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lol/test/unit/rotation.cpp

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  1. //

  2. // Lol Engine

  3. //

  4. // Copyright: (c) 2010-2012 Sam Hocevar <sam@hocevar.net>

  5. //   This program is free software; you can redistribute it and/or

  6. //   modify it under the terms of the Do What The Fuck You Want To

  7. //   Public License, Version 2, as published by Sam Hocevar. See

  8. //   http://sam.zoy.org/projects/COPYING.WTFPL for more details.

  9. //

  10. 

  11. #if defined HAVE_CONFIG_H

  12. #   include "config.h"

  13. #endif

  14. 

  15. #include "core.h"

  16. #include "lol/unit.h"

  17. 

  18. namespace lol

  19. {

  20. 

  21. LOLUNIT_FIXTURE(RotationTest)

  22. {

  23.     void SetUp() {}

  24. 

  25.     void TearDown() {}

  26. 

  27.     LOLUNIT_TEST(Rotate2D)

  28.     {

  29.         /* Rotations must be CCW */

  30.         mat2 m90 = mat2::rotate(90.f);

  31. 

  32.         vec2 a(2.f, 3.f);

  33.         vec2 b = m90 * a;

  34. 

  35.         LOLUNIT_ASSERT_DOUBLES_EQUAL(b.x, -a.y, 1e-5);

  36.         LOLUNIT_ASSERT_DOUBLES_EQUAL(b.y,  a.x, 1e-5);

  37.     }

  38. 

  39.     LOLUNIT_TEST(Compose2D)

  40.     {

  41.         /* Rotating 20 degrees twice must equal rotating 40 degrees */

  42.         mat2 m20 = mat2::rotate(20.f);

  43.         mat2 m40 = mat2::rotate(40.f);

  44.         mat2 m20x20 = m20 * m20;

  45. 

  46.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[0][0], m40[0][0], 1e-5);

  47.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[1][0], m40[1][0], 1e-5);

  48. 

  49.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[0][1], m40[0][1], 1e-5);

  50.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[1][1], m40[1][1], 1e-5);

  51.     }

  52. 

  53.     LOLUNIT_TEST(Rotate3D)

  54.     {

  55.         /* Rotations must be CCW along each axis */

  56.         mat3 m90x = mat3::rotate(90.f, 1.f, 0.f, 0.f);

  57.         mat3 m90y = mat3::rotate(90.f, 0.f, 1.f, 0.f);

  58.         mat3 m90z = mat3::rotate(90.f, 0.f, 0.f, 1.f);

  59. 

  60.         vec3 a(2.f, 3.f, 4.f);

  61.         vec3 b = m90x * a;

  62.         vec3 c = m90y * a;

  63.         vec3 d = m90z * a;

  64. 

  65.         LOLUNIT_ASSERT_DOUBLES_EQUAL(b.x,  a.x, 1e-5);

  66.         LOLUNIT_ASSERT_DOUBLES_EQUAL(b.y, -a.z, 1e-5);

  67.         LOLUNIT_ASSERT_DOUBLES_EQUAL(b.z,  a.y, 1e-5);

  68. 

  69.         LOLUNIT_ASSERT_DOUBLES_EQUAL(c.x,  a.z, 1e-5);

  70.         LOLUNIT_ASSERT_DOUBLES_EQUAL(c.y,  a.y, 1e-5);

  71.         LOLUNIT_ASSERT_DOUBLES_EQUAL(c.z, -a.x, 1e-5);

  72. 

  73.         LOLUNIT_ASSERT_DOUBLES_EQUAL(d.x, -a.y, 1e-5);

  74.         LOLUNIT_ASSERT_DOUBLES_EQUAL(d.y,  a.x, 1e-5);

  75.         LOLUNIT_ASSERT_DOUBLES_EQUAL(d.z,  a.z, 1e-5);

  76.     }

  77. 

  78.     LOLUNIT_TEST(Compose3D)

  79.     {

  80.         /* Rotating 20 degrees twice must equal rotating 40 degrees */

  81.         mat3 m20 = mat3::rotate(20.f, 1.f, 2.f, 3.f);

  82.         mat3 m40 = mat3::rotate(40.f, 1.f, 2.f, 3.f);

  83.         mat3 m20x20 = m20 * m20;

  84. 

  85.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[0][0], m40[0][0], 1e-5);

  86.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[1][0], m40[1][0], 1e-5);

  87.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[2][0], m40[2][0], 1e-5);

  88. 

  89.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[0][1], m40[0][1], 1e-5);

  90.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[1][1], m40[1][1], 1e-5);

  91.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[2][1], m40[2][1], 1e-5);

  92. 

  93.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[0][2], m40[0][2], 1e-5);

  94.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[1][2], m40[1][2], 1e-5);

  95.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m20x20[2][2], m40[2][2], 1e-5);

  96.     }

  97. 

  98.     LOLUNIT_TEST(QuaternionTransform)

  99.     {

  100.         /* Rotating using a quaternion must equal rotating using a matrix */

  101.         mat3 m20 = mat3::rotate(20.f, 1.f, 2.f, 3.f);

  102.         quat q20 = quat::rotate(20.f, 1.f, 2.f, 3.f);

  103.         vec3 a(-2.f, 4.f, 3.f);

  104. 

  105.         vec3 b = m20 * a;

  106.         vec3 c = q20.transform(a);

  107. 

  108.         LOLUNIT_ASSERT_DOUBLES_EQUAL(c.x, b.x, 1e-5);

  109.         LOLUNIT_ASSERT_DOUBLES_EQUAL(c.y, b.y, 1e-5);

  110.         LOLUNIT_ASSERT_DOUBLES_EQUAL(c.z, b.z, 1e-5);

  111.     }

  112. 

  113.     LOLUNIT_TEST(QuaternionFromMatrix)

  114.     {

  115.         /* A rotation matrix converted to a quaternion should match the

  116.          * quaternion built with the same parameters */

  117.         quat q1 = quat::rotate(20.f, 1.f, 2.f, 3.f);

  118.         quat q2 = quat(mat3::rotate(20.f, 1.f, 2.f, 3.f));

  119. 

  120.         LOLUNIT_ASSERT_DOUBLES_EQUAL(q2.w, q1.w, 1e-5);

  121.         LOLUNIT_ASSERT_DOUBLES_EQUAL(q2.x, q1.x, 1e-5);

  122.         LOLUNIT_ASSERT_DOUBLES_EQUAL(q2.y, q1.y, 1e-5);

  123.         LOLUNIT_ASSERT_DOUBLES_EQUAL(q2.z, q1.z, 1e-5);

  124.     }

  125. 

  126.     LOLUNIT_TEST(MatrixFromQuaternion)

  127.     {

  128.         /* A quaternion converted to a rotation matrix should match the

  129.          * rotation matrix built with the same parameters */

  130.         mat3 m1 = mat3::rotate(60.f, 1.f, -2.f, 3.f);

  131.         mat3 m2 = mat3(quat::rotate(60.f, 1.f, -2.f, 3.f));

  132. 

  133.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m2[0][0], m1[0][0], 1e-5);

  134.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m2[1][0], m1[1][0], 1e-5);

  135.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m2[2][0], m1[2][0], 1e-5);

  136. 

  137.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m2[0][1], m1[0][1], 1e-5);

  138.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m2[1][1], m1[1][1], 1e-5);

  139.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m2[2][1], m1[2][1], 1e-5);

  140. 

  141.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m2[0][2], m1[0][2], 1e-5);

  142.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m2[1][2], m1[1][2], 1e-5);

  143.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m2[2][2], m1[2][2], 1e-5);

  144.     }

  145. 

  146.     LOLUNIT_TEST(MatrixCompositionThroughQuaternions)

  147.     {

  148.         /* Combining two rotation matrices should match the matrix created

  149.          * from the combination of the two equivalent quaternions */

  150.         mat3 m1 = mat3::rotate(60.f, 1.f, -2.f, 3.f);

  151.         mat3 m2 = mat3::rotate(20.f, -3.f, 1.f, -3.f);

  152. 

  153.         mat3 m3 = m2 * m1;

  154.         mat3 m4(quat(m2) * quat(m1));

  155. 

  156.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m4[0][0], m3[0][0], 1e-5);

  157.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m4[1][0], m3[1][0], 1e-5);

  158.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m4[2][0], m3[2][0], 1e-5);

  159. 

  160.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m4[0][1], m3[0][1], 1e-5);

  161.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m4[1][1], m3[1][1], 1e-5);

  162.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m4[2][1], m3[2][1], 1e-5);

  163. 

  164.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m4[0][2], m3[0][2], 1e-5);

  165.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m4[1][2], m3[1][2], 1e-5);

  166.         LOLUNIT_ASSERT_DOUBLES_EQUAL(m4[2][2], m3[2][2], 1e-5);

  167.     }

  168. 

  169.     LOLUNIT_TEST(QuaternionCompositionThroughMatrices)

  170.     {

  171.         /* Combining two quaternions should match the quaternion created

  172.          * from the combination of the two equivalent rotation matrices */

  173.         quat q1 = quat::rotate(60.f, 1.f, -2.f, 3.f);

  174.         quat q2 = quat::rotate(20.f, -3.f, 1.f, -2.f);

  175. 

  176.         quat q3 = q2 * q1;

  177.         quat q4(mat3(q2) * mat3(q1));

  178. 

  179.         LOLUNIT_ASSERT_DOUBLES_EQUAL(q4.w, q3.w, 1e-5);

  180.         LOLUNIT_ASSERT_DOUBLES_EQUAL(q4.x, q3.x, 1e-5);

  181.         LOLUNIT_ASSERT_DOUBLES_EQUAL(q4.y, q3.y, 1e-5);

  182.         LOLUNIT_ASSERT_DOUBLES_EQUAL(q4.z, q3.z, 1e-5);

  183.     }

  184. };

  185. 

  186. } /* namespace lol */