287 lines
11 KiB
C++
287 lines
11 KiB
C++
/*************************************************************************/
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/* test_basis.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef TEST_BASIS_H
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#define TEST_BASIS_H
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#include "core/math/basis.h"
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#include "core/math/random_number_generator.h"
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#include "tests/test_macros.h"
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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 deg2rad(const Vector3 &p_rotation) {
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return p_rotation / 180.0 * Math_PI;
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}
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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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switch (ro) {
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case EulerXYZ:
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return "XYZ";
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case EulerXZY:
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return "XZY";
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case EulerYZX:
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return "YZX";
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case EulerYXZ:
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return "YXZ";
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case EulerZXY:
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return "ZXY";
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case EulerZYX:
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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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// 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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// 3. Converts the above basis back into euler.
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// 4. Converts the above euler into basis again.
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// 5. Compares the basis obtained in step 2 with the basis of step 4
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//
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// The conversion "basis to euler", done in the step 3, may be different from
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// the original euler, even if the final rotation are the same.
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// This happens because there are more ways to represents the same rotation,
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// both valid, using eulers.
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// For this reason is necessary to convert that euler back to basis and finally
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// compares it.
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//
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// In this way we can assert that both functions: basis to euler / euler to basis
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// are correct.
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// Euler to rotation
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const Vector3 original_euler = deg2rad(deg_original_euler);
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const Basis to_rotation = EulerToBasis(rot_order, original_euler);
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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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Basis res = to_rotation.inverse() * rotation_from_computed_euler;
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CHECK_MESSAGE((res.get_axis(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Fail due to X %s\n", String(res.get_axis(0))).utf8().ptr());
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CHECK_MESSAGE((res.get_axis(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Fail due to Y %s\n", String(res.get_axis(1))).utf8().ptr());
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CHECK_MESSAGE((res.get_axis(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Fail due to Z %s\n", String(res.get_axis(2))).utf8().ptr());
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// Double check `to_rotation` decomposing with XYZ rotation order.
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const Vector3 euler_xyz_from_rotation = to_rotation.get_euler(Basis::EULER_ORDER_XYZ);
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Basis rotation_from_xyz_computed_euler;
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rotation_from_xyz_computed_euler.set_euler(euler_xyz_from_rotation, Basis::EULER_ORDER_XYZ);
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res = to_rotation.inverse() * rotation_from_xyz_computed_euler;
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CHECK_MESSAGE((res.get_axis(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to X %s\n", String(res.get_axis(0))).utf8().ptr());
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CHECK_MESSAGE((res.get_axis(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Y %s\n", String(res.get_axis(1))).utf8().ptr());
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CHECK_MESSAGE((res.get_axis(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Double check with XYZ rot order failed, due to Z %s\n", String(res.get_axis(2))).utf8().ptr());
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INFO(vformat("Rotation order: %s\n.", get_rot_order_name(rot_order)).utf8().ptr());
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INFO(vformat("Original Rotation: %s\n", String(deg_original_euler)).utf8().ptr());
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INFO(vformat("Quaternion to rotation order: %s\n", String(rad2deg(euler_from_rotation))).utf8().ptr());
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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<Vector3> vectors_to_test;
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// Test the special cases.
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vectors_to_test.push_back(Vector3(0.0, 0.0, 0.0));
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vectors_to_test.push_back(Vector3(0.5, 0.5, 0.5));
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vectors_to_test.push_back(Vector3(-0.5, -0.5, -0.5));
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vectors_to_test.push_back(Vector3(40.0, 40.0, 40.0));
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vectors_to_test.push_back(Vector3(-40.0, -40.0, -40.0));
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vectors_to_test.push_back(Vector3(0.0, 0.0, -90.0));
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vectors_to_test.push_back(Vector3(0.0, -90.0, 0.0));
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vectors_to_test.push_back(Vector3(-90.0, 0.0, 0.0));
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vectors_to_test.push_back(Vector3(0.0, 0.0, 90.0));
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vectors_to_test.push_back(Vector3(0.0, 90.0, 0.0));
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vectors_to_test.push_back(Vector3(90.0, 0.0, 0.0));
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vectors_to_test.push_back(Vector3(0.0, 0.0, -30.0));
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vectors_to_test.push_back(Vector3(0.0, -30.0, 0.0));
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vectors_to_test.push_back(Vector3(-30.0, 0.0, 0.0));
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vectors_to_test.push_back(Vector3(0.0, 0.0, 30.0));
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vectors_to_test.push_back(Vector3(0.0, 30.0, 0.0));
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vectors_to_test.push_back(Vector3(30.0, 0.0, 0.0));
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vectors_to_test.push_back(Vector3(0.5, 50.0, 20.0));
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vectors_to_test.push_back(Vector3(-0.5, -50.0, -20.0));
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vectors_to_test.push_back(Vector3(0.5, 0.0, 90.0));
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vectors_to_test.push_back(Vector3(0.5, 0.0, -90.0));
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vectors_to_test.push_back(Vector3(360.0, 360.0, 360.0));
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vectors_to_test.push_back(Vector3(-360.0, -360.0, -360.0));
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vectors_to_test.push_back(Vector3(-90.0, 60.0, -90.0));
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vectors_to_test.push_back(Vector3(90.0, 60.0, -90.0));
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vectors_to_test.push_back(Vector3(90.0, -60.0, -90.0));
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vectors_to_test.push_back(Vector3(-90.0, -60.0, -90.0));
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vectors_to_test.push_back(Vector3(-90.0, 60.0, 90.0));
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vectors_to_test.push_back(Vector3(90.0, 60.0, 90.0));
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vectors_to_test.push_back(Vector3(90.0, -60.0, 90.0));
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vectors_to_test.push_back(Vector3(-90.0, -60.0, 90.0));
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vectors_to_test.push_back(Vector3(60.0, 90.0, -40.0));
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vectors_to_test.push_back(Vector3(60.0, -90.0, -40.0));
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vectors_to_test.push_back(Vector3(-60.0, -90.0, -40.0));
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vectors_to_test.push_back(Vector3(-60.0, 90.0, 40.0));
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vectors_to_test.push_back(Vector3(60.0, 90.0, 40.0));
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vectors_to_test.push_back(Vector3(60.0, -90.0, 40.0));
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vectors_to_test.push_back(Vector3(-60.0, -90.0, 40.0));
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vectors_to_test.push_back(Vector3(-90.0, 90.0, -90.0));
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vectors_to_test.push_back(Vector3(90.0, 90.0, -90.0));
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vectors_to_test.push_back(Vector3(90.0, -90.0, -90.0));
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vectors_to_test.push_back(Vector3(-90.0, -90.0, -90.0));
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vectors_to_test.push_back(Vector3(-90.0, 90.0, 90.0));
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vectors_to_test.push_back(Vector3(90.0, 90.0, 90.0));
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vectors_to_test.push_back(Vector3(90.0, -90.0, 90.0));
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vectors_to_test.push_back(Vector3(20.0, 150.0, 30.0));
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vectors_to_test.push_back(Vector3(20.0, -150.0, 30.0));
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vectors_to_test.push_back(Vector3(-120.0, -150.0, 30.0));
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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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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 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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}
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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<Vector3> vectors_to_test;
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// Add 1000 random vectors with weirds numbers.
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RandomNumberGenerator rng;
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for (int _ = 0; _ < 1000; _ += 1) {
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vectors_to_test.push_back(Vector3(
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rng.randf_range(-1800, 1800),
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rng.randf_range(-1800, 1800),
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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 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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}
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}
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}
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} // namespace TestBasis
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#endif
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