From ad428bd23b5a2a4392ad84e0f309defaf6d11bd0 Mon Sep 17 00:00:00 2001 From: elsid Date: Sat, 22 Jun 2024 03:47:00 +0200 Subject: [PATCH] Add unit tests for conversion to euler angles --- apps/components_tests/CMakeLists.txt | 7 +- apps/components_tests/misc/testmathutil.cpp | 194 ++++++++++++++++++++ 2 files changed, 198 insertions(+), 3 deletions(-) create mode 100644 apps/components_tests/misc/testmathutil.cpp diff --git a/apps/components_tests/CMakeLists.txt b/apps/components_tests/CMakeLists.txt index 567051b16e..4f260be189 100644 --- a/apps/components_tests/CMakeLists.txt +++ b/apps/components_tests/CMakeLists.txt @@ -21,11 +21,12 @@ file(GLOB UNITTEST_SRC_FILES lua/test_ui_content.cpp - misc/test_stringops.cpp + misc/compression.cpp + misc/progressreporter.cpp misc/test_endianness.cpp misc/test_resourcehelpers.cpp - misc/progressreporter.cpp - misc/compression.cpp + misc/test_stringops.cpp + misc/testmathutil.cpp nifloader/testbulletnifloader.cpp diff --git a/apps/components_tests/misc/testmathutil.cpp b/apps/components_tests/misc/testmathutil.cpp new file mode 100644 index 0000000000..e8a296156a --- /dev/null +++ b/apps/components_tests/misc/testmathutil.cpp @@ -0,0 +1,194 @@ +#include + +#include + +#include +#include + +#include +#include + +MATCHER_P2(Vec3fEq, other, precision, "") +{ + return std::abs(arg.x() - other.x()) < precision && std::abs(arg.y() - other.y()) < precision + && std::abs(arg.z() - other.z()) < precision; +} + +namespace testing +{ + template <> + inline testing::Message& Message::operator<<(const osg::Vec3f& value) + { + return (*this) << std::setprecision(std::numeric_limits::max_exponent10) << "osg::Vec3f(" << value.x() + << ", " << value.y() << ", " << value.z() << ')'; + } + + template <> + inline testing::Message& Message::operator<<(const osg::Quat& value) + { + return (*this) << std::setprecision(std::numeric_limits::max_exponent10) << "osg::Quat(" << value.x() + << ", " << value.y() << ", " << value.z() << ", " << value.w() << ')'; + } +} + +namespace Misc +{ + namespace + { + using namespace testing; + + struct MiscToEulerAnglesXZQuatTest : TestWithParam> + { + }; + + TEST_P(MiscToEulerAnglesXZQuatTest, shouldReturnValueCloseTo) + { + const osg::Vec3f result = toEulerAnglesXZ(GetParam().first); + EXPECT_THAT(result, Vec3fEq(GetParam().second, std::numeric_limits::epsilon())) + << "toEulerAnglesXZ(" << GetParam().first << ") = " << result; + } + + const std::pair eulerAnglesXZQuat[] = { + { + osg::Quat(1, 0, 0, 0), + osg::Vec3f(0, 0, osg::PI), + }, + { + osg::Quat(0, 1, 0, 0), + osg::Vec3f(0, 0, 0), + }, + { + osg::Quat(0, 0, 1, 0), + osg::Vec3f(0, 0, osg::PI), + }, + { + osg::Quat(0, 0, 0, 1), + osg::Vec3f(0, 0, 0), + }, + { + osg::Quat(-0.5, -0.5, -0.5, -0.5), + osg::Vec3f(-osg::PI_2f, 0, 0), + }, + { + osg::Quat(0.5, -0.5, -0.5, -0.5), + osg::Vec3f(0, 0, -osg::PI_2f), + }, + { + osg::Quat(0.5, 0.5, -0.5, -0.5), + osg::Vec3f(osg::PI_2f, 0, 0), + }, + { + osg::Quat(0.5, 0.5, 0.5, -0.5), + osg::Vec3f(0, 0, osg::PI_2f), + }, + { + osg::Quat(0.5, 0.5, 0.5, 0.5), + osg::Vec3f(-osg::PI_2f, 0, 0), + }, + { + // normalized osg::Quat(0.1, 0.2, 0.3, 0.4) + osg::Quat(0.18257418583505536, 0.36514837167011072, 0.54772255750516607, 0.73029674334022143), + osg::Vec3f(-0.72972762584686279296875f, 0, -1.10714876651763916015625f), + }, + { + osg::Quat(-0.18257418583505536, 0.36514837167011072, 0.54772255750516607, 0.73029674334022143), + osg::Vec3f(-0.13373161852359771728515625f, 0, -1.2277724742889404296875f), + }, + { + osg::Quat(0.18257418583505536, -0.36514837167011072, 0.54772255750516607, 0.73029674334022143), + osg::Vec3f(0.13373161852359771728515625f, 0, -1.2277724742889404296875f), + }, + { + osg::Quat(0.18257418583505536, 0.36514837167011072, -0.54772255750516607, 0.73029674334022143), + osg::Vec3f(0.13373161852359771728515625f, 0, 1.2277724742889404296875f), + }, + { + osg::Quat(0.18257418583505536, 0.36514837167011072, 0.54772255750516607, -0.73029674334022143), + osg::Vec3f(-0.13373161852359771728515625, 0, 1.2277724742889404296875f), + }, + { + osg::Quat(0.246736, -0.662657, -0.662667, 0.246739), + osg::Vec3f(-osg::PI_2f, 0, 2.5199801921844482421875f), + }, + }; + + INSTANTIATE_TEST_SUITE_P(FromQuat, MiscToEulerAnglesXZQuatTest, ValuesIn(eulerAnglesXZQuat)); + + struct MiscToEulerAnglesZYXQuatTest : TestWithParam> + { + }; + + TEST_P(MiscToEulerAnglesZYXQuatTest, shouldReturnValueCloseTo) + { + const osg::Vec3f result = toEulerAnglesZYX(GetParam().first); + EXPECT_THAT(result, Vec3fEq(GetParam().second, std::numeric_limits::epsilon())) + << "toEulerAnglesZYX(" << GetParam().first << ") = " << result; + } + + const std::pair eulerAnglesZYXQuat[] = { + { + osg::Quat(1, 0, 0, 0), + osg::Vec3f(osg::PI, 0, 0), + }, + { + osg::Quat(0, 1, 0, 0), + osg::Vec3f(osg::PI, 0, osg::PI), + }, + { + osg::Quat(0, 0, 1, 0), + osg::Vec3f(0, 0, osg::PI), + }, + { + osg::Quat(0, 0, 0, 1), + osg::Vec3f(0, 0, 0), + }, + { + osg::Quat(-0.5, -0.5, -0.5, -0.5), + osg::Vec3f(0, -osg::PI_2f, -osg::PI_2f), + }, + { + osg::Quat(0.5, -0.5, -0.5, -0.5), + osg::Vec3f(osg::PI_2f, 0, -osg::PI_2f), + }, + { + osg::Quat(0.5, 0.5, -0.5, -0.5), + osg::Vec3f(0, osg::PI_2f, -osg::PI_2f), + }, + { + osg::Quat(0.5, 0.5, 0.5, -0.5), + osg::Vec3f(osg::PI_2f, 0, osg::PI_2f), + }, + { + osg::Quat(0.5, 0.5, 0.5, 0.5), + osg::Vec3f(0, -osg::PI_2f, -osg::PI_2f), + }, + { + // normalized osg::Quat(0.1, 0.2, 0.3, 0.4) + osg::Quat(0.18257418583505536, 0.36514837167011072, 0.54772255750516607, 0.73029674334022143), + osg::Vec3f(0.1973955929279327392578125f, -0.8232119083404541015625f, -1.37340080738067626953125f), + }, + { + osg::Quat(-0.18257418583505536, 0.36514837167011072, 0.54772255750516607, 0.73029674334022143), + osg::Vec3f(0.78539812564849853515625f, -0.339836895465850830078125f, -1.428899288177490234375f), + }, + { + osg::Quat(0.18257418583505536, -0.36514837167011072, 0.54772255750516607, 0.73029674334022143), + osg::Vec3f(-0.78539812564849853515625f, 0.339836895465850830078125f, -1.428899288177490234375f), + }, + { + osg::Quat(0.18257418583505536, 0.36514837167011072, -0.54772255750516607, 0.73029674334022143), + osg::Vec3f(-0.78539812564849853515625f, -0.339836895465850830078125f, 1.428899288177490234375f), + }, + { + osg::Quat(0.18257418583505536, 0.36514837167011072, 0.54772255750516607, -0.73029674334022143), + osg::Vec3f(0.78539812564849853515625f, 0.339836895465850830078125f, 1.428899288177490234375f), + }, + { + osg::Quat(0.246736, -0.662657, 0.246739, -0.662667), + osg::Vec3f(0.06586204469203948974609375f, -osg::PI_2f, 0.64701664447784423828125f), + }, + }; + + INSTANTIATE_TEST_SUITE_P(FromQuat, MiscToEulerAnglesZYXQuatTest, ValuesIn(eulerAnglesZYXQuat)); + } +}