302 lines
13 KiB
C++
302 lines
13 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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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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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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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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String get_rot_order_name(EulerOrder ro) {
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switch (ro) {
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case EulerOrder::XYZ:
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return "XYZ";
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case EulerOrder::XZY:
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return "XZY";
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case EulerOrder::YZX:
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return "YZX";
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case EulerOrder::YXZ:
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return "YXZ";
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case EulerOrder::ZXY:
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return "ZXY";
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case EulerOrder::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, 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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// 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 = deg_to_rad(deg_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 = 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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CHECK_MESSAGE((res.get_column(0) - Vector3(1.0, 0.0, 0.0)).length() <= 0.1, vformat("Fail due to X %s\n", String(res.get_column(0))).utf8().ptr());
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CHECK_MESSAGE((res.get_column(1) - Vector3(0.0, 1.0, 0.0)).length() <= 0.1, vformat("Fail due to Y %s\n", String(res.get_column(1))).utf8().ptr());
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CHECK_MESSAGE((res.get_column(2) - Vector3(0.0, 0.0, 1.0)).length() <= 0.1, vformat("Fail due to Z %s\n", String(res.get_column(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(EulerOrder::XYZ);
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Basis rotation_from_xyz_computed_euler = Basis::from_euler(euler_xyz_from_rotation, EulerOrder::XYZ);
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res = to_rotation.inverse() * rotation_from_xyz_computed_euler;
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CHECK_MESSAGE((res.get_column(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_column(0))).utf8().ptr());
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CHECK_MESSAGE((res.get_column(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_column(1))).utf8().ptr());
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CHECK_MESSAGE((res.get_column(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_column(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<EulerOrder> euler_order_to_test;
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euler_order_to_test.push_back(EulerOrder::XYZ);
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euler_order_to_test.push_back(EulerOrder::XZY);
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euler_order_to_test.push_back(EulerOrder::YZX);
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euler_order_to_test.push_back(EulerOrder::YXZ);
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euler_order_to_test.push_back(EulerOrder::ZXY);
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euler_order_to_test.push_back(EulerOrder::ZYX);
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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 < 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], 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<EulerOrder> euler_order_to_test;
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euler_order_to_test.push_back(EulerOrder::XYZ);
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euler_order_to_test.push_back(EulerOrder::XZY);
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euler_order_to_test.push_back(EulerOrder::YZX);
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euler_order_to_test.push_back(EulerOrder::YXZ);
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euler_order_to_test.push_back(EulerOrder::ZXY);
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euler_order_to_test.push_back(EulerOrder::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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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 < 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], euler_order_to_test[h]);
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}
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}
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}
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TEST_CASE("[Basis] Set axis angle") {
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Vector3 axis;
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real_t angle;
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real_t pi = (real_t)Math_PI;
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// Testing the singularity when the angle is 0°.
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Basis identity(1, 0, 0, 0, 1, 0, 0, 0, 1);
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identity.get_axis_angle(axis, angle);
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CHECK(angle == 0);
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// Testing the singularity when the angle is 180°.
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Basis singularityPi(-1, 0, 0, 0, 1, 0, 0, 0, -1);
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singularityPi.get_axis_angle(axis, angle);
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CHECK(angle == doctest::Approx(pi));
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// Testing reversing the an axis (of an 30° angle).
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float cos30deg = Math::cos(Math::deg_to_rad((real_t)30.0));
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Basis z_positive(cos30deg, -0.5, 0, 0.5, cos30deg, 0, 0, 0, 1);
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Basis z_negative(cos30deg, 0.5, 0, -0.5, cos30deg, 0, 0, 0, 1);
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z_positive.get_axis_angle(axis, angle);
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CHECK(angle == doctest::Approx(Math::deg_to_rad((real_t)30.0)));
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CHECK(axis == Vector3(0, 0, 1));
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z_negative.get_axis_angle(axis, angle);
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CHECK(angle == doctest::Approx(Math::deg_to_rad((real_t)30.0)));
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CHECK(axis == Vector3(0, 0, -1));
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// Testing a rotation of 90° on x-y-z.
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Basis x90deg(1, 0, 0, 0, 0, -1, 0, 1, 0);
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x90deg.get_axis_angle(axis, angle);
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CHECK(angle == doctest::Approx(pi / (real_t)2));
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CHECK(axis == Vector3(1, 0, 0));
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Basis y90deg(0, 0, 1, 0, 1, 0, -1, 0, 0);
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y90deg.get_axis_angle(axis, angle);
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CHECK(axis == Vector3(0, 1, 0));
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Basis z90deg(0, -1, 0, 1, 0, 0, 0, 0, 1);
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z90deg.get_axis_angle(axis, angle);
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CHECK(axis == Vector3(0, 0, 1));
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// Regression test: checks that the method returns a small angle (not 0).
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Basis tiny(1, 0, 0, 0, 0.9999995, -0.001, 0, 001, 0.9999995); // The min angle possible with float is 0.001rad.
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tiny.get_axis_angle(axis, angle);
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CHECK(angle == doctest::Approx(0.001).epsilon(0.0001));
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// Regression test: checks that the method returns an angle which is a number (not NaN)
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Basis bugNan(1.00000024, 0, 0.000100001693, 0, 1, 0, -0.000100009143, 0, 1.00000024);
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bugNan.get_axis_angle(axis, angle);
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CHECK(!Math::is_nan(angle));
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}
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TEST_CASE("[Basis] Finite number checks") {
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const Vector3 x(0, 1, 2);
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const Vector3 infinite(NAN, NAN, NAN);
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CHECK_MESSAGE(
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Basis(x, x, x).is_finite(),
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"Basis with all components finite should be finite");
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CHECK_FALSE_MESSAGE(
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Basis(infinite, x, x).is_finite(),
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"Basis with one component infinite should not be finite.");
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CHECK_FALSE_MESSAGE(
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Basis(x, infinite, x).is_finite(),
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"Basis with one component infinite should not be finite.");
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CHECK_FALSE_MESSAGE(
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Basis(x, x, infinite).is_finite(),
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"Basis with one component infinite should not be finite.");
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CHECK_FALSE_MESSAGE(
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Basis(infinite, infinite, x).is_finite(),
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"Basis with two components infinite should not be finite.");
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CHECK_FALSE_MESSAGE(
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Basis(infinite, x, infinite).is_finite(),
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"Basis with two components infinite should not be finite.");
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CHECK_FALSE_MESSAGE(
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Basis(x, infinite, infinite).is_finite(),
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"Basis with two components infinite should not be finite.");
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CHECK_FALSE_MESSAGE(
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Basis(infinite, infinite, infinite).is_finite(),
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"Basis with three components infinite should not be finite.");
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}
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} // namespace TestBasis
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#endif // TEST_BASIS_H
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