXZ:
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case Basis::EULER_ORDER_YXZ:
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return "YXZ";
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case EulerZXY:
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case Basis::EULER_ORDER_ZXY:
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return "ZXY";
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case EulerZYX:
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case Basis::EULER_ORDER_ZYX:
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return "ZYX";
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default:
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return "[Not supported]";
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}
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}
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void test_rotation(Vector3 deg_original_euler, RotOrder rot_order) {
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void test_rotation(Vector3 deg_original_euler, Basis::EulerOrder rot_order) {
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// This test:
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// 1. Converts the rotation vector from deg to rad.
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// 2. Converts euler to basis.
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@ -156,11 +85,11 @@ void test_rotation(Vector3 deg_original_euler, RotOrder rot_order) {
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// Euler to rotation
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const Vector3 original_euler = deg_to_rad(deg_original_euler);
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const Basis to_rotation = EulerToBasis(rot_order, original_euler);
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const Basis to_rotation = Basis::from_euler(original_euler, rot_order);
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// Euler from rotation
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const Vector3 euler_from_rotation = BasisToEuler(rot_order, to_rotation);
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const Basis rotation_from_computed_euler = EulerToBasis(rot_order, euler_from_rotation);
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const Vector3 euler_from_rotation = to_rotation.get_euler(rot_order);
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const Basis rotation_from_computed_euler = Basis::from_euler(euler_from_rotation, rot_order);
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Basis res = to_rotation.inverse() * rotation_from_computed_euler;
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@ -184,13 +113,13 @@ void test_rotation(Vector3 deg_original_euler, RotOrder rot_order) {
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}
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TEST_CASE("[Basis] Euler conversions") {
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Vector<RotOrder> rotorder_to_test;
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rotorder_to_test.push_back(EulerXYZ);
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rotorder_to_test.push_back(EulerXZY);
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rotorder_to_test.push_back(EulerYZX);
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rotorder_to_test.push_back(EulerYXZ);
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rotorder_to_test.push_back(EulerZXY);
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rotorder_to_test.push_back(EulerZYX);
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Vector<Basis::EulerOrder> euler_order_to_test;
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euler_order_to_test.push_back(Basis::EULER_ORDER_XYZ);
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euler_order_to_test.push_back(Basis::EULER_ORDER_XZY);
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euler_order_to_test.push_back(Basis::EULER_ORDER_YZX);
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euler_order_to_test.push_back(Basis::EULER_ORDER_YXZ);
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euler_order_to_test.push_back(Basis::EULER_ORDER_ZXY);
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euler_order_to_test.push_back(Basis::EULER_ORDER_ZYX);
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Vector<Vector3> vectors_to_test;
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@ -248,21 +177,21 @@ TEST_CASE("[Basis] Euler conversions") {
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vectors_to_test.push_back(Vector3(120.0, 150.0, -130.0));
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vectors_to_test.push_back(Vector3(120.0, 150.0, 130.0));
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for (int h = 0; h < rotorder_to_test.size(); h += 1) {
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for (int h = 0; h < euler_order_to_test.size(); h += 1) {
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for (int i = 0; i < vectors_to_test.size(); i += 1) {
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test_rotation(vectors_to_test[i], rotorder_to_test[h]);
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test_rotation(vectors_to_test[i], euler_order_to_test[h]);
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}
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}
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}
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TEST_CASE("[Stress][Basis] Euler conversions") {
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Vector<RotOrder> rotorder_to_test;
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rotorder_to_test.push_back(EulerXYZ);
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rotorder_to_test.push_back(EulerXZY);
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rotorder_to_test.push_back(EulerYZX);
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rotorder_to_test.push_back(EulerYXZ);
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rotorder_to_test.push_back(EulerZXY);
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rotorder_to_test.push_back(EulerZYX);
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Vector<Basis::EulerOrder> euler_order_to_test;
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euler_order_to_test.push_back(Basis::EULER_ORDER_XYZ);
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euler_order_to_test.push_back(Basis::EULER_ORDER_XZY);
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euler_order_to_test.push_back(Basis::EULER_ORDER_YZX);
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euler_order_to_test.push_back(Basis::EULER_ORDER_YXZ);
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euler_order_to_test.push_back(Basis::EULER_ORDER_ZXY);
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euler_order_to_test.push_back(Basis::EULER_ORDER_ZYX);
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Vector<Vector3> vectors_to_test;
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// Add 1000 random vectors with weirds numbers.
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@ -274,9 +203,9 @@ TEST_CASE("[Stress][Basis] Euler conversions") {
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rng.randf_range(-1800, 1800)));
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}
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for (int h = 0; h < rotorder_to_test.size(); h += 1) {
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for (int h = 0; h < euler_order_to_test.size(); h += 1) {
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for (int i = 0; i < vectors_to_test.size(); i += 1) {
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test_rotation(vectors_to_test[i], rotorder_to_test[h]);
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test_rotation(vectors_to_test[i], euler_order_to_test[h]);
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}
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}
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}
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