Source/Tests/Math/Quaternion.cpp - master - Metallist64/rbfx

Source/Tests/Math/Quaternion.cpp
62 строки2 KB
gleblebedev
Quaternion EulerAngles improvements and unit tests (#499)
05 янв 2023, 13:42
05 янв 2023, 13:421cf509a
//
// Copyright (c) 2021-2023 the rbfx project.
//
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// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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#include "../CommonUtils.h"

#include <EASTL/variant.h>

using namespace Urho3D;

TEST_CASE("Quaternion from Euler")
{
    const Vector3 angles(10, -20, 30);
    const Matrix3 matrix = Matrix3(angles.y_, Vector3(0, 1, 0)) * Matrix3(angles.x_, Vector3(1, 0, 0))
        * Matrix3(angles.z_, Vector3(0, 0, 1));
    const Matrix3 expected = Quaternion(angles).RotationMatrix();

    CHECK(matrix.Equals(expected));
}

TEST_CASE("Quaternion from Gimbal lock position")
{
    {
        const Vector3 expected(90, -10, 0);
        const Matrix3 expectedMatrix = Matrix3(expected.y_, Vector3(0, 1, 0)) * Matrix3(expected.x_, Vector3(1, 0, 0));
        const Quaternion actualQuaternion = Quaternion(expected);
        const Vector3 actualAngles = actualQuaternion.EulerAngles();
        const Matrix3 actualMatrix = actualQuaternion.RotationMatrix();

        CHECK(expected.Equals(actualAngles));
        CHECK(expectedMatrix.Equals(actualMatrix));
    }
    {
        const Vector3 expected(-90, -10, 0);
        const Matrix3 expectedMatrix = Matrix3(expected.y_, Vector3(0, 1, 0)) * Matrix3(expected.x_, Vector3(1, 0, 0));
        const Quaternion actualQuaternion = Quaternion(expected);
        const Vector3 actualAngles = actualQuaternion.EulerAngles();
        const Matrix3 actualMatrix = actualQuaternion.RotationMatrix();

        CHECK(expected.Equals(actualAngles));
        CHECK(expectedMatrix.Equals(actualMatrix));
    }
}